Operating machinery

Abstract

The working machine comprises: a machine body; an actuator mounted on the machine body; an operating device for actuating the actuator; an operation detection device for detecting the operation of the operating device; a photographing device for photographing the surroundings of the machine body; an image data recording device for recording image data including the image photographed by the photographing device; a control device for controlling the image data recording device; and an object detection device for detecting objects around the machine body. The control device determines whether a recording holding condition including the existence of an object around the machine body and the operation of the operating device is satisfied based on the detection results of the object detection device and the detection results of the operation detection device, and if the recording holding condition is satisfied, the image data is recorded and held by the image data recording device.

Description

Technical Field

[0001] The present invention relates to a working machine. Background Art

[0002] For the purpose of investigating the cause of contact between a vehicle and an object, a vehicle is known that is equipped with a driving recorder device that records images of the surroundings of the vehicle captured by a camera. When recording images all the time during the operation of the vehicle, the amount of image data becomes large, and it takes time to extract image data of a desired scene. In order to reduce the amount of image data, when overwriting processing is performed by sequentially deleting old data and rewriting with new data, the image data of a desired scene may be deleted due to overwriting. Therefore, it is preferable to start recording images at a desired scene.

[0003] Patent Document 1 discloses a drive recorder device including: an impact detection unit that detects an impact on a vehicle; and a storage information storage unit that stores and retains storage information stored in the storage unit when the impact detection unit detects an impact of a predetermined value or more.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Publication No. 2004-224105 Summary of the invention

[0007] Problems to be solved by the invention

[0008] In a work machine such as a hydraulic excavator working at a construction site, it is also desired to record and maintain image data around the work machine. However, the work machine frequently generates impacts during operation. Therefore, if the work machine is configured to record and maintain image data by detecting impacts, the image data will be frequently recorded and maintained, and there is a problem that the accuracy of recording and maintaining the required scene, that is, the recording accuracy, becomes low.

[0009] The purpose of the present invention is to improve the video recording accuracy of required scenes.

[0010] Means for solving problems

[0011] A working machine according to one embodiment of the present invention comprises: a machine body; an actuator mounted on the machine body; an operating device for actuating the actuator; an operation detection device for detecting the operation of the operating device; a photographing device for photographing the surroundings of the machine body; an image data recording device for recording image data including the image photographed by the photographing device; a control device for controlling the image data recording device; and an object detection device for detecting an object around the machine body. The control device determines whether a recording and holding condition including the existence of an object around the machine body and the operation of the operating device is satisfied based on the detection result of the object detection device and the detection result of the operation detection device, and when the recording and holding condition is satisfied, the image data is recorded and held by the image data recording device.

[0012] Effects of the Invention

[0013] According to the present invention, the recording accuracy of a desired scene can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a diagram showing the configuration of a management system for a hydraulic excavator.

[0015] Figure 2 This is a schematic diagram of the interior of the cab viewed from behind the driver's seat.

[0016] Figure 3 It is a diagram showing the main structure of a hydraulic excavator.

[0017] Figure 4 It is a schematic top view of a hydraulic excavator, showing the imaging range of multiple imaging devices.

[0018] Figure 5 This is a functional block diagram showing the main functions of the surrounding monitoring system.

[0019] Figure 6 This is a diagram of the hydraulic excavator as viewed from above, showing a warning area S1 and a caution area S2 of the hydraulic excavator.

[0020] Figure 7 This is a diagram showing an example of a composite image displayed on a display screen of a display device.

[0021] Figure 8 It is a sequence diagram for explaining the contents of the recording control processing of the recording control unit.

[0022] Fig. 9 1 is a flowchart showing a process for determining whether a record holding condition is satisfied, which is executed by the vehicle body controller.

[0023] Fig. 10AThis is a flowchart showing the recording control process executed by the recording controller.

[0024] Fig. 10B This is a flowchart showing the processing when the recording control executed by the recording controller ends. DETAILED DESCRIPTION

[0025] A working machine and its management system according to an embodiment of the present invention will be described with reference to the drawings. The working machine is a machine used in various operations such as civil engineering, construction, and demolition. In this embodiment, an example in which the working machine is a crawler-type hydraulic excavator 1 will be described.

[0026] Figure 1 1 is a diagram showing the structure of the management system 5 of the hydraulic excavator 1. Figure 1 As shown, the management system 5 includes a hydraulic excavator 1 operating at a work site and a management server 53 installed in a management center 52. The management center 52 is installed in, for example, a head office, a branch office, a factory or other facilities of a manufacturer (manufacturer) of the hydraulic excavator 1, a rental company of the hydraulic excavator 1, a data center specializing in server operation, or a facility of an owner of the hydraulic excavator 1. The management server 53 is an external device that remotely manages (grasps, monitors) the status of the hydraulic excavator 1.

