JP2022157923A - Excavator - Google Patents

Abstract

To provide a technique capable of ensuring the safe in a range where the blind spot from an imaging device, a distance sensor, etc. and the blind spot from the operator overlap around the excavator.SOLUTION: An excavator 100 in an embodiment includes: an undercarriage 1; an upper revolving body 3 mounted rotatably on the undercarriage 1; an attachment AT attached to the upper revolving body 3; an imaging unit 40 mounted on the upper revolving body 3 capable of acquiring information about the surrounding situation of the excavator 100; a display device 50 that provides information capable of checking conditions surrounding the excavator 100 based on the output of the imaging unit 40; and a sound output unit 54 that is configured to notify an operator to pay attention to the specified range when the undercarriage 1 travels towards a predetermined range where there is a possibility of becoming an operator's blind spot outside the acquisition range of information on the surroundings of the excavator 100 by the imaging unit 40, or when the upper revolving body 3 pivots so that the attachment AT approaches.SELECTED DRAWING: Figure 6

Description

The present disclosure relates to excavators.

A technique is known for displaying an image of the surroundings of an excavator on a display device in a cabin, or detecting an object to be monitored around the excavator and notifying an operator of the detected object (see Patent Document 1).

JP 2017-203352 A

However, there is a possibility that the imaging range of the imaging device that acquires the original image of the image displayed on the display device cannot cover all directions around the shovel. Similarly, the detectable range of monitored objects around the excavator may not cover all directions around the excavator. Therefore, in the vicinity of the excavator, there is a possibility that the blind spots seen by an imaging device, a distance sensor, etc. overlap with the blind spots seen by an operator directly or through a mirror or the like.

Therefore, in view of the above problem, it is an object of the present invention to provide a technique capable of ensuring safety in a range where blind spots from imaging devices, distance sensors, etc. overlap with blind spots from the operator around the excavator.

To achieve the above objectives, in one embodiment of the present disclosure,
a lower running body;
an upper rotating body rotatably mounted on the lower traveling body;
a working attachment attached to the upper revolving structure;
an acquisition device that is mounted on the upper revolving structure and is capable of acquiring data related to the situation around the excavator;
an information providing device that provides information enabling confirmation of a situation around the excavator based on the output of the acquisition device;
The undercarriage travels, or the work attachment moves toward a predetermined range outside the range in which information can be provided by the information providing device around the excavator, which may become an operator's blind spot. a notification device that notifies an operator to pay attention to the predetermined range when the upper swing body swings;
A shovel is provided.

According to the above-described embodiment, it is possible to ensure safety in the range where the blind spot from the imaging device, the distance sensor, etc. and the blind spot from the operator overlap in the vicinity of the excavator.

It is a figure which shows an example of an excavator management system. It is a top view of a shovel. It is a block diagram which shows an example of a structure of a shovel. It is a figure which shows an example (through image) of the monitoring image displayed on a display apparatus. FIG. 10 is a diagram showing another example of a monitoring image (overhead image) displayed on the display device; 4 is a flowchart schematically showing a first example of control processing by a controller; 7 is a flowchart schematically showing a second example of control processing by a controller;

Embodiments will be described below with reference to the drawings.

[Overview of Excavator Management System]
First, an outline of an excavator management system 1000 according to the present embodiment will be described with reference to FIGS. 1 and 2. FIG.

FIG. 1 is a diagram showing an example of an excavator management system 1000 according to this embodiment. In FIG. 1, excavator 100 is shown in side view. 2 is a top view of the shovel 100. FIG.

Excavator management system 1000 includes excavator 100 , management device 200 , and terminal device 300 .

The excavator management system 1000 uses the management device 200 and the terminal device 300, for example, to monitor (manage) the operation status, operation status, and the like of the excavator 100. FIG.

The excavator 100 included in the excavator management system 1000 may be one or plural. Also, the number of management devices 200 included in the excavator management system 1000 may be one or plural. For example, the plurality of management devices 200 may share the overall management of the plurality of excavators 100 by taking charge of managing a portion of the plurality of excavators 100 (whole). Also, the number of terminal devices 300 included in the excavator management system 1000 may be one or plural.

<Overview of Excavator>
The excavator 100 includes a lower traveling body 1 , an upper revolving body 3 mounted on the lower traveling body 1 so as to be able to turn via a revolving mechanism 2 , an attachment AT, and a cabin 10 .

The undercarriage 1 includes, for example, a pair of left and right crawlers 1C, that is, a left crawler 1CL and a right crawler 1CR. The lower traveling body 1 is self-propelled by the left crawler 1CL and the right crawler 1CR being hydraulically driven by the corresponding traveling hydraulic motors 1M, that is, the left traveling hydraulic motor 1ML and the right traveling hydraulic motor 1MR. do.

The upper revolving structure 3 revolves with respect to the lower traveling structure 1 by hydraulically driving the revolving mechanism 2 with a revolving hydraulic motor 2A.

Attachment AT includes boom 4 , arm 5 and bucket 6 .

The boom 4 is attached to the center of the front part of the upper rotating body 3 so as to be able to be raised. An arm 5 is attached to the tip of the boom 4 so as to be vertically rotatable. possible to be installed.

The bucket 6 is an example of an end attachment, and is attached to the tip of the arm 5 in such a manner that it can be exchanged as appropriate according to the type of work performed by the shovel 100 . That is, instead of the bucket 6 , a different type of bucket from the bucket 6 , such as a relatively large large bucket, a slope bucket, or a dredging bucket, may be attached to the tip of the arm 5 . Also, an end attachment other than the bucket, such as a stirrer, a breaker, or a crusher, may be attached to the tip of the arm 5 . Further, a spare attachment such as a quick coupling or a tilt rotator may be interposed between the arm 5 and the end attachment.

Boom 4, arm 5 and bucket 6 are hydraulically driven by boom cylinder 7, arm cylinder 8 and bucket cylinder 9, respectively.

In the excavator 100, some or all of the various hydraulic actuators may be replaced with electric actuators. That is, the excavator 100 may be a hybrid excavator or an electric excavator.

The cabin 10 is a cockpit for an operator to operate the excavator 100 , and is mounted on the front left side of the upper swing body 3 , for example.

As will be described later, the cabin 10 may be omitted when the excavator 100 is remotely controlled or fully automated.

Also, the excavator 100 is equipped with, for example, a communication device 70, and communicates with the outside of the excavator 100 (eg, the management device 200 and the terminal device 300) through the communication line NW.

The communication line NW includes, for example, a wide area network (WAN). A wide area network may include, for example, a mobile communication network terminating at a base station. A wide area network may also include, for example, a satellite communication network that utilizes communication satellites. Also, the wide area network may include, for example, the Internet network. Also, the communication line NW includes, for example, a local network (LAN: Local Area Network) inside a facility where the management device 200 is installed. The local network may be wired, wireless, or may include both. Also, the communication line NW may include, for example, a short-range wireless communication line such as WiFi or Bluetooth (registered trademark).

The excavator 100 communicates with the management device 200 using, for example, the communication device 70 . As a result, the excavator 100 can transmit data relating to the excavator 100 (own machine) to the management device 200 and receive data relating to the control of the excavator 100 (own machine).

Also, the excavator 100 may communicate with the terminal device 300 using the communication device 70, for example. In this case, the excavator 100 may communicate with the terminal device 300 indirectly through the management device 200 or directly with the terminal device 300 .

The excavator 100 operates driven elements such as a lower traveling body 1 (a pair of left and right crawlers, a crawler 1C), an upper revolving body 3, a boom 4, an arm 5, and a bucket 6 according to the operation of an operator riding in the cabin 10. make it work.

Further, the shovel 100 may be configured to be remotely controlled (remotely controlled) from the outside of the shovel 100 instead of or in addition to being operable by an operator in the cabin 10 . When the excavator 100 is remotely controlled, the interior of the cabin 10 may be unmanned. The following description is based on the premise that the operator's operation includes at least one of the operator's operation of the operating device 26 of the cabin 10 and the external operator's remote operation.

Remote operation includes, for example, a mode in which the excavator 100 is operated by an operation input relating to the actuator of the excavator 100 performed by a predetermined external device. The predetermined external device may be the management device 200 or the terminal device 300, for example. In this case, the excavator 100 receives, for example, image information (captured image) output by the front camera 42 that captures an image of the front of the upper revolving body 3 for remote control or the imaging device 40 that will be described later, through the communication device 70 that will be described later. It may be sent to an external device. Then, the external device may display the received image information (captured image) on a display device (hereinafter referred to as "remote control display device") provided in the external device. Also, various information images (information screens) displayed on the display device 50 inside the cabin 10 of the excavator 100 may be similarly displayed on the remote control display device of the external device. As a result, the operator of the external device can remotely operate the excavator 100 while confirming the display contents such as the captured image and the information screen showing the surroundings of the excavator 100 displayed on the remote control display device. can. Then, the excavator 100 operates the actuators according to the remote operation signal representing the details of the remote operation received from the external device by the communication device 70, and the lower traveling body 1 (left and right crawlers 1C) and the upper revolving body 3 are operated. , boom 4 , arm 5 and bucket 6 .

In addition, the remote operation may include, for example, a mode in which the excavator 100 is operated by a person (for example, a worker) in the vicinity of the excavator 100 externally inputting voice or gesture to the excavator 100 . Specifically, the excavator 100 uses a voice input device (for example, a microphone), a gesture input device (for example, an imaging device), or the like mounted on the excavator 100 (the excavator 100 itself) to transmit sounds uttered by workers or the like in the vicinity. or gestures made by a worker or the like. Then, the excavator 100 operates the actuators according to the contents of the recognized voice, gesture, etc., and operates the lower traveling body 1 (left and right crawlers 1C), the upper rotating body 3, the boom 4, the arm 5, the bucket 6, and the like. A driven element may be driven.

In addition, the excavator 100 may automatically operate the actuator regardless of the content of the operator's operation. As a result, the excavator 100 has a function (so-called " Autonomous Driving Function” or “Machine Control (MC: Machine Control) Function”).

The automatic operation function includes a function to automatically operate a driven element (actuator) other than the driven element (actuator) to be operated according to the operator's operation on the operation device 26 or remote control (so-called "semi-automatic operation function") Alternatively, an "operation-assisted MC function") may be included. In addition, the automatic operation function includes a function that automatically operates at least a part of a plurality of driven elements (actuators) on the premise that the operator does not operate the operation device 26 or remote control (so-called "fully automatic operation function" or “Fully automated MC functionality”) may be included. In the excavator 100, when the fully automatic operation function is effective, the inside of the cabin 10 may be in an unmanned state. In addition, the semi-automatic operation function, the fully automatic operation function, and the like may include a mode in which the operation contents of the driven elements (actuators) to be automatically operated are automatically determined according to predetermined rules. In addition, in the semi-automatic operation function and the fully automatic operation function, the excavator 100 autonomously makes various judgments, and according to the judgment result, the operation contents of the driven element (actuator) to be autonomously operated automatically. is determined (so-called “autonomous driving function”).

<Overview of management device>
The management device 200 is provided outside the excavator 100, and manages, for example, the operating state, operating state, and the like of the excavator 100. FIG. Moreover, the management device 200 may support remote operation of the excavator 100 .

The management device 200 is, for example, a cloud server installed in a management center or the like outside the work site of the excavator 100 . Also, the management device 200 may be, for example, an edge server installed in a temporary office in the work site of the excavator 100, a station building, a base station, or the like near the work site. Also, the management device 200 may be, for example, a stationary terminal device (stationary terminal) or a portable terminal device (portable terminal) arranged in a temporary office or the like in the work site of the excavator 100 . Stationary terminals may include, for example, desktop computer terminals. Mobile terminals may also include, for example, mobile phones, smart phones, tablet terminals, laptop computer terminals, and the like.

Management device 200 includes control device 210 , communication device 220 , output device 230 , and input device 240 .

The control device 210 controls the management device 200 . The functions of the control device 210 may be implemented by any hardware, or any combination of hardware and software. The control device 210 includes, for example, a CPU (Central Processing Unit), a memory device such as a RAM (Random Access Memory), an auxiliary storage device such as a ROM (Read Only Memory), and an interface device for input/output with the outside. It is composed mainly of computers. A control device 310, which will be described later, may also have the same configuration.

The communication device 220 communicates with the outside of the management device 200 (for example, the excavator 100 and the terminal device 300) through the communication line NW.

The output device 230 outputs information to users such as administrators and workers of the management device 200 (hereinafter referred to as “management device users”). The output device 230 may include, for example, a display device that outputs visual information, a lighting device, or the like. The display device includes, for example, a liquid crystal display or an organic EL (Electroluminescence) display that outputs image information. Also, the display device may include the remote control display device described above. The output device 230 may also include, for example, a sound output device that outputs auditory information. Sound output devices include, for example, speakers and buzzers.

The input device 240 receives various inputs from the management device user, and a signal corresponding to the content of the input is taken into the control device 210 . The input device 240 includes, for example, an operation input device that receives operation input from the management device user. Operation input devices may include, for example, mice, keyboards, touch panels, buttons, toggles, levers, and the like. The input device 240 may also include, for example, a voice input device and a gesture input device that receive voice input and gesture input from the management device user. The voice input device includes, for example, a microphone that acquires voice data spoken by the management device user. The gesture input device includes, for example, an imaging device (camera) that captures a gesture of the management device user. Also, the input device 240 may include, for example, a remote control operating device.

The control device 210 communicates with each of the excavator 100 and the terminal device 300 using the communication device 220 . Accordingly, the management device 200 can receive various data transmitted (uploaded) from the excavator 100 and collect various data related to the excavator 100, for example. Further, the control device 210 may use the communication device 220, for example, to transmit data relating to the control of the excavator 100 to the excavator 100, and control the excavator 100 from the outside. Also, the control device 210 may use the communication device 220 to provide various data to the terminal device 300 in response to a request from the terminal device 300, for example. Further, the control device 210 uses the communication device 220, for example, to transmit a signal (remote control signal) representing the content of remote control received from the input device 240 (remote control device) to the excavator 100 to be remotely controlled. may be sent. Thereby, the management device 200 can support the remote control of the excavator 100 .

<Overview of terminal device>
The terminal device 300 is, for example, a terminal device (user terminal) used by a user who receives information in the excavator management system 1000 . In addition, the terminal device 300 may support remote control of the excavator 100 .

The terminal device 300 is, for example, a general-purpose portable terminal such as a laptop computer terminal, a tablet terminal, or a smart phone possessed by the user. Also, the terminal device 300 may be a general-purpose stationary terminal such as a desktop computer. Also, the terminal device 300 may be a dedicated terminal device (portable terminal or stationary terminal) for receiving data (information) regarding the excavator 100 or supporting remote operation.

Terminal device 300 includes a control device 310 , a communication device 320 , an output device 330 and an input device 340 .

The control device 310 controls the terminal device 300 .

The communication device 320 communicates with the outside of the terminal device 300 (for example, the excavator 100 and the management device 200) through the communication line NW.

The output device 330 outputs information to users such as administrators and workers of the terminal device 300 (hereinafter referred to as “terminal device users”). The output device 330 may include, for example, a display device that outputs visual information, a lighting device, or the like. The display device includes, for example, a liquid crystal display or an organic EL display that outputs image information. Also, the display device may include the remote control display device described above. The output device 330 may also include, for example, a sound output device that outputs auditory information. Sound output devices include, for example, speakers and buzzers.

The input device 340 receives various inputs from the user of the terminal device, and signals corresponding to the content of the input are taken into the control device 310 . The input device 340 includes, for example, an operation input device that receives an operation input from a terminal device user. Operation input devices may include, for example, mice, keyboards, touch panels, buttons, toggles, levers, and the like. The input device 340 may also include, for example, a voice input device and a gesture input device that receive voice input and gesture input from the terminal device user. The voice input device includes, for example, a microphone that acquires voice data spoken by the user of the terminal device. The gesture input device includes, for example, an imaging device (camera) that captures gestures of the terminal device user. Also, the input device 340 may include, for example, a remote control operating device.

The control device 310 communicates with the management device 200 using the communication device 320 . Accordingly, the terminal device 300 can request the management device 200 to provide data and the like regarding the excavator 100 . The terminal device 300 may also receive data about the excavator 100 transmitted from the management device 200 and provide information about the excavator 100 to the user through the output device 330 (display device).

Also, the control device 310 may communicate with the excavator 100 using the communication device 320 . In this case, the terminal device 300 may communicate with the excavator 100 indirectly through the management device 200 or directly with the excavator 100 . The control device 310 uses, for example, the communication device 320 to transmit a signal (remote control signal) representing the details of remote control received from the input device 340 (remote control operating device) to the excavator 100 to be remotely controlled. you can Thereby, the terminal device 300 can support the remote control of the excavator 100 .

[Excavator configuration]
Next, the configuration of the shovel 100 according to the present embodiment will be described with reference to FIGS. 3 to 5 in addition to FIGS. 1 and 2. FIG.

FIG. 3 is a diagram showing an example of the configuration of the shovel 100 according to this embodiment. FIG. 4 is a diagram showing an example of a monitoring image (monitoring image MP1 including a through image) displayed on the display device 50, and FIG. FIG. 2 shows a monitoring image MP2) containing images;

The excavator 100 includes components such as a hydraulic drive system, an operation system, a user interface system, and a control system.

<Hydraulic drive system>
The hydraulic drive system of the excavator 100 is a group of components related to hydraulic drive of the driven parts.

As shown in FIGS. 1 to 3, the hydraulic drive system of the excavator 100 includes a hydraulic actuator HA that hydraulically drives driven parts such as the undercarriage 1, boom 4, arm 5, and bucket 6, respectively. The hydraulic actuators HA include travel hydraulic motors 1ML and 1MR, swing hydraulic motor 2A, boom cylinder 7, arm cylinder 8, bucket cylinder 9, and the like. A hydraulic drive system of the excavator 100 also includes a prime mover 11 , a main pump 14 and a control valve 17 .

The prime mover 11 is the power source of the excavator 100 . The prime mover 11 includes, for example, an engine (such as a diesel engine) that operates on a predetermined fuel (such as light oil). Further, the prime mover 11 may include, for example, a power storage device mounted on the excavator 100 (for example, a capacitor, a lithium-ion battery, or the like) or an electric motor that operates on electric power supplied from an external power supply connected by a cable.

The main pump 14 is mounted on the upper rotating body 3 and driven by the prime mover 11 . Under the control of the controller 30, the main pump 14 sucks hydraulic fluid from the hydraulic fluid tank T and supplies hydraulic fluid to various hydraulic actuators HA.

The control valve 17 selectively supplies the hydraulic fluid discharged from the main pump 14 to each hydraulic actuator HA according to the operation state of the driven element (that is, the corresponding hydraulic actuator HA). Adjust the flow rate and flow direction of the supplied hydraulic fluid. For example, the control valve 17 may be composed of a plurality of control valves (direction switching valves) or the like that control the direction and flow rate of hydraulic fluid supplied to each hydraulic actuator HA. The control valve 17 is, for example, a hydraulically driven type (hydraulic pilot type), and receives a pilot pressure corresponding to an operation command corresponding to the operation contents of each hydraulic actuator and an automatic operation function. As a result, the control valves (direction switching valves) corresponding to the respective hydraulic actuators are driven according to the input pilot pressure. Further, the control valve 17 may be of an electric drive type such as an electromagnetic solenoid type, for example, and an electric signal is input according to the operation command corresponding to the operation content of the operation device 26 or the automatic operation function. As a result, the control valves (direction switching valves) corresponding to the respective hydraulic actuators are driven according to the input electrical signals.

The hydraulic control valve 31 is provided in a pilot line connecting the pilot pump 15 and the control valve 17 (specifically, the pilot port of the control valve corresponding to each hydraulic actuator HA). The hydraulic control valve 31 is, for example, an electromagnetic proportional valve. The hydraulic control valve 31 is operable by a control command from the controller 30 and adjusts the pilot pressure acting on the control valve 17 . The hydraulic control valve 31 may be provided, for example, in a pilot line between the pilot pump 15 and the hydraulic pilot type operating device 26 , that is, in a pilot line on the primary side of the operating device 26 . Also, the hydraulic control valve 31 may be provided, for example, in a pilot line between the operating device 26 and the control valve 17 , that is, a pilot line on the secondary side of the operating device 26 . Further, the hydraulic control valve 31 is used, for example, when the electric operating device 26 is adopted as described above, or when the excavator 100 is remotely controlled. Further, the hydraulic control valve 31 can adjust the pilot pressure acting on the control valve 17 under the control of the controller 30 regardless of the details of the operation of the operation device 26 or the details of the remote operation. In other words, under the control of the controller 30, the hydraulic control valve 31 can automatically control the operation of the excavator 100 regardless of the details of the operation of the operation device 26 or the details of the remote operation, thereby realizing an automatic operation function. .