[0027] The management system 5 is configured to enable bidirectional communication between a management server 53 located at a location far from the work site and the hydraulic excavator 1 operating at the work site via a communication line 50 of a wide area network. That is, the hydraulic excavator 1 and the management server 53 can send and receive information (data) via the communication line 50. The communication line 50 is a mobile phone communication network (mobile communication network) or the Internet developed by a mobile phone operator or the like. For example, as shown in the figure, when the hydraulic excavator 1 is connected to a wireless base station 51 via a mobile phone communication network (mobile communication network), if the wireless base station 51 receives predetermined information from the hydraulic excavator 1, the received information is sent to the management server 53 via the Internet.

[0028] The management server 53 receives vehicle body information such as operation information, warning information, and video information received from the hydraulic excavator 1, and stores it in a storage device 54 such as a hard disk drive. The management server 53 causes a display device 55 such as a liquid crystal display device to display the information stored in the storage device 54. The manager can understand the status of the hydraulic excavator 1 by operating the management server 53 to display the predetermined information of the hydraulic excavator 1 on the display device 55. For example, the management server 53 stores the image data sent from the hydraulic excavator 1 in the storage device 54, and displays the image around the hydraulic excavator 1 on the display screen of the display device 55 based on the stored image data ( Figure 7The composite image shown is 199).

[0029] The hydraulic excavator 1 includes a machine body (vehicle body) 4 and a working device 10 mounted on the machine body 4. The machine body 4 includes a traveling body 2 and a revolving body 3 rotatably provided on the traveling body 2, and the working device 10 is mounted on the front part of the revolving body 3. The traveling body 2 includes a left traveling hydraulic motor 2a1 for driving the left crawler track and a right traveling hydraulic motor 2ar for driving the right crawler track (see Figure 3 The traveling body 2 travels by driving a pair of left and right crawlers by the traveling hydraulic motors 2a1 and 2ar. The rotating body 3 rotates by driving the rotating hydraulic motor 3a.

[0030] The rotating body 3 includes a rotating frame 8, a cab 7 provided on the left side of the front portion of the rotating frame 8, a counterweight 9 provided at the rear portion of the rotating frame 8, and an engine room 6 provided at the rear side of the cab 7 of the rotating frame 8. The engine room 6 accommodates an engine 21 as a prime mover and hydraulic equipment such as a hydraulic pump driven by the engine 21. A working device 10 is rotatably connected to the center of the front portion of the rotating frame 8. The engine 21 is a power source of the hydraulic excavator 1 and is composed of an internal combustion engine such as a diesel engine.

[0031] The working device 10 is a multi-jointed working device having a plurality of front parts connected in a rotatable manner and a plurality of hydraulic cylinders (actuators) for driving the front parts. In the present embodiment, three front parts, namely a boom 11, an arm 12 and a bucket 13, are connected in series. The base end of the boom 11 is rotatably connected to the front part of the rotating frame 8 via a boom pin 11b. The base end of the arm 12 is rotatably connected to the front end of the boom 11 via an arm pin 12b. The bucket 13 is rotatably connected to the front end of the arm 12 via a bucket pin 13b.

[0032] The boom 11 is driven by a hydraulic cylinder (hereinafter, also referred to as the boom cylinder 11a) and rotates relative to the rotating frame 8. The arm 12 is driven by a hydraulic cylinder (hereinafter, also referred to as the arm cylinder 12a) and rotates relative to the boom 11. The bucket 13 is driven by a hydraulic cylinder (hereinafter, also referred to as the bucket cylinder 13a) and rotates relative to the arm 12. One end of the boom cylinder 11a is connected to the boom 11, and the other end is connected to the rotating frame 8. One end of the arm cylinder 12a is connected to the arm 12, and the other end is connected to the boom 11. One end of the bucket cylinder 13a is connected to the bucket 13 via a connecting rod component, and the other end is connected to the arm 12. By driving the hydraulic cylinders of the working device 10, operations such as excavation of soil layers and land leveling are performed.

[0033] The cab 7 is provided with: a control device 100 for controlling each part of the hydraulic excavator 1; and an image data recording device 130 for recording a plurality of image capturing devices 30 (see Figure 3) The captured image is recorded together with the vehicle body information; and a battery 28 as a power supply device, which supplies power to the equipment mounted on the hydraulic excavator 1.

[0034] Figure 2 This is a schematic diagram of the interior of the cab 7 viewed from the rear side of the driver's seat 75 toward the front. Figure 2 As shown, the cab 7 includes a driver's seat 75 for the operator to sit on, operating levers (B1 to B4) for operating the various parts of the hydraulic excavator 1, and a display device 190 for displaying a predetermined display image on a display screen 191a. The display device 190 is mounted on the right column 74 when viewed from the driver's seat 75. The display device 190 is, for example, a touch screen monitor that functions as an input unit and a display unit. The display device 190 is configured based on the input from the monitor controller 120 (see FIG. 1 ). Figure 3 ) is used to cause the display screen 191a to display a composite image 199 (see Figure 7 ).