<Operation system>
The operation system of the excavator 100 is a group of components related to the operation of driven elements (actuators).

As shown in FIGS. 1 to 3, the operating system of excavator 100 includes pilot pump 15, electromagnetic switching valve 25V, operating device 26, and hydraulic control valve 31. As shown in FIGS.

Pilot pump 15 is driven by prime mover 11 as a power source. The pilot pump 15 sucks hydraulic oil from the hydraulic oil tank T and supplies the hydraulic oil to various types of hydraulic pilot-type hydraulic devices (for example, the operating device 26, the control valve 17, etc.).

Incidentally, the pilot pump 15 may be omitted. In this case, various hydraulic devices such as the hydraulic control valve 31 may be supplied with hydraulic fluid discharged from the main pump 14 and reduced to a predetermined pilot pressure via a pressure reducing valve or the like.

The electromagnetic switching valve 25V is arranged most upstream of the pilot line 25 that connects the pilot pump 15 and various hydraulic devices. Under the control of the controller 30, the electromagnetic switching valve 25V switches the pilot line 25 between a communicating state and a non-communicating state. As a result, the controller 30 controls the electromagnetic switching valve 25V to bring the pilot line 25 into a non-communication state, thereby cutting off the hydraulic oil supplied from the pilot pump 15 to the operating device 26 and the hydraulic control valve 31. . Therefore, the controller 30 can stop the operation of the driven element (hydraulic actuator) regardless of the content of the operator's operation.

Incidentally, when the pilot line 25 is in a non-communication state, the hydraulic oil on the downstream side of the electromagnetic switching valve 25V in the pilot line 25 is returned to the hydraulic oil tank T. Also, the electromagnetic switching valve 25V may be omitted.

The operation device 26 is for operating driven elements driven by actuators (specifically, hydraulic actuators) such as the lower traveling body 1, the upper rotating body 3, and the attachments (the boom 4, the arm 5, and the bucket 6). used for In other words, the operating device 26 is used to operate the respective hydraulic actuator HA driving the driven element. The operating device 26 includes, for example, a lever device, a pedal device, etc. corresponding to each driven element, ie each hydraulic actuator HA.

The operating device 26 is, for example, a hydraulic pilot type. In this case, the operating device 26 uses the hydraulic oil supplied from the pilot pump 15 to adjust the operation contents (for example, operation direction, operation amount, etc.) related to each driven element (that is, each corresponding hydraulic actuator). The corresponding pilot pressure is output to the control valve 17 . Thereby, the control valve 17 can realize the operation of each driven element (that is, each corresponding hydraulic actuator) according to the operation content of the operation device 26 .

Also, the operating device 26 may be of an electric type, for example. In this case, the operation device 26 outputs to the controller 30 an electric signal (hereinafter referred to as an “operation signal”) corresponding to the operation content of each driven element (that is, each corresponding hydraulic actuator). The controller 30 then outputs a control command corresponding to the operation signal to the operating hydraulic control valve 31 provided in the oil passage (pilot line) between the pilot pump 15 and the control valve 17 . As a result, the operating hydraulic control valve 31 uses the hydraulic fluid supplied from the pilot pump 15 to control the pilot pressure corresponding to the operation signal, that is, the respective driven elements in the operating device 26 (that is, the respective hydraulic pressures). A pilot pressure can be applied to the control valve 17 in accordance with the details of the operation of the actuator HA). Therefore, the control valve 17 can realize the operation of each driven element (that is, each corresponding hydraulic actuator HA) according to the operation content of the operating device 26 .

Also, the driven elements of the excavator 100, ie the corresponding actuators (hydraulic actuators), may be remotely operated as described above. For example, a signal (remote operation signal) representing the content of remote operation is transmitted from a predetermined external device to the excavator 100 , and the controller 30 receives the remote operation signal through the communication device 70 . The controller 30 controls the operating hydraulic control valve 31 according to the contents of the remote operation specified by the remote operation signal (for example, the driven element or hydraulic actuator to be operated, the operation direction, the operation amount, etc.). Outputs a corresponding control command. As a result, the operating hydraulic control valve 31 can use hydraulic fluid supplied from the pilot pump 15 to apply a pilot pressure to the hydraulically driven control valve 17 in accordance with the content of the remote operation. Therefore, the control valve 17 can realize the operation of each driven element (that is, each corresponding hydraulic actuator HA) according to the contents of the remote control.

Incidentally, as described above, part or all of the hydraulic actuators may be replaced with electric actuators. In this case, the controller 30 drives the electric actuator or the electric actuator with a control command according to the operation content of the operation device 26, the content of the remote operation specified by the remote operation signal, the content of the operation command corresponding to the automatic driving function, etc. It may be output to a driver, an inverter, or the like.

<User interface system>
The user interface system of the excavator 100 is a group of components related to information exchange with the user.

A user interface system of the excavator 100 includes a display device 50 , an input device 52 and a sound output device 54 .

The display device 50 (an example of an information providing device and a notification device) is provided in the vicinity of the operator's seat in the cabin 10, specifically, at a position that is easily visible to the operator sitting in the operator's seat, and various images to be notified to the operator. Display information. The display device 50 is, for example, a liquid crystal display or an organic EL display, and may be of a touch panel type that also serves as the input device 52 . For example, as will be described later, the display device 50 displays an image (hereinafter referred to as " monitor image”).

The input device 52 receives various inputs from the operator and outputs them to the controller 30 . The input device 52 includes, for example, any operation input device such as a touch panel, touch pad, button, toggle, rotary knob, or the like. The input device 52 may also include a voice input device or a gesture input device that receives voice input or gesture input from a user such as an operator.

A sound output device 54 (an example of an information providing device and a notification device) outputs sound toward at least one of the inside and outside of the cabin 10 . The sound output device 54 may include, for example, a speaker, a buzzer, or the like provided inside the cabin 10, and may output sound toward the operator. Further, the sound output device 54 may include, for example, a horn, a travel alarm, or the like, and may output sound toward the outside of the cabin 10 , specifically, around the excavator 100 .

<Communication system>
The communication system of the excavator 100 is a group of components for communicating with the outside of the excavator 100 .

The communication with the outside of the excavator 100 includes communication with devices brought into the cabin 10 of the excavator 100 (for example, a user terminal possessed by an operator, a diagnostic tool brought in by a serviceman, etc.).

A communication system of the excavator 100 includes a communication device 70 .

The communication device 70 communicates with the outside of the excavator 100 (for example, the management device 200 and the terminal device 300) through the communication line NW.

<Control system>
The control system of the excavator 100 is a group of components for performing various controls related to the excavator 100 .

A control system of the excavator 100 includes a controller 30 . A control system of the excavator 100 also includes an operation information output device 29 , an imaging device 40 , a front camera 42 , an attitude sensor 44 and a turning angle sensor 46 .

The controller 30 controls the excavator 100 . The controller 30 is mounted inside the cabin 10, for example.

The functions of the controller 30 may be realized by arbitrary hardware, or a combination of arbitrary hardware and software. The controller 30 is mainly composed of a computer including, for example, a CPU, a memory device (main memory device) such as RAM, an auxiliary memory device such as ROM, an interface device for input/output with the outside, and the like. The controller 30 implements various functions by, for example, loading a program installed in the auxiliary storage device into the memory device and executing it on the CPU.

The controller 30 includes, for example, a display processing unit 301, an object detection unit 302, and a safety control unit 303 as functional units realized by loading an installation program into a memory device in an auxiliary storage device and executing it on a CPU. include.

A part or all of the functions of the controller 30 may be realized by another controller. Also, some or all of the functions of the controller 30 may be transferred to the outside of the excavator 100 (for example, the management device 200). In this case, the operation of the excavator 100 may be controlled in real time according to a control command from an external device such as the management device 200, for example. For example, when very high-speed communication can be executed through the communication line NW, such as in a ^5G (5th Generation) mobile communication network, even in a control mode in which control commands are sequentially transmitted from the management device 200 to the excavator 100, This is because it is possible to realize motion control of the excavator 100 without delay.

The operation information output device 29 outputs the operation content of the operation device 26, the content of the remote operation, or the content of the operation command corresponding to the automatic operation function, that is, each driven element (that is, each corresponding hydraulic actuator HA). Outputs information on the content of the operation (hereinafter referred to as "operation information").

The operation information output device 29 may be, for example, a sensor that acquires information about the operation content of the operation device 26 (hereinafter referred to as "operation information acquisition sensor"). The operation information acquisition sensor is, for example, a linear encoder that senses the operation direction and operation amount of levers, pedals, etc. of the operation device 26 . The operation information acquisition sensor is, for example, a pressure sensor that senses the pilot pressure on the secondary side of the hydraulic pilot type operation device 26 . Further, the operation information output device 29 may be an electric operation device 26, for example. This is because the operation signal output from the electric operation device 26 corresponds to operation information. Further, when the excavator 100 is remotely operated, the operation information output device 29 is, for example, a communication device 70 that receives a remote operation signal from an external device. Further, when the excavator 100 operates by the automatic operation function, the operation information output device 29 may be, for example, an arithmetic device that outputs an operation command.

The imaging device 40 (an example of an acquisition device) is attached to the upper surface of the upper revolving body 3, captures an image of the periphery of the excavator 100 ranging from an area relatively close to the excavator 100 to an area relatively far from the excavator 100, and outputs a captured image. . The imaging device 40 includes cameras 40B, 40L, and 40R. Hereinafter, the cameras 40B, 40L, and 40R may be collectively referred to as a "camera 40X."