[0035] A right operating lever B1 for operating the bucket 13 and the boom 11 is provided on the right side of the operator's seat 75, and a left operating lever B2 for operating the rotating body 3 and the arm 12 is provided on the left side of the operator's seat 75. A pair of left and right travel levers (a left travel lever B4 and a right travel lever B3) are provided on the front side of the operator's seat 75. The left travel lever B4 is an operating lever for operating the left crawler track, and the right travel lever B3 is an operating lever for operating the right crawler track.

[0036] A lock lever 79a is provided on the left side (door side) of the left operation lever B2. The lock lever 79a is a member that can be selectively operated to a lock position (upward position) for allowing access to the cab 7 and an unlock position (downward position) for prohibiting access to the cab 7.

[0037] Figure 3 1 is a diagram showing the main structure of the hydraulic excavator 1, and shows a hydraulic system 80 and a surrounding monitoring system 19 mounted on the hydraulic excavator 1. In addition, the boom cylinder 11a, the arm cylinder 12a, and the bucket cylinder 13a are collectively referred to as hydraulic cylinders 10a, and the left travel hydraulic motor 2a1 and the right travel hydraulic motor 2ar are collectively referred to as travel hydraulic motors 2a. The hydraulic system 80 is provided with a plurality of hydraulic cylinders 10a (11a, 12a, 13a), but Figure 3 In the figure, a hydraulic cylinder 10a is shown as a representative. Similarly, a pair of hydraulic motors 2a for traveling are provided in the hydraulic system 80, but Figure 3 In the figure, a travel hydraulic motor 2a is shown as a representative.

[0038] like Figure 3As shown, the hydraulic system 80 includes: a variable capacity hydraulic pump, i.e., a main pump 25, driven by an engine 21; a fixed capacity hydraulic pump, i.e., a pilot pump 26, driven by the engine 21; a plurality of hydraulic actuators (hydraulic cylinder 10a, rotating hydraulic motor 3a, and traveling hydraulic motor 2a) driven by working oil (hydraulic oil) as a working fluid discharged from the main pump 25; and control valves 81, 82, and 83 that respectively control the flow of working oil supplied from the main pump 25 to each hydraulic actuator.

[0039] The hydraulic oil discharged from the pilot pump 26 is supplied to the operating devices (the working operating device 71, the rotating operating device 72, and the traveling operating device 73) for operating the actuator. The working operating device 71 is an actuator operating device that instructs the operation of the hydraulic cylinder 10a of the working device 10, and has an operating lever (equivalent to a lever) that is tilted by the operator. Figure 2 The right operating lever B1 and the left operating lever B2) 71a and a pair of hydraulic pilot pressure reducing valves 71b. The rotation operating device 72 is an actuator operating device that instructs the action of the rotation hydraulic motor 3a, and has an operating lever (equivalent to a lever) that is tilted by the operator. Figure 2 The travel operating device 73 is an actuator operating device that instructs the movement of the travel hydraulic motor 2a and has an operating lever (equivalent to a lever) that is tilted by the operator. Figure 2 The right travel rod B3 and the left travel rod B4) 73a and a pair of pressure reducing valves 73b of the hydraulic pilot type.

[0040] The pressure reducing valves 71b, 72b, 73b of the actuator operating devices 71, 72, 73 use the discharge pressure of the pilot pump 26 as the initial pressure to generate a pilot pressure (sometimes also referred to as an operating pressure) corresponding to the operation amount and operation direction of the operating levers 71a, 72a, 73a. The pilot pressure generated in this way is guided to the pressure receiving chambers 81a, 81b, 82a, 82b, 83a, 83b of the control valves 81, 82, 83 corresponding to the hydraulic actuators (10a, 3a, 2a) and used as a command (signal) to drive the control valves 81, 82, 83 to operate the actuators.

[0041] The hydraulic oil discharged from the main pump 25 is supplied to the hydraulic actuators (hydraulic cylinder 10a, swing hydraulic motor 3a, travel hydraulic motor 2a) through control valves 81, 82, 83 to drive the working device 10, swing structure 3, and travel structure 2, respectively.

[0042] The hydraulic excavator 1 includes a plurality of actuator operation detection devices 70, which are operation detection devices for detecting the operation of a plurality of actuator operation devices 71, 72, and 73. The plurality of actuator operation detection devices 70 include work operation sensors 76a, 76b, rotation operation sensors 77a, 77b, and travel operation sensors 78a, 78b. In the present embodiment, the actuator operation detection devices 76a, 76b, 77a, 77b, 78a, and 78b are pressure sensors provided on pilot lines connecting the actuator operation devices 71, 72, and 73 to the pressure receiving chambers 81a, 81b, 82a, 82b, 83a, and 83b of the control valves 81, 82, and 83. The actuator operation detection devices 76a, 76b, 77a, 77b, 78a, and 78b detect the operation pressure (operation amount) generated by the operator's operation of the operation levers 71a, 72a, and 73a. That is, the working operation sensors 76a and 76b detect the operation for operating the working device 10 (hydraulic cylinder 10a), the rotating operation sensors 77a and 77b detect the operation for operating (rotating) the rotating body 3, and the traveling operation sensors 78a and 78b detect the operation for operating (traveling) the traveling body 2. The actuator operation detection devices 76a, 76b, 77a, 77b, 78a, and 78b are connected to the vehicle body controller 110 of the control device 100, and output information related to the detected operation amount to the vehicle body controller 110.