The cameras 40B, 40L, and 40R are attached to the upper rear end, upper left end, and upper right end of the upper revolving body 3, respectively, and capture images of the rear, left, and right sides of the upper revolving body 3. . For example, camera 40X is a monocular camera with a very wide angle of view (that is, a wide-angle camera). Also, for example, the camera 40X may be a stereo camera, a depth camera, or the like. The camera 40B captures an imaging range behind the upper rotating body 3, for example, an imaging range in the horizontal direction from the rear left to the rear right. Further, the camera 40L captures, for example, an imaging range on the left side of the upper rotating body 3, for example, an imaging range in the horizontal direction from the front left to the rear left of the upper rotating body 3. Further, the camera 40R captures, for example, an imaging range on the right side of the upper rotating body 3 , for example, an imaging range in the horizontal direction from the front right to the rear right of the upper rotating body 3 . The camera 40X is mounted on the top of the upper revolving body 3 so that its optical axis is directed obliquely downward, and captures an imaging range in the vertical direction including the ground near the excavator 100 and the distance from the excavator 100 .

The camera 40X outputs a captured image at predetermined intervals (eg, 1/30 second) during the period from start-up (ie, key switch ON) to stop (ie, key switch OFF) of the excavator 100, for example. A captured image output from the camera 40X is captured by the controller 30 .

In place of or in addition to the imaging device 40, a distance sensor (an example of an acquisition device) capable of detecting distances to objects behind, left, and right of the upper rotating body 3 may be mounted. . Range sensors include, for example, LIDAR (Light Detection and Ranging), millimeter wave radar, ultrasonic sensors, range image sensors, and the like.

The front camera 42 captures an image of the front of the excavator 100 and acquires an image for confirmation by an operator who performs remote control. The front camera 42 may be provided at an arbitrary position in the front portion of the upper swing body 3 as long as it is possible to image the state of work performed by the attachment AT. For example, the front camera 42 is attached to the front end of the upper surface of the cabin 10 . Also, the front camera 42 may be attached to the front surface of the cabin 10 .

Note that the front camera 42 may be omitted when the excavator 100 is not remotely controlled.

An attitude sensor 44 (an example of a measuring device) measures the attitude state of the excavator 100 .

The attitude sensor 44 includes, for example, a boom angle sensor that measures the attitude angle of the boom 4 . The boom angle sensor may include, for example, a rotary encoder, an acceleration sensor, an angular velocity sensor, a hexaaxial sensor, an IMU (Inertial Measurement Unit), and the like. Also, the boom angle sensor may include a cylinder sensor capable of detecting the telescopic position of the boom cylinder 7 .

Also, the attitude sensor 44 includes, for example, an arm angle sensor that measures the attitude angle of the arm 5 . Arm angle sensors may include, for example, rotary encoders, acceleration sensors, angular velocity sensors, hexaaxial sensors, IMUs, and the like. Also, the arm angle sensor may include a cylinder sensor capable of detecting the extension/retraction position of the arm cylinder 8 .

Also, the attitude sensor 44 includes, for example, a bucket angle sensor that measures the attitude angle of the bucket 6 . Bucket angle sensors may include, for example, rotary encoders, acceleration sensors, angular velocity sensors, hex sensors, IMUs, and the like. Also, the bucket angle sensor may include a cylinder sensor capable of detecting the expansion/contraction position of the bucket cylinder 9 .

Also, the attitude sensor 44 includes, for example, a body attitude sensor that measures the attitude state of the body (the lower running body 1 and the upper rotating body 3). The attitude state of the airframe includes the tilt state of the airframe. The tilted state of the fuselage includes, for example, a tilted state in the longitudinal direction, which corresponds to the posture state of the upper rotating body 3 about the lateral axis, and a tilted state in the lateral direction, which corresponds to the posture state of the upper rotating body 3 about the longitudinal axis. state is included. In addition, the attitude state of the machine body may include the turning state of the upper turning body 3 , which corresponds to the attitude state of the upper turning body 3 about the turning axis. The fuselage attitude sensor is mounted, for example, on the upper revolving structure 3, and acquires detection data related to attitude angles around the longitudinal axis and lateral axis of the upper revolving structure 3 (hereinafter referred to as "forward-backward tilt angle" and "left-right tilt angle"). Output. Further, the body attitude sensor may acquire (output) detection data regarding the attitude angle around the turning axis. As a result, the body attitude sensor can acquire detection information regarding the orientation of the upper rotating body 3 with respect to the ground (rotation attitude about the rotation axis). The orientation of the upper revolving body 3 means, for example, the direction in which the attachment AT extends when viewed from above, that is, the front as viewed from the upper revolving body 3 . The airframe attitude sensor may include, for example, an acceleration sensor (tilt sensor), an angular velocity sensor, a hexaaxial sensor, an IMU, and the like.

Incidentally, the attitude sensor 44 may be omitted.

The turning angle sensor 46 measures (detects) the relative turning angle of the upper turning body 3 with the lower traveling body 1 as a reference. As a result, the turning angle sensor 46 can acquire measurement (detection) information regarding the orientation of the upper turning body 3 with reference to the lower traveling body 1 . The turning angle sensor 46 acquires, for example, detection information regarding the turning angle of the upper turning body 3 with respect to a predetermined reference (for example, a state in which the forward direction of the lower traveling body 1 and the front of the upper turning body 3 match). The turning angle sensor 46 includes, for example, a potentiometer, rotary encoder, resolver, and the like.

Information about the orientation of the upper swing structure 3 with respect to the lower travel structure 1 may be obtained from another device instead of or in addition to the swing angle sensor 46 . For example, a geomagnetic sensor may be mounted on each of the lower traveling body 1 and the upper revolving body 3 . In this case, the controller 30 acquires information about the orientation of the upper swing body 3 with respect to the lower travel body 1 based on the output of the geomagnetic sensor of the lower travel body 1 and the output of the geomagnetic sensor of the upper swing body 3. be able to. Further, for example, the controller 30 uses the output (captured image) of the imaging device 40 to determine the position of the upper rotating body 3 with the lower traveling body 1 as a reference from the position where the lower traveling body 1 is shown in the imaging device. Orientation can be determined. That is, the information about the orientation of the upper rotating body 3 with respect to the lower traveling body 1 may be acquired from the imaging device 40 .

The display processing unit 301 causes the display device 50 to display a monitor image (surrounding image) representing the state (situation) around the excavator 100 based on the captured image of the imaging device 40 .

For example, the display processing unit 301 causes the display device 50 to display at least one captured image of the cameras 40B, 40L, and 40R as a monitoring image in response to a predetermined operation on the input device 52 or automatically. In other words, the display processing unit 301 may cause all of the captured images of the cameras 40B, 40L, and 40R or the captured images of the two cameras to be displayed side by side on the display device 50, or may display the captured images of any one of the cameras. It may be displayed on the display device 50 . Typically, the display processing unit 301 may display the images captured by the cameras 40B and 40R side by side on the display device 50 (see FIG. 6). Hereinafter, the captured image displayed on the display device 50 may be referred to as a "through image".

The display processing unit 301 may switch which of the images captured by the cameras 40B, 40L, and 40R to display on the display device 50 according to a predetermined operation on the input device 52 . Accordingly, by operating the input device 52, the operator can cause the display device 50 to display a through-the-lens image in a desired direction.

Further, for example, the display processing unit 301 generates a composite image by combining images captured by a plurality of cameras (at least two of the cameras 40B, 40L, and 40R) based on the captured image of the imaging device 40. A monitoring image including an image is displayed on the display device 50 .

Specifically, the display processing unit 301 performs known viewpoint conversion processing, synthesis processing, and the like based on the images captured by the cameras 40B, 40L, and 40R as a composite image, thereby generating a viewpoint conversion image viewed from a virtual viewpoint. It is generated and displayed on the display device 50 . Further, when the display processing unit 301 causes the display device 50 to display the composite image, the display processing unit 301 also displays the excavator image that schematically represents the excavator 100 in order to clarify the relative positional relationship between the imaging range of the imaging device 40 and the excavator 100 . Display on the display device 50 . That is, the display processing unit 301 generates a monitoring image including the excavator image and viewpoint-converted images arranged around the excavator image according to the relative positional relationship between the excavator image and the imaging range of the imaging device 40, Display on the display device 50 .

For example, as shown in FIG. 4, in this example, the display device 50 displays an image captured by the camera 40B (through image) MP11 and an imaging device (through image) MP12 by the camera 40R as the monitoring image MP1. . This allows the operator to grasp the situation around the excavator 100 (in this example, behind the upper revolving body 3) (for example, the presence or absence of an object to be monitored such as a person in the vicinity of the excavator 100). In particular, the operator can relatively easily visually recognize the left side and left side of the upper swing body 3 through the mirror provided on the left side of the cabin 10, while the rear and right sides of the upper swing body 3 can be viewed directly. Alternatively, it is almost impossible to visually recognize indirectly with a mirror. Therefore, by confirming the through image MP11 and the through image MP12 on the display device 50, the operator can confirm not only the left side of the excavator 100 but also the rear and right sides thereof.

An icon IC1 representing the imaging range of the camera 40X (camera 40B) corresponding to the through image is included in the lower right corner of the through image MP11. The icon IC1 includes an excavator icon IC11 that schematically represents the excavator 100, and an imaging range icon IC12 that schematically represents the imaging range of the camera 40X (camera 40B) based on the excavator icon IC11. This allows the operator to easily recognize that the through image MP11 represents the state behind the excavator 100 as viewed from the excavator 100 .

An icon IC2 representing the imaging range of the camera 40X (camera 40R) corresponding to the through image is included in the lower right corner of the through image MP12. The icon IC2 includes a shovel icon IC21 that schematically represents the shovel 100, and an imaging range icon IC22 that schematically represents the imaging range of the camera 40X (camera 40R) based on the shovel icon IC21. This allows the operator to easily recognize that the through image MP11 represents the right side as viewed from the excavator 100 .

The display device 50 may display the through images MP11 and MP12 side by side. Also, the order in which the through images MP11 and MP12 are arranged in the horizontal direction or the vertical direction may be arbitrary.

Further, for example, as shown in FIG. 5, the display device 50 displays a monitor image MP2 including an excavator image CG and a viewpoint conversion image EP arranged around the excavator image CG. Accordingly, the operator can appropriately grasp the positional relationship between the excavator 100 and the surrounding objects appearing in the viewpoint-converted image EP.

A line LN1 at a constant distance from the excavator 100 is superimposed and displayed on the viewpoint-converted image EP of the monitoring image MP2. A line LN1 may represent, for example, the outer edge of a monitoring area to be monitored by the controller 30 (object detection unit 302). Accordingly, the operator can appropriately grasp the distance relationship between the excavator 100 and the surrounding objects appearing in the viewpoint-converted image EP.