[0043] The stop valve 89 is provided on the pilot line connecting the pilot pump 26 and the pressure reducing valves 71b, 72b, 73b of the actuator operating devices 71, 72, 73, and is an electromagnetic switching valve that switches between a communication position that allows the pilot pressure to be supplied from the pilot pump 26 to the pressure reducing valves 71b, 72b, 73b and a cut-off position that prohibits the pilot pressure from being supplied from the pilot pump 26 to the pressure reducing valves 71b, 72b, 73b. The stop valve 89 is operated by the locking lever device 79.

[0044] The locking rod device 79 is an operating device for actuating the actuator, and comprises: a locking rod 79a, which is selectively operated to a locking position (upward position) and a lock release position (downward position), wherein the locking position (upward position) is a position in which entry and exit to the cab 7 is allowed and the actuator (10a, 3a, 2a) cannot be actuated by the actuator operating devices 71, 72, 73, and the lock release position (downward position) is a position in which entry and exit to the cab 7 is prohibited and the actuator (10a, 3a, 2a) can be actuated by the actuator operating devices 71, 72, 73; a cut-out relay 79c, which is used to supply or cut off power from the battery 28; and a locking rod operation detection device 79b, which is an operation detection device for detecting the operation of the locking rod 79a of the locking rod device 79.

[0045] When the lock lever 79a is operated to the lock release position, the cut-off relay 79c is turned on, that is, the cut-off relay 79c is in a closed state, and power is supplied from the battery 28 to the cut-off valve 89. When power is supplied to the cut-off valve 89, the solenoid is excited, and the cut-off valve 89 is switched to the communication position. Therefore, when the lock lever 79a is located at the lock release position, the pressure reducing valves 71b, 72b, 73b generate command pilot pressures corresponding to the operation amounts of the operating levers 71a, 72a, 73a, and the hydraulic actuators (10a, 3a, 2a) corresponding to the operated operating levers 71a, 72a, 73a are operated.

[0046] When the lock lever 79a is operated to the lock position, the cut-off relay 79c is turned off, that is, the cut-off relay 79c is turned on, and the power supply from the battery 28 to the cut-off valve 89 is cut off. When the power supply to the cut-off valve 89 is cut off, the solenoid is demagnetized and the cut-off valve 89 is switched to the cut-off position. As a result, the pilot initial pressure to the pressure reducing valves 71b, 72b, and 73b is cut off, making the operation of the operating levers 71a, 72a, and 73a invalid.

[0047] The lock lever operation detection device 79 b detects the operation position of the lock lever 79 a , and outputs a signal indicating the detection result to the vehicle body controller 110 of the control device 100 .

[0048] The surrounding monitoring system 19 is a system for monitoring the surroundings of the body 4, and comprises: a plurality of photographing devices 30 for photographing the surroundings of the body 4; a display device 190 for causing a display screen 191a to display an image photographed by the photographing device 30; an image data recording device 130 for recording image data including the image photographed by the photographing device 30; a control device 100 for controlling the display device 190 and the image data recording device 130; a plurality of object detection devices 90 for detecting objects around the body 4; and a communication device 160 for wirelessly communicating with a management server 53 which is an external device provided outside the hydraulic excavator 1.

[0049] The display device 190 also functions as a reporting device that displays the information on the display screen 191a when an object exists around the hydraulic excavator 1, thereby reporting to the operator of the hydraulic excavator 1 that the object has been detected. The communication device 160 is a wireless communication device that can wirelessly communicate with the wireless base station 51, wherein the wireless base station 51 is connected to the communication line 50 as a wide area network, and the communication device 160 has a communication interface including a communication antenna, and the communication antenna uses a frequency band such as the 2.1 GHz frequency band as a sensing frequency band. The communication device 160 transmits and receives information with the management server 53 and the like via the wireless base station 51 and the communication line 50.

[0050] The control device 100 includes: a body controller 110 that comprehensively controls various parts of the hydraulic excavator 1; and a monitor controller 120 that displays information (data) related to the operating state of the hydraulic excavator 1 and the image captured by the imaging device 30 on the display screen 191a of the display device 190. The body controller 110 controls valves, pumps, etc. of the hydraulic system 80 based on posture information, operation information, load information on actuators, etc. of the hydraulic excavator 1. The monitor controller 120 generates a synthetic image 199 by synthesizing the images captured by the plurality of imaging devices 30 with the images generated based on the detection results of the object detection device 90, and displays the generated synthetic image 199 on the display screen 191a of the display device 190 (see Figure 7 The monitor controller 120 transmits the data of the generated synthetic image 199 (hereinafter also referred to as synthetic image data) to the image data recording device 130 .

[0051] The video data recording device 130 includes a recording controller 140, a continuous recording unit 151 as a recording device, and an event recording unit 152 as a recording device. For example, the continuous recording unit 151 is a volatile memory or a non-volatile memory, and the event recording unit 152 is a non-volatile memory provided separately from the continuous recording unit 151. The recording controller 140 causes the continuous recording unit 151 to continuously record the synthetic video data generated by the monitor controller 120. When receiving a recording trigger signal from the vehicle body controller 110, the recording controller 140 performs recording and retention of the synthetic video data recorded in the continuous recording unit 151.

[0052] The vehicle body controller 110 determines whether the recording and holding condition is satisfied based on the detection results of the object detection device 90 and the detection results of the operation detection device (the lock lever operation detection device 79b and the actuator operation detection device 70). If the recording and holding condition is satisfied, the vehicle body controller 110 sends a recording trigger signal to the image data recording device 130, and the image data recording device 130 records and holds the synthesized image data.

[0053] The recording controller 140 transmits the recorded synthetic image data to the management server 53 (see Figure 1 The management server 53 stores the received synthetic image data in the storage device 54 (see Figure 1 ).

[0054] The vehicle body controller 110, the monitor controller 120, and the video controller 140 are composed of microcomputers including CPUs (Central Processing Units) 111, 121, 141 as working circuits, ROMs (Read Only Memory) 112, 122, 142 as storage devices, RAMs (Random Access Memory) 113, 123, 143 as storage devices, input / output interfaces (I / O interfaces), and other peripheral circuits. Each of the controllers 110, 120, 140 may be composed of one microcomputer or a plurality of microcomputers.

[0055] The ROM 112, 122, 142 of each controller 110 is a non-volatile memory such as an EEPROM, which stores programs that can perform various operations. That is, the ROM 112, 122, 142 of each controller 110, 120, 140 is a storage medium that can read programs for realizing the functions of the present embodiment. The RAM 113, 123, 143 is a volatile memory, which is a working memory that directly inputs and outputs data with the CPU 111, 121, 141. The RAM 113, 123, 143 temporarily stores necessary data while the CPU 111, 121, 141 is executing the program. In addition, each controller 110, 120, 140 may further include a storage device such as a flash memory or a hard disk drive.

[0056] The CPU 111, 121, 141 is a processing device that expands the control program stored in the ROM 112, 122, 142 in the RAM 113, 123, 143 and performs a calculation, and performs a predetermined calculation process on the signals taken from the input-output interface and the ROM 112, 122, 142 and the RAM 113, 123, 143 according to the control program. Signals from various devices are input to the input-output interface. The input-output interface converts the input signal into a signal that can be calculated by the CPU 111, 121, 141. The input-output interface generates an output signal corresponding to the calculation result in the CPU 111, 121, 141, and outputs the signal to various devices.

[0057] The controllers 110, 120, and 140 are connected to each other via an in-vehicle network 22 called a CAN (Controller Area Network). Therefore, the controllers 110, 120, and 140 can exchange information with each other.

[0058] Figure 4 FIG. 1 is a schematic top view of the hydraulic excavator 1, showing the shooting range of the multiple shooting devices 30. Figure 4 As shown, a plurality of imaging devices 30 are installed on the rotating body 3. The plurality of imaging devices 30 include a left camera 31 for imaging the left side of the rotating body 3, a right camera 32 for imaging the right side of the rotating body 3, a front camera 33 for imaging the front of the rotating body 3, and a rear camera 34 for imaging the rear of the rotating body 3. Each imaging device 30 (31, 32, 33, 34) is, for example, a wide-angle camera having an imaging element such as a CCD or CMOS excellent in durability and weather resistance and a wide-angle lens.

[0059] The left camera 31 is a camera that continuously photographs the left area of ​​the rotating body 3 in a direction that obliquely looks down on the left area of ​​the rotating body 3 at a field of view angle of about 180 degrees to the left and right. The right camera 32 is a camera that continuously photographs the right area of ​​the rotating body 3 in a direction that obliquely looks down on the right area of ​​the rotating body 3 at a field of view angle of about 180 degrees to the left and right. The front camera 33 is a camera that continuously photographs the front area of ​​the rotating body 3 in a direction that obliquely looks down on the front area of ​​the rotating body 3 at a field of view angle of about 180 degrees to the left and right. The rear camera 34 is a camera that continuously photographs the rear area of ​​the rotating body 3 in a direction that obliquely looks down on the rear area of ​​the rotating body 3 at a field of view angle of about 180 degrees to the left and right. In addition, the front camera 33 is installed below the boom 11 of the working device 10 at a position that does not interfere with the working device 10.

[0060] In the figure, each rectangular area (A1, A2, A3, A4) around the hydraulic excavator 1 represents an area that can be photographed by each camera 31, 32, 33, 34. Each photographing area A1, A2, A3, A4 is photographed overlapping with an adjacent area at both ends in the longitudinal direction. The photographing areas A1, A2, A3, A4 are set to include a caution area S2 described later.