In this example, the viewpoint-converted image EP includes a bird's-eye view image BVP in which a peripheral area adjacent to the excavator 100 is viewed from directly above, and a bird's-eye view image BVP arranged around the bird's-eye image BVP, which is viewed from the excavator 100 in the horizontal direction. is combined with the horizontal image HVP. The viewpoint-transformed image EP is obtained by projecting the captured images of the cameras 40B, 40L, and 40R onto the spatial model and then reprojecting the projected images projected onto the spatial model onto another two-dimensional plane. A space model is a projection target of a captured image in a virtual space, and is composed of one or a plurality of planes or curved surfaces including planes or curved surfaces other than the plane on which the captured image is positioned.

In addition, the display processing unit 301 may transmit the monitoring image generated based on the captured image of the imaging device 40 to the management device 200 and the terminal device 300 through the communication device 70 . Thereby, the management device 200 can receive the monitoring image from the excavator 100 and display the monitoring image on the output device 230 (for example, a remote control display device). Similarly, the terminal device 300 can receive a monitoring image from the excavator 100 and display the monitoring image on an output device 330 (for example, a remote control display device). Therefore, an operator of the excavator 100 using the management device 200 or the terminal device 300 can remotely operate the excavator 100 while confirming the monitoring image displayed on the output device 230 or the output device 330 . In addition, an administrator or the like of the excavators 100 using the management device 200 or the terminal device 300 can check the monitor image displayed on the output device 230 or the output device 330 while managing the plurality of excavators 100 that work with the automatic operation function. Each work status can be monitored remotely.

Incidentally, when the excavator 100 is remotely operated, not only the monitoring image described above but also the captured image of the front camera 42 is naturally transmitted to the management device 200 and the terminal device 300 through the communication device 70, and the output device 230 , 330.

The object detection unit 302 detects objects to be monitored (hereinafter referred to as “monitored objects”) around the excavator 100 (upper swing body 3 ) based on the output of the imaging device 40 .

Observed objects may include people such as workers working around the excavator 100 and supervisors at work sites. Objects to be monitored 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. (ie, obstacles).

Based on the output of the imaging device 40, that is, the imaged image captured by the imaging device 40, the object detection unit 302 detects a predetermined monitoring area around the excavator 100 (upper rotating body 3) (hereinafter referred to as the "monitoring area" for convenience). ”) to detect the surveillance object. The following description of the object detection unit 302 will be made under the assumption that the excavator 100 is positioned on the horizontal plane.

When the above-described distance sensor is mounted on the upper rotating body 3, the object detection section 302 may detect the monitored object based on the output of the distance sensor.

The object detection unit 302 detects, for example, the horizontal direction as viewed from the excavator 100 (hereinafter, simply “horizontal direction”), that is, the plane on which the excavator 100 is working (the lower traveling body 1 is grounded) (hereinafter, for convenience) A monitored object is sensed within a monitored area extending in a direction along a "work plane". Specifically, the object detection unit 302 may detect a monitored object within a monitored area where the horizontal distance D from the excavator 100 (upper rotating body 3) is within a predetermined distance Dth1 (for example, 5 meters). .

For example, the object detection unit 302 recognizes the monitored object in the captured image by arbitrarily applying a machine learning-based classifier including various known image processing methods and artificial intelligence (AI). . When the object to be monitored is a person such as a worker, the object detection unit 302 determines whether the recognized person corresponds to any of a plurality of registered workers (hereinafter referred to as “registered workers”) registered in advance. You may specify whether

Further, by applying various known techniques, the object detection unit 302 detects the position (e.g., foot position) ( hereinafter, “actual location”) can be determined (estimated).

For example, the object detection unit 302 detects the horizontal position (hereinafter referred to as " horizontal position”). This is because there is a correlation that the size of the recognized monitored object on the captured image decreases as the monitored object moves away from the shovel 100 . Specifically, since a monitored object has an assumed size range (for example, an assumed range of human height), from the excavator 100 of the monitored object included in the assumed size range, A correlation between the viewed horizontal position and the size on the captured image can be defined in advance. For this reason, the object detection unit 302 stores, for example, a map, which is stored in advance in an internal memory such as an auxiliary storage device of the controller 30, representing the correlation between the size of the monitored object on the captured image and the horizontal position viewed from the excavator 100, or the like. Based on the conversion formula or the like, the actual position (horizontal position from the excavator 100) of the recognized monitored object can be estimated.

Further, for example, the object detection unit 302 performs projective transformation (homography) of the captured image onto the plane on the premise that the monitored object exists on the same plane as the excavator 100 (specifically, the undercarriage 1). ), etc., the actual position (for example, the foot position) can be estimated. In this case, a certain portion (a certain point) that constitutes the captured image is associated with a certain position on the same plane as the excavator 100 .

Further, the function of the object detection unit 302 may be switched between ON (enabled) and OFF (disabled) according to a predetermined operation of the input device 52 by an operator or the like.

The safety control unit 303 performs control related to functional safety of the excavator 100 . Safety control section 303 includes safety control sections 303A and 303B.

The safety control unit 303A activates the first safety function when the object detection unit 302 detects the object to be monitored.

The first safety function includes, for example, outputting an alarm or the like to at least one of the inside of the cabin 10, the outside of the cabin 10, and the remote operator or manager of the shovel 100, and notifying the detection of the monitored object. functionality may be included. As a result, an operator inside the cabin 10, a worker around the excavator 100, an operator or a manager who remotely operates the excavator 100, etc., have objects to be monitored within a predetermined range around the excavator 100. can draw attention to Hereinafter, the notification function to the inside (operator) of the cabin 10 is "internal notification function", the notification function to the outside (workers, etc.) of the excavator 100 is "external notification function", and to the operator who remotely operates the excavator 100. are sometimes referred to as "remote notification functions" and distinguished from each other.

Also, the first safety function may include, for example, an operation restriction function that restricts the operation of the excavator 100 in response to an operation command corresponding to the operation of the operation device 26, remote operation, or automatic operation function. As a result, the operation of the excavator 100 can be forcibly restricted, and the possibility of the excavator 100 approaching or contacting surrounding objects can be reduced. The motion restriction function may include a motion deceleration function that slows down the motion speed of the excavator 100 in response to an operation command corresponding to the operation of the operating device 26, the remote control, or the automatic driving function. In addition, the operation restriction function includes an operation stop function that stops the operation of the excavator 100 and maintains the stopped state regardless of operation commands corresponding to the operation of the operating device 26, remote operation, or automatic operation function. good too.

The safety control unit 303A activates the notification function when, for example, the object detection unit 302 detects a monitoring target within a predetermined range (hereinafter referred to as "reporting range") included in the monitoring area. The reporting range may be the same as the monitoring area, or may be set so that the outer edge of the monitoring area is relatively closer to the excavator 100 than the monitoring area.

The safety control unit 303A, for example, controls the sound output device 54 to activate an internal notification function and an external notification function using sound (that is, auditory method) for at least one of the inside and outside of the cabin 10. At this time, the safety control unit 303A may change the pitch, sound pressure, tone color, sound period when sound is periodically sounded, content of sound, etc., according to various conditions. .

Also, the safety control unit 303A activates an internal notification function by, for example, a visual method. Specifically, the safety control unit 303A controls the display device 50 through the display processing unit 301 to display an image indicating that the monitoring target is detected on the monitoring image displayed on the display device 50. can be displayed. In addition, the safety control unit 303A, through the display processing unit 301, controls the monitoring target appearing in the monitoring image displayed on the display device 50, and the position of the detected monitoring target on the monitoring image corresponding to the position viewed from the excavator 100. Position may be emphasized. More specifically, the safety control unit 303A causes the display processing unit 301 to superimpose and display a frame surrounding the monitoring target appearing on the monitoring image, or display a monitoring image corresponding to the actual position of the detected monitoring target. A marker may be superimposed and displayed on the position on the image (for example, see FIGS. 10, 21, and 22). Thereby, the display device 50 can realize a visual notification function for the operator. Further, the safety control unit 303A may use a warning light, a lighting device, or the like inside the cabin 10 to notify the operator or the like inside the cabin 10 that the monitoring target is detected.

In addition, the safety control unit 303A operates an external notification function by a visual method, for example, by controlling a lighting device such as a headlight provided in the house portion of the upper rotating body 3 or the like and an external display device. You may let Further, the safety control unit 303A may activate the internal notification function in a tactile manner, for example, by controlling a vibration generator that vibrates the cockpit on which the operator sits. As a result, the controller 30 can make the operator, workers, supervisors, and the like around the excavator 100 recognize that there is a monitoring target (for example, a person such as a worker) around the excavator 100 . . Therefore, the controller 30 can prompt the operator to confirm the safety situation around the excavator 100, and can prompt the worker or the like in the monitoring area to evacuate from the monitoring area.

Further, the safety control unit 303A may activate the remote notification function by transmitting a command signal indicating activation of the notification function to the management device 200 or the terminal device 300 through the communication device 70, for example. In this case, the management device 200 (control device 210) may output a visual or auditory warning through the output device 230 when receiving the command signal from the excavator 100 through the communication device 220. FIG. As a result, the manager of the management device 200, the operator, the operator who remotely operates the excavator 100 through the management device 200, and the like can recognize that the monitored object has entered the notification range around the excavator 100. FIG. Similarly, when the terminal device 300 (control device 310 ) receives a command signal from the excavator 100 via the communication device 320 , the terminal device 300 may output an alarm visually or audibly through the output device 330 .

Note that the remote notification function of the safety control unit 303A may be transferred to the management device 200 or the terminal device 300. FIG. In this case, the management device 200 receives from the excavator 100 information about the detection status of the object to be monitored by the object detection unit 302, and based on the received information, determines whether or not the object to be monitored has entered the notification range. Activates the external notification function when there is an object to be monitored inside. The terminal device 300 may be the same.

In addition, the safety control unit 303A may vary the notification mode (that is, the notification method) according to the positional relationship between the monitored object detected within the notification range and the excavator 100 .