[0061] A plurality of object detection devices 90 are mounted on the rotating body 3. The plurality of object detection devices 90 include a left object detection device 91 that detects an object on the left side of the rotating body 3, a right object detection device 92 that detects an object on the right side of the rotating body 3, a front object detection device 93 that detects an object in front of the rotating body 3, and a rear object detection device 94 that detects an object behind the rotating body 3.

[0062] The left object detection device 91 is installed near the left camera 31 to monitor the area on the left side of the rotating body 3. The monitoring area of ​​the left object detection device 91 is substantially the same as the shooting area A1 of the left camera 31. The right object detection device 92 is installed near the right camera 32 to monitor the area on the right side of the rotating body 3. The monitoring area of ​​the right object detection device 92 is substantially the same as the shooting area A2 of the right camera 32. The front object detection device 93 is installed near the front camera 33 to monitor the area in front of the rotating body 3. The monitoring area of ​​the front object detection device 93 is substantially the same as the shooting area A3 of the front camera 33. The rear object detection device 94 is installed near the rear camera 34 to monitor the area on the rear side of the rotating body 3.

[0063] The object detection device 90 includes a plurality of infrared sensors arranged in a matrix in the vertical and horizontal directions. The infrared sensor is a ToF (Time of Flight) type sensor that measures the distance to an object based on the time difference from the irradiation of infrared rays to the reflection thereof, and outputs the distance measurement result to the vehicle body controller 110. In addition, the infrared sensor outputs a signal indicating the reflection intensity of the infrared rays reflected from the object to the vehicle body controller 110.

[0064] Figure 5 1 is a functional block diagram showing the main functions of the surrounding monitoring system 19. In addition, although a plurality of object detection devices 90, actuator operation detection devices 70, and imaging devices 30 are provided, only one is described as a representative. Figure 5 As shown, the vehicle body controller 110 functions as a warning region setting unit 114 , an object identifying unit 115 , and a condition determining unit 116 by executing a program stored in the ROM 112 .

[0065] The object identification unit 115 determines whether there is an object around the hydraulic excavator 1 based on the detection information from the plurality of object detection devices 90. If it is determined that there is an object around the hydraulic excavator 1, the object identification unit 115 identifies the position of the object in the excavator reference coordinate system based on the detection results of the object detection device 90, the position coordinates of the object detection device 90 in the excavator reference coordinate system stored in the ROM 112, and the installation angle of the object detection device 90.

[0066] Furthermore, the object identifying unit 115 determines whether the object detected by the object detecting device 90 is a person based on the detection result of the object detecting device 90. The object identifying unit 115 determines that the object is a person when the reflection intensity of the infrared light reflected from the object is within a predetermined range, and determines that the object is not a person when the reflection intensity of the infrared light reflected from the object is outside the predetermined range. The predetermined range is pre-set based on, for example, the reflection intensity when the infrared light is reflected from a reflective vest worn by an operator, the reflection intensity when the infrared light is reflected from human skin, and the like. The predetermined range of reflection intensity for determining a person is stored in the ROM 112.

[0067] The condition determination unit 116 determines whether the object detected by the object detection device 90 is present in the warning area S1 based on the position of the object with respect to the excavator determined by the object determination unit 115 and the information of the warning area S1 set by the warning area setting unit 114. In addition, the condition determination unit 116 determines whether the object detected by the object detection device 90 is present in the caution area S2 based on the position of the object with respect to the excavator determined by the object determination unit 115 and the information of the caution area S2 stored in the caution area storage unit 117.

[0068] The condition determination unit 116 determines whether the actuator operation is performed by the actuator operation device 71, 72, 73 based on the detection result of the actuator operation detection device 70. The condition determination unit 116 determines that the actuator operation device 71, 72, 73 is being operated when the pilot pressure P detected by the actuator operation detection device (pressure sensor) 70 is greater than the threshold value P0, and determines that the actuator operation device 71, 72, 73 is not being operated when the pilot pressure P is less than the threshold value P0. In addition, the threshold value P0 is a threshold value for determining whether the actuator operation device 71, 72, 73 is being operated, and is pre-stored in the ROM 112 of the vehicle body controller 110. The pilot pressure P becomes a minimum value (tank pressure) Pmin when the operating lever 71a, 72a, 73a is in a dead zone including a neutral position (operating angle θ=0), and becomes a maximum value Pmax when the operating lever 71a, 72a, 73a is operated to the maximum operating position (operating angle θ=θmax). The threshold value P0 is a value greater than the minimum value Pmin and less than the maximum value Pmax (Pmin<P0<Pmax).

[0069] The condition determination unit 116 determines whether the lock lever device 79 has been operated to the unlocked position or the locked position based on the detection result of the lock lever operation detection device 79 b .