For example, when the object to be monitored detected by the object detection unit 302 within the notification range is located relatively far from the excavator 100, the safety control unit 303A may set the object detection unit 303A so as to alert the operator or the like to the object to be monitored. A low urgency warning (hereinafter referred to as a "caution level warning") may be output. Hereinafter, the range relatively far from the excavator 100, ie, the range corresponding to the caution level warning, of the notification range may be referred to as the "caution notification range" for convenience. On the other hand, when the object detected by the object detection unit 302 within the reporting range is located relatively close to the excavator 100, the safety control unit 303A increases the danger of the object being monitored approaching the excavator 100. A relatively high-urgency alarm (hereinafter referred to as "warning-level alarm") may be output. Hereinafter, the range in which the distance from the excavator 100 is relatively short, ie, the range corresponding to the alert level warning, may be referred to as the "alert alert range".

In this case, the safety control unit 303A may change the pitch, sound pressure, tone, sounding period, etc. of the sound output from the sound output device 54 between the caution level warning and the caution level warning. In addition, the safety control unit 303A can display an image indicating that the monitoring target is detected on the monitoring image displayed on the display device 50, and a monitoring The color, shape, size, presence/absence of blinking, blinking cycle, etc. of the image (for example, frame, marker, etc.) that emphasizes the position of the target or monitoring target may be varied. As a result, the controller 30 informs the operator or the like of the urgency, in other words, the excavator 100 to be monitored, based on the difference between the notification sound (warning sound) output from the sound output device 54 and the notification image displayed on the display device 50 . It is possible to grasp the degree of proximity to

The safety control unit 303A cancels the operation of the notification function through the input device 52 when the object to be monitored that has been detected by the object detection unit 302 is no longer detected within the monitoring area after the start of operation of the notification function. is accepted, the notification function may be stopped.

Further, the safety control unit 303A activates the operation restriction function, for example, when the object detection unit 302 detects a monitoring target within a predetermined range (hereinafter referred to as “operation restriction range”) included in the monitoring area. The restricted operation range may be the same as the monitored area, or may be set so that the outer edge thereof is relatively closer to the excavator 100 than the monitored area. In addition, the operation limitation range includes an operation deceleration range in which the operation speed of the excavator 100 is slower than normal in response to an operation command corresponding to the operation of the operation device 26, remote operation, and automatic driving function, and an operation deceleration range of operation of the operation device 26, remote operation. , and at least one of an operation stop range in which the operation of the excavator 100 is stopped and the stop state is maintained regardless of the operation command corresponding to the automatic operation function. For example, when both the motion deceleration range and the motion stop range are included in the motion limit range, the motion stop range is, for example, the range close to the excavator 100 within the motion limit range, and the motion deceleration range is the motion limit range. This is the range set outside the operation stop range.

The safety control unit 303</b>A controls the hydraulic control valve 31 to operate an operation restriction function that restricts the operation of the excavator 100 . In this case, the safety control section 303A may limit the operation of all driven elements (that is, the corresponding hydraulic actuators), or may limit the operation of some driven elements (hydraulic actuators). . As a result, the controller 30 can decelerate or stop the operation of the excavator 100 when there is an object to be monitored around the excavator 100 . Therefore, the controller 30 can suppress the occurrence of contact between the monitoring target around the excavator 100 and the excavator 100 . Further, the safety control section 303A may operate the operation limiting function (operation stopping function) by controlling the electromagnetic switching valve 25V and shutting off the pilot line 25 .

Further, the safety control unit 303A cancels the operation of the operation restriction function through the input device 52 when the object detection unit 302 no longer detects the object to be monitored after the operation of the operation restriction function is started. is accepted, the operation restriction function is stopped. The operation for deactivation of the notification function and the operation for deactivation of the motion restriction function on the input device 52 may be the same or different.

Further, the function of the safety control unit 303A may be switched between ON (enabled) and OFF (disabled) according to a predetermined operation on the input device 52 by an operator or the like.

The safety control unit 303B performs control related to ensuring safety in a range where the range of blind spots seen from the imaging device 40 and the range of possible blind spots seen from the operator overlap in the vicinity of the excavator 100. . Specifically, the safety control unit 303B causes the lower traveling body 1 to travel toward a range where the range of blind spots seen from the imaging device 40 and the range of possible blind spots seen from the operator overlap. If so, activate the second safety function. Similarly, the safety control unit 303B controls the upper revolving body so that the attachment AT approaches the range where the range of blind spots seen from the imaging device 40 and the range of possible blind spots seen from the operator overlap. If 3 turns, activate the second safety feature.

The area that may be a blind spot for the operator includes an area that may be a blind spot for the operator of the cabin 10 and an area that may be a blind spot for the operator of the remote control, that is, Both blind areas as viewed from the front camera 42 may be included.

As shown in FIG. 2, the imaging range (angle of view) of the imaging device 40 (cameras 40B, 40L, 40R) is represented by a two-dot chain line in the drawing, and the front of the upper rotating body 3 is the blind spot of the imaging device 40. Corresponds to area.

In addition, depending on the posture of the attachment AT (the boom 4, the arm 5, and the bucket 6), the right front region BS of the upper rotating body 3 may become a blind spot as seen from the operator of the cabin 10. Similarly, the image captured by the front camera 42 may be blocked by the attachment AT, and the right front region BS of the upper swing body 3 may become a blind spot. In particular, when the boom 4 is relatively lowered or the arm 5 is relatively closed, the attachment AT blocks the operator's field of view and the front of the front camera 42, and the right front area of the upper swing body 3 is blocked. There is a high possibility that BS will become a blind spot.

For example, as shown in FIG. 2, the right side of the upper rotating body 3 where the worker W1 is present is included in the imaging range of the camera 40R. Therefore, the operator can confirm the existence of the worker W1 by the monitoring image displayed on the display device 50 and the activation of the first safety function when the worker W1 is detected by the object detection unit 302. . Therefore, even if the orientation of the upper revolving structure 3 and the orientation of the direction in which the lower traveling structure 1 can travel are relatively largely deviated (chain line in the figure), the operator does not need to perform the work. The possibility of confirming the presence of the person W1 and performing the travel operation in that direction (the white arrow of the dashed-dotted line in the figure) is extremely low. Similarly, the possibility of the operator turning the upper turning body 3 in the right direction where the worker W1 is present is extremely low.

On the other hand, as described above, the right front area BS of the upper revolving body 3 may be a blind spot for the operator. Therefore, when the difference between the orientation of the upper revolving structure 3 and the direction in which the lower traveling structure 1 can travel is relatively small, the operator does not notice the worker W2 and performs the traveling operation so as to face the worker W2. , and as a result, the excavator 100 may approach the worker W2. Similarly, the operator may rotate the upper rotating body 3 to the right where the worker W2 is present, and as a result, the attachment AT may approach the worker W2.

On the other hand, the safety controller 303B can activate the second safety function in such a situation.

For example, as the second safety function, a notification or the like is output to alert at least one of the inside of the cabin 10 and the remote operator or manager of the excavator 100 to the right front area BS of the upper swing body 3. It may include a reminder function to do so. As a result, the operator inside the cabin 10, the operator remotely operating the excavator 100, etc. can be alerted to the range (right front area BS) around the excavator 100 that may become a blind spot. can. Therefore, the controller 30 can cause the operator to stop (cancel) the traveling operation that causes the excavator 100 to move toward the blind spot (right front region BS) or the turning operation that causes the attachment AT to move toward the blind spot (right front region BS). can.

The alert function for the operator inside the cabin 10 may be performed through the sound output device 54, for example, as in the case of the internal notification function described above. Further, the function of calling the attention of the operator inside the cabin 10 may be performed through the display device 50, for example, as in the case of the internal notification function described above. In order to alert the operator who remotely operates the excavator 100, a command signal indicating the operation of the alert function is sent to the management device 200 or the terminal device 300 through the communication device 70, as in the case of the remote notification function described above. It may be realized by

Further, for example, the second safety function may include, for example, operation of the operating device 26, remote control, or traveling motion of the excavator 100 in response to an operation command corresponding to the automatic driving function, as in the case of the first safety function. and a motion restriction function that restricts turning motion. As a result, the operation of the excavator 100 is forcibly restricted (decelerated or stopped), and the object (worker W2) in the right front area BS of the upper swing body 3 and the body of the excavator 100, which may be a blind spot for the operator. , and the possibility of approaching or contacting with the attachment AT can be reduced.

[Control processing related to the second safety function]
Next, the control processing regarding the second safety function by the controller 30 will be described with reference to FIGS. 6 and 7. FIG.

<First example of control processing>
FIG. 6 is a flowchart schematically showing a first example of control processing by the controller 30. As shown in FIG. This flowchart is repeatedly executed in a range from, for example, after completion of the initial processing when starting the excavator 100 to before starting end processing when the excavator 100 is stopped. Further, the processing of this flowchart may be performed only when, for example, both the function of the object detection unit 302 and the function of the safety control unit 303A (first safety function) are valid. The same may be applied to the flowchart of FIG. 7, which will be described later.

Note that the function activation flag F11 used in this flow chart indicates whether or not the second safety function related to the running motion of the lower running body 1 (a function to call attention and a function to limit the running motion of the lower running body 1) is activated. . Further, the travel permission flag F12 used in this flow chart indicates permission of travel toward a range where the range of the blind spot seen from the imaging device 40 and the range of possible blind spots seen from the operator overlap. Indicates presence or absence. The function activation flag F11 and the travel permission flag F12 are each set to "OFF" as an initial state when the excavator 100 is started.

As shown in FIG. 6 , in step S<b>102 , the safety control section 303</b>B determines based on the output of the operation information output device 29 whether or not the traveling operation of the lower traveling body 1 has been performed. The safety control unit 303B proceeds to step S103 when the traveling operation of the lower traveling body 1 is being performed, and proceeds to step S114 when not being performed.

In step S103, the safety control unit 303B determines whether or not the travel permission flag F12 is set to "ON". If the travel permission flag F12 is not set to "ON", the safety control unit 303B proceeds to step S104, and if the travel permission flag F12 is set to "ON", the lower traveling body 1 is permitted to travel. , the process proceeds to step S122.

In step S104, the safety control unit 303B determines that the direction of the travel operation is the direction toward the overlapping range of the range of the blind spot seen from the imaging device 40 and the range of possible blind spots seen from the operator. Determine whether or not there is Specifically, the safety control unit 303</b>B determines whether or not the direction of the traveling operation is toward the right front area BS of the upper swing body 3 . More specifically, based on the output of the turning angle sensor 46, the safety control unit 303B grasps the orientation of the upper revolving body 3 with respect to the lower traveling body 1, so that the direction of travel operation is adjusted to that of the upper revolving body. It may be determined whether or not the direction is toward the right front area BS of No. 3. If the direction of the travel operation is not the direction toward the overlapping range of the range of blind spots seen from the imaging device 40 and the range of possible blind spots seen from the operator, the safety control unit 303B proceeds to step S106. If the direction is toward a range that overlaps with the range that may be a blind spot for the operator, the process proceeds to step S108.

If YES in step S104, the safety control unit 303B further determines that the range of blind spots seen from the imaging device 40 and the range of possible blind spots seen by the operator are actually blind spots of the operator. It may be determined whether or not Specifically, the safety control section 303A may determine whether or not the operator's blind spot is actually present by grasping the attitude state of the attachment AT based on the output of the attitude sensor 44 . More specifically, the safety control unit 303B actually determines whether or not the posture angle of the boom 4 and the posture angle of the arm 5 are within predetermined ranges that are assumed to block the operator's field of view. It may be determined whether or not there is an operator's blind spot. Data regarding a predetermined range of the attitude angle of the boom 4 and the attitude angle of the arm 5, which are assumed to block the operator's field of view, may be stored in the auxiliary storage device of the controller 30, for example. This data may be obtained from the outside (for example, the management device 200) through the communication device 70 or the like, or may be registered in advance at the time of shipment from the factory. Then, the safety control unit 303B may proceed to step S106 if it is not in the operator's blind spot, and to step S108 if it is in the operator's blind spot.

In step S106, the safety control unit 303B sets the function activation flag F11 to "OFF". As a result, the safety control section 303B deactivates the second safety function when the second safety function relating to the traveling motion of the lower traveling body 1 is in operation.

When the process of step S106 is completed, the controller 30 ends the process of this flowchart.

On the other hand, in step S108, the safety control unit 303B sets the function activation flag F11 to ON. Thus, the safety control unit 303B activates the second safety function regarding the running motion of the lower running body 1 when the second safety function regarding the running motion of the lower running body 1 is not activated.

For example, the safety control unit 303B activates a warning function that calls the operator's attention to the right front of the upper swing body 3 . In addition, for example, the safety control unit 303B activates a motion limiting function of the running motion of the lower running body 1 . Further, the safety control section 303B may operate both the function of calling attention and the function of restricting the traveling motion of the lower traveling body 1 .

When at least one of the function of the object detection unit 302 and the function of the safety control unit 303A (first safety function) is turned OFF (disabled), the operation limiting function of the running motion of the lower running body 1 may be disabled. Further, when only the latter of the function for calling attention and the function for restricting the traveling motion of the lower traveling body 1 is activated, the traveling motion of the lower traveling body 1 is controlled through the display device 50, the sound output device 54, the communication device 70, and the like. The operator may be notified of the restriction, the reason for the restriction, and the like.

When the process of step S108 is completed, the controller 30 ends the process of this flowchart.

On the other hand, in step S114, the safety control section 303B determines whether or not the function activation flag F11 is set to "ON", that is, whether or not the second safety function (warning function or operation) related to the running motion of the lower running body 1 is activated. limit function) is in operation. If the function activation flag F11 is set to "ON", the safety control unit 303B proceeds to step S116, otherwise the process of this flowchart ends.

In step S116, the safety control unit 303B determines whether or not a certain period of time has elapsed in a state in which the travel operation has been canceled (for example, a lever operation for the travel operation is in a neutral position). The safety control unit 303B proceeds to step S118 if a certain period of time has elapsed while the traveling operation is canceled, otherwise ends this flowchart.

In step S118, the safety control unit 303B sets the function operation flag F11 to "OFF". As a result, the safety control section 303B cancels the second safety function in operation. Therefore, the operator cancels the traveling operation of the lower traveling body 1 and fully checks the right front of the upper revolving body 3 to confirm that there is no problem, thereby canceling the attention calling function and the operation limiting function. can.

After completing the process of step S118, the controller 30 proceeds to step S120.

In step S120, the safety control unit 303B sets the travel permission flag F12 to "ON". As a result, the operator cancels the traveling operation of the lower traveling body 1 and fully checks the right front of the upper revolving body 3 to confirm that there is no problem. The traveling body 1 can be made to travel.

On the other hand, in step S122, the safety control unit 303B determines whether or not the traveling operation is being continued. The safety control unit 303B repeats the processing of this step when the traveling operation is continuing, and proceeds to step S124 when the traveling operation is not continuing, that is, when the traveling operation is cancelled.

In step S124, the safety control unit 303B sets the travel permission flag F12 to "OFF". As a result, the process after step S104 is executed again at the next travel operation, so that the safety of the excavator 100 can be ensured.

When the process of step S124 is completed, the safety control unit 303B ends the process of this flowchart.

In this way, in this example, the safety control unit 303B sets the direction of the travel operation to a range where the range of blind spots seen from the imaging device 40 and the range of possible blind spots seen from the operator overlap. If the direction is headed, it activates the alerting function and the motion limiting function of the running motion.

Thereby, the safety of the excavator 100 can be improved.

<Second example of control processing>
FIG. 7 is a flowchart schematically showing a second example of control processing by the controller 30. As shown in FIG.

Note that the function activation flag F21 used in this flow chart indicates whether or not the second safety function (a function to call attention and a function to limit the movement of the revolving movement of the upper revolving body 3) relating to the revolving movement of the upper revolving body 3 is activated. . Also, the turning permission flag F22 used in this flow chart indicates the turning operation of the attachment AT toward the overlapping range of the range of blind spots seen from the imaging device 40 and the range of possible blind spots seen from the operator. indicates whether or not permission is granted. The function operation flag F21 and the turning permission flag F22 are each set to "OFF" as an initial value when the excavator 100 is started.

In step S202, the safety control unit 303B determines whether or not the swinging operation of the upper swing body 3 is being performed. The safety control unit 303B proceeds to step S203 when the swinging operation of the upper swing body 3 is being performed, and proceeds to step S214 when not being performed.

In step S203, the safety control unit 303B determines whether or not the turning permission flag F22 is set to "ON". If the turning permission flag F22 is not set to "ON", the safety control unit 303B proceeds to step S204. and proceeds to step S222.

In step S204, the safety control unit 303B determines that the direction of the turning operation overlaps the blind spot range seen from the imaging device 40 and the possible blind spot range seen from the operator. It is determined whether or not it is the direction to go. Specifically, the safety control unit 303B determines whether or not the direction of the turning operation is the direction in which the attachment AT faces the right front region BS of the upper turning body 3, that is, the right direction. If the turning direction is not to the right, the safety control unit 303B proceeds to step S206, and if the turning direction is to the right, proceeds to step S208.

As in the case of the first example (FIG. 6) described above, if YES in step S204, the safety control unit 303B further determines the range of the blind spot seen from the imaging device 40 and the blind spot seen from the operator. It may be determined whether the possible range is actually the operator's blind spot. Then, the safety control section 303B may proceed to step S206 if it is not actually in the operator's blind spot, and may proceed to step S208 if it is actually in the operator's blind spot.

In step S206, the safety control unit 303B sets the function operation flag F21 to "OFF". As a result, the safety control section 303B deactivates the second safety function when the second safety function related to the swing motion of the upper swing body 3 is operating.

When the process of step S206 is completed, the controller 30 ends the process of this flowchart.

On the other hand, in step S208, the safety control unit 303B sets the function activation flag F21 to "ON". Thus, the safety control unit 303B activates the second safety function regarding the running motion of the lower running body 1 when the second safety function regarding the running motion of the lower running body 1 is not activated.

For example, the safety control unit 303B activates a warning function that calls the operator's attention to the right front of the upper swing body 3 . In addition, for example, the safety control unit 303B activates a motion restriction function of the swing motion of the upper swing body 3 . Further, the safety control section 303B may operate both the function of calling attention and the function of restricting the turning movement of the upper turning body 3 .

As in the first example described above, when at least one of the function of the object detection unit 302 and the function (first safety function) of the safety control unit 303A described above is turned OFF (disabled), the upper part The operation limiting function of the swing motion of the swing body 3 may be disabled. Further, as in the case of the first example described above, when only the latter of the function for calling attention and the function for restricting the turning movement of the upper turning body 3 is activated, the display device 50, the sound output device 54, the communication device 70, etc. The operator may be notified of the limitation of the swing motion of the upper swing body 3 and the reason for the restriction through the operator.

When the process of step S208 is completed, the controller 30 ends the process of this flowchart.

On the other hand, in step S214, the safety control unit 303B determines whether or not the function activation flag F21 is set to "ON", that is, whether or not the second safety function (warning function or motion control function) related to the swing motion of the upper swing structure 3 is set. limit function) is in operation. If the function activation flag F21 is set to "ON", the safety control unit 303B proceeds to step S216; otherwise, the processing of this flowchart ends.

In step S216, the safety control unit 303B determines whether or not a certain period of time has elapsed in a state in which the turning operation has been canceled (for example, the lever operation for the turning operation is in a neutral position). The safety control unit 303B proceeds to step S218 if a certain period of time has elapsed in a state in which the turning operation has been canceled, and ends this flowchart otherwise.

In step S218, the safety control unit 303B sets the function operation flag F21 to "OFF". As a result, the safety control section 303B cancels the second safety function in operation. Therefore, the operator cancels the turning operation of the upper revolving body 3 and fully checks the right front of the upper revolving body 3 to confirm that there is no problem, thereby canceling the attention-calling function and the movement restriction function. can.

After completing the process of step S218, the controller 30 proceeds to step S220.

In step S220, the safety control unit 303B sets the turning permission flag F22 to "ON". As a result, the operator cancels the turning operation of the upper revolving body 3 and fully checks the right front of the upper revolving body 3 to confirm that there is no problem. The revolving body 3 can be revolved.

On the other hand, in step S222, the safety control section 303B determines whether or not the turning operation of the upper turning body 3 is being continued. The safety control unit 303B repeats the processing of this step when the turning operation is continuing, and proceeds to step S224 when the turning operation is not continuing, that is, it is canceled.

In step S224, the safety control unit 303B sets the turning permission flag F22 to "OFF". As a result, the process from step S204 onward is executed again at the next turning operation, so that the safety of the excavator 100 can be ensured.