[0070] The condition determination unit 116 determines whether a predetermined storage holding condition is satisfied. The condition determination unit 116 sends a recording trigger signal to the video data recording device 130 when any one of the first to third storage holding conditions is satisfied.

[0071] The first storage holding condition is satisfied when all of the following conditions 1 to 4 are satisfied, and is not satisfied when any one of the conditions 1 to 4 is not satisfied.

[0072] Condition 1: The lock lever 79a of the lock lever device 79 is operated to the lock release position;

[0073] Condition 2: There are objects around the body 4;

[0074] Condition 3: The object is a person;

[0075] Condition 4: The object exists in a pre-set warning area (first area) S1 in the surrounding area near the machine body 4, i.e., within the rotation range of the machine body 4 and the area close to the machine body 4 including the rotation trajectory of the boom 11, the arm 12, and the bucket 13.

[0076] The second storage holding condition is satisfied when all of condition 1, condition 2, condition 4, and condition 5 are satisfied, and is not satisfied when none of condition 1, condition 2, condition 4, and condition 5 is satisfied.

[0077] Condition 5: Operation is being performed by at least one of the actuator operating devices 71 , 72 , 73 .

[0078] The third storage holding condition is satisfied when all of conditions 1 to 3, condition 5, and condition 6 are satisfied, and is not satisfied when none of conditions 1 to 3, condition 5, and condition 6 is satisfied.

[0079] Condition 6: The object is not present in the warning area S1 but is present in the caution area (second range) S2 which is preset to include the warning area S1

[0080] Figure 6 1 is a diagram showing the hydraulic excavator 1 as viewed from above, showing a warning area S1 and a caution area S2 of the hydraulic excavator 1. Figure 6As shown, the caution area S2 is a circular range of the maximum rotation radius Rx of the hydraulic excavator 1. The maximum rotation radius Rx is equivalent to the length from the rotation center axis O of the rotating body 3 to the front end of the bucket 13 when the working device 10 is extended to the maximum extent toward the front (in the direction perpendicular to the rotation center axis). In other words, the maximum rotation radius Rx is equivalent to the maximum length from the rotation center axis O to the position reached by the working device 10 in the direction perpendicular to the rotation center axis O. In addition, in the present embodiment, the caution area S2 is set to the circular range of the maximum rotation radius Rx, but the circular range of the radius obtained by adding the maximum rotation radius Rx to the allowable value (margin) may be set to the caution area S2. The caution area S2 is predetermined based on the size of each part of the hydraulic excavator 1 and is stored in the caution area storage unit 117 of the ROM 112.

[0081] The warning area S1 is a range set in a manner included in the caution area S2. The warning area S1 is pre-set as a surrounding area near the machine body 4, that is, an area within the rotation range of the machine body 4 and an area close to the machine body 4 including the rotation trajectory of the boom 11, the arm 12, and the bucket 13. The warning area S1 is set to prevent objects existing in this range from contacting the hydraulic excavator 1 when the rotating body 3 and the traveling body 2 are rotating.

[0082] The warning area setting unit 114 sets the warning area S1 based on the posture information of the hydraulic excavator 1 detected by the posture detection device 60. The posture detection device 60 includes: a boom angle sensor 61 that detects the angle of the boom 11 relative to the swing body 3 (boom angle); an arm angle sensor 62 that detects the angle of the arm 12 relative to the boom 11 (arm angle); a bucket angle sensor 63 that detects the angle of the bucket 13 relative to the arm 12 (bucket angle); and a rotation angle sensor 64 that detects the angle of the swing body 3 relative to the travel body 2 (rotation angle). The boom angle sensor 61, the arm angle sensor 62, the bucket angle sensor 63, and the rotation angle sensor 64 are, for example, potentiometers that output signals (voltages) corresponding to the acquired angles.

[0083] The ROM 112 stores the left setting angle θL, the right setting angle θR, and the dimension data of each part of the working device 10. In the present embodiment, with the x-axis extending along the front-rear direction of the traveling body 2 as a reference (0 degrees), the left rotation direction is set as a negative direction, and the right rotation direction is set as a positive direction, the left setting angle θL is set to -90 degrees, and the right setting angle θR is set to +90 degrees.

[0084] The warning area setting unit 114 calculates the length obtained by adding a predetermined length as an allowable value (margin) to the length from the rotation center axis O to the front end of the bucket 13 based on the posture information (boom angle, arm angle, and bucket angle) detected by the posture detection device 60 and the dimensional data of each part of the working device 10 (the length from the boom pin 11b to the arm pin 12b, the length from the arm pin 12b to the bucket pin 13b, and the length from the bucket pin 13b to the front end of the bucket) as the working radius Rw. The warning area setting unit 114 sets the area S11 of the fan-shaped (semicircular) area in front of the rotating body 3 defined by the left setting angle θL, the right setting angle θR, and the working radius Rw and the circular area S12 with the distance from the rotation center axis O to the outermost periphery of the rotating body 3 (the rear of the rotating body 3) as the radius Rs (that is, the rotation range of the body 4) as the warning area S1.