When the process of step S224 is completed, the safety control unit 303B ends the process of this flowchart.

Thus, in this example, the safety control unit 303B sets the direction of the turning operation to a range where the blind spot range when viewed from the imaging device 40 and the range where there is a possibility of becoming a blind spot viewed by the operator overlap. If it is in the direction that the attachment AT is heading, it activates the function for calling attention and the function for restricting turning motion.

Thereby, the safety of the excavator 100 can be improved.

[Action]
Next, the operation of the excavator 100 according to this embodiment will be described.

In this embodiment, the imaging device 40 and the distance sensor are mounted on the upper revolving body 3 and are configured to be able to acquire data about the situation around the excavator 100 . In addition, the display device 50 and the sound output device 54 are based on the output of the imaging device 40 and the distance sensor, and provide information that enables confirmation of the situation around the excavator 100 (for example, monitoring images and detection of monitored objects around the excavator 100). information that represents Under the control of the controller 30 , the display device 50 , the sound output device 54 , and the communication device 70 are controlled by the controller 30 so that information can be provided in a range around the excavator 100 (for example, an imaging range of the imaging device 40 and an object detection unit 302 ). The lower traveling body 1 travels or the attachment AT approaches a predetermined range (for example, the right front region BS of the upper rotating body 3) outside the detectable range) that may become a blind spot for the operator. When the upper swing body 3 swings as described above, the operator is notified to pay attention to the above-described predetermined range.

As a result, the excavator 100 can cancel (stop) a traveling operation toward a predetermined range that may be a blind spot for the operator or a turning operation such that the attachment AT approaches. Therefore, even if the operator cannot confirm that a person or the like exists within the predetermined range, it is possible to prevent the shovel from approaching or contacting the person or the like. Therefore, the excavator 100 can ensure safety in a range where the blind spots from the imaging device 40, the distance sensor, etc. overlap with the blind spots from the operator.

In addition, in the present embodiment, the display device 50, the sound output device 54, and the communication device 70 are controlled by the controller 30 so that the posture of the attachment AT is such that the predetermined range is a blind spot from the operator's point of view. In order to call the operator's attention to the above-described predetermined range when the lower traveling body 1 travels toward the predetermined range or the upper rotating body 3 swings so that the attachment AT approaches. You can give notice.

As a result, the excavator 100 can call attention to the operator by limiting the above-described predetermined range to a blind spot that is actually blocked by the attachment AT. Therefore, the excavator 100 suppresses the operator's annoyance due to the notification, and ensures safety in the range where the blind spots from the imaging device 40, the distance sensor, etc. and the blind spots from the operator overlap in the vicinity of the excavator 100. can be ensured.

Further, in the present embodiment, the display device 50, the sound output device 54, and the communication device 70 are controlled by the controller 30 so that the traveling operation of the lower traveling body 1 or the attachment AT approaches toward the above-described predetermined range. When the revolving operation of the upper revolving body 3 is started, a notice may be sent to the operator to call attention to the above-described predetermined range.

As a result, the excavator 100 can limit an opportunity for notifying the operator to pay attention to the above-described predetermined range only when the traveling operation of the lower traveling body 1 or the turning operation of the upper revolving body 3 is started. . Therefore, once the excavator 100 is allowed to travel by the lower traveling body 1 and turn by the upper revolving body 3, the excavator 100 does not notify the operator to alert the operator. The movement and the turning motion of the upper turning body 3 can be continued. Therefore, the excavator 100 suppresses the operator's annoyance due to the notification, and ensures safety in the range where the blind spots from the imaging device 40, the distance sensor, etc. and the blind spots from the operator overlap in the vicinity of the excavator 100. can be ensured.

In this embodiment, the excavator 100 (controller 30) uses the display device 50, the sound output device 54, and the communication device 70 to notify the operator to pay attention to the above-described predetermined range. Alternatively, the movement of the upper revolving body 3 may be restricted.

As a result, the traveling motion of the lower traveling body 1 and the turning motion of the upper turning body 3 of the excavator 100 can be forcibly decelerated or stopped. Therefore, the safety of the excavator 100 can be further improved.

Further, in the present embodiment, when the operation of the lower traveling body 1 or the upper rotating body 3 is canceled, the excavator 100 (controller 30) notifies the operator of the display device 50 or the like to call attention to the lower traveling body 1 or the upper rotating body 3. Restrictions on movement of the body 3 may be lifted.

As a result, the excavator 100 judges the operator's intention to check the above-described predetermined range by canceling the operation of the lower traveling body 1 or the upper revolving body 3, and notifies the operator of the lower traveling body 1 or The restriction on the movement of the upper revolving body 3 can be released. Therefore, the excavator 100 suppresses the convenience of the operator and the deterioration of the work efficiency of the excavator, and ensures safety in the range where the blind spots from the imaging device 40, the distance sensor, etc. and the blind spots from the operator overlap in the surroundings of the excavator 100. can ensure the integrity of the

Further, the excavator 100 (controller 30) moves the lower traveling body 1 or the upper revolving body 3 toward the above-described predetermined range after a predetermined time or longer has passed since the operation of the lower traveling body 1 or the upper revolving body 3 was released. When operation 3 is performed, the operation of the lower traveling body 1 or the upper rotating body 3 may be permitted.

As a result, the excavator 100 can determine the completion of confirmation of the above-mentioned predetermined range by the operator when the predetermined time has elapsed since the release of the operation, and permit the operation of the lower traveling body 1 and the upper revolving body 3. can. Therefore, the excavator 100 suppresses the convenience of the operator and the deterioration of the work efficiency of the excavator, and ensures safety in the range where the blind spots from the imaging device 40, the distance sensor, etc. and the blind spots from the operator overlap in the surroundings of the excavator 100. can ensure the integrity of the

Further, in this embodiment, when the function of the object detection unit 302 or the function of the safety control unit 303A is disabled, the excavator 100 (controller 30) operates the function of the safety control unit 303B (notifying the operator of the predetermined range). function to notify you to prompt) may be disabled.

As a result, the excavator 100 (controller 30) automatically disables the function of the safety control unit 303B according to the situation where the operator disables the function of the object detection unit 302 and the function of the safety control unit 303A through the input device 52. can be Therefore, the excavator 100 can improve convenience for the operator.

Further, when the function of the object detection unit 302 or the function of the safety control unit 303A is disabled, the excavator 100 (controller 30) calls the operator's attention to the above-mentioned predetermined range among the functions of the safety control unit 303B. It is also possible to operate the function of notifying the user of the above, while not operating the function of restricting the movement of the lower traveling body 1 or the upper rotating body 3 .

As a result, the excavator 100 (controller 30) operates one of the functions of the safety control unit 303B according to the situation where the operator disables the function of the object detection unit 302 and the function of the safety control unit 303A through the input device 52. While disabling the restriction function, it is possible to continue the alerting function. Therefore, the excavator 100 can ensure safety in the range where the blind spots from the imaging device 40, the distance sensor, etc. and the blind spots from the operator overlap in the vicinity of the excavator 100, while considering the operator's convenience. .

[Transformation/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 are possible within the scope of the claims.

For example, the first safety function and the second safety function according to the embodiment described above may be employed in any working machine other than the excavator 100 . For example, the first safety function and the second safety function may be installed in a liftmag machine, a bulldozer, a wheel loader, an asphalt finisher, a forestry machine, etc. to which a lifting magnet is attached as an end attachment.

1 Undercarriage 1C, 1CL, 1CR Crawler 3 Upper Revolving Body 4 Boom 5 Arm 6 Bucket 10 Cabin 30 Controller 31 Hydraulic Control Valve 40 Imaging Device (Acquisition Device)
40B, 40L, 40R camera 42 front camera 44 attitude sensor (measuring device)
46 turning angle sensor 50 display device (information providing device, notification device)
52 input device 54 sound output device (notification device)
70 communication device 100 excavator 200 management device 210 control device 220 communication device 230 output device 240 input device 300 terminal device 301 display processing unit 302 object detection unit 303 safety control unit 303A safety control unit 303B safety control unit 310 control device 320 communication device 330 Output device 340 Input device 1000 Excavator management system

Claims (8)

a lower running body;
an upper rotating body rotatably mounted on the lower traveling body;
a working attachment attached to the upper revolving structure;
an acquisition device that is mounted on the upper revolving structure and is capable of acquiring data related to the situation around the excavator;
an information providing device that provides information enabling confirmation of a situation around the excavator based on the output of the acquisition device;
The undercarriage travels, or the work attachment moves toward a predetermined range outside the range in which information can be provided by the information providing device around the excavator, which may become an operator's blind spot. a notification device that notifies an operator to pay attention to the predetermined range when the upper swing body swings;
Excavator. A measuring device for measuring the posture state of the work attachment,
In the notification device, the posture state of the work attachment is such that the predetermined range is a blind spot when viewed from the operator, and the undercarriage travels toward the predetermined range, or providing said notification when said upper swing structure swings so that a work attachment approaches;
Shovel according to claim 1 . The notification device makes the notification when an operation in which the lower traveling body travels toward the predetermined range or an operation in which the upper rotating body swings so that the work attachment approaches is started.
A shovel according to claim 1 or 2. Limiting the operation of the lower traveling body or the upper rotating body in conjunction with the notification by the notification device;
Shovel according to any one of claims 1 to 3. When the operation of the lower traveling body or the upper rotating body is canceled, the notification by the notification device and the restriction on the operation of the lower traveling body or the upper rotating body are released.
Shovel according to claim 4. When the lower traveling body or the upper rotating body is operated so as to move toward the predetermined range after a predetermined time or more has elapsed since the operation of the lower traveling body or the upper rotating body was canceled, the lower traveling body or the upper rotating body is operated. allowing movement of the body or the upper rotating body;
Shovel according to claim 5. an object detection function for detecting a predetermined object around the excavator based on the output of the acquisition device; having a safety function that implements at least one of warnings and excavator motion limits;
disabling the function of the notification device to make the notification if the object detection function or the safety function is disabled;
Shovel according to any one of claims 1 to 3. an object detection function for detecting a predetermined object around the excavator based on the output of the acquisition device; having a safety function that implements at least one of warnings and excavator motion limits;
When the object detection function or the safety function is disabled, the notification device notifies the notification while not restricting the operation of the lower traveling body or the upper rotating body.
Shovel according to any one of claims 4 to 6.

Images