[0085] like Figure 5 As shown, the monitor controller 120 functions as a bird's-eye view image generation unit 124 and a synthetic image generation unit 125 by executing a program stored in the ROM 122. The bird's-eye view image generation unit 124 obtains images captured by the left camera 31, the right camera 32, the front camera 33, and the rear camera 34, and generates a bird's-eye view image based on the obtained images. The bird's-eye view image generation unit 124 performs lens distortion correction on the obtained images and performs viewpoint conversion processing on the upward viewpoint image. The bird's-eye view image generation unit 124 synthesizes the image that has undergone viewpoint conversion processing with an illustration image (or a photographed image) of the hydraulic excavator 1 viewed from above to generate a bird's-eye view image. Figure 7 An illustration image (or a photographed image) of the hydraulic excavator 1 viewed from above is stored in advance in the ROM 122 .

[0086] Figure 7 1 is a diagram showing an example of a synthetic image 199 displayed on the display screen 191a of the display device 190. Figure 7 As shown, the synthetic image generation unit 125 synthesizes rectangular frame images 195b, 196b, and 197b that surround the objects 195a, 196a, and 197a identified by the object identification unit 115 on the bird's-eye view image 194a generated by the bird's-eye view image generation unit 124, and displays the synthesized bird's-eye view image 194a in the camera image area 194. The synthetic image generation unit 125 displays the frame image 197b that surrounds the object determined by the object identification unit 115 as a person and the frame images 195b and 196b that surround the object determined by the object identification unit 115 as not a person in different colors. For example, the frame image 197b is displayed in red, and the frame images 195b and 196b are displayed in yellow.

[0087] On a display screen 191 a of the display device 190 , an icon area 192 for displaying a predetermined icon and a message area 193 for displaying a predetermined message are formed above the image of a camera image area 194 for displaying a bird's-eye view image 194 a .

[0088] When the vehicle body controller 110 determines that the record holding condition and the predetermined conditions (condition 4, condition 6) constituting the record holding condition are satisfied, the synthetic image generation unit 125 displays a warning message image in the message area 193 for notifying the operator that the record holding condition is satisfied, etc., thereby calling attention. The warning message image may be a message image pre-set for each satisfied condition, such as a message image for notifying that a person (or an object other than a person) is present in the warning area S1. These message images are stored in the ROM 122, selected according to the satisfied condition, and displayed in the message area 193. In addition, the synthetic image generation unit 125 displays an icon image corresponding to the satisfied condition in the icon area 192.

[0089] When the vehicle body controller 110 is configured to execute the motion restriction control forcibly reducing the speed of the actuator when the record holding condition is satisfied, the synthetic image generation unit 125 may display a warning message image for notifying the operator that the motion is restricted in the message area 193. In addition, the synthetic image generation unit 125 may display an icon image for notifying the operator that the motion is restricted in the icon area 192.

[0090] Furthermore, when an abnormality of the surrounding monitoring system 19 is detected, the synthetic image generation unit 125 may cause the message region 193 to display a warning message image for notifying the operator that an abnormality of the surrounding monitoring system 19 has been detected. In addition, the synthetic image generation unit 125 may cause the icon region 192 to display an icon image for notifying the operator that an abnormality of the surrounding monitoring system 19 has been detected.

[0091] In this way, the monitor controller 120 controls the display device 190 so that the display screen 191a of the display device 190 displays a synthesized image 199 synthesized from the image captured by the imaging device 30 and an image (frame, message, icon image) generated based on the object detection information.

[0092] like Figure 5 As shown, the recording controller 140 functions as a recording control unit 144 by executing a program stored in the ROM 144. The recording control unit 144 acquires the synthetic image data generated by the synthetic image generating unit 125, and continuously records the acquired synthetic image data in the continuous recording unit 151 as overwritable data.

[0093] When the recording capacity of the continuous recording unit 151 reaches the upper limit, the recording control unit 144 performs an overwriting process of sequentially deleting the old synthetic image data recorded in the continuous recording unit 151 and rewriting it with the new synthetic image data. When receiving the recording trigger signal, the recording control unit 144 determines that an event has occurred, and performs recording and maintaining of the synthetic image data generated by the synthetic image generation unit 125. Specifically, the recording control unit 144 stores the synthetic image data of a predetermined period including the time T0 when the recording trigger signal is received in the event recording unit 152 as event image data.

[0094] Figure 8 144 is a timing chart for explaining the contents of the recording control process of the recording control unit 144. Figure 8 As shown in (a) of FIG. 1 , the synthetic image data is recorded in the continuous recording unit 151 together with the passage of time t. Figure 8 As shown in (b), for example, when a recording trigger signal is received at time T0, the synthetic image data from the time (T0-Ta) before time T0 to the time (T0+Ta) after T0 is stored as event image data in the event recording unit 152. Ta is, for example, about 5 minutes. In addition, the time (2×Ta) of the synthetic image data stored as event image data can be set arbitrarily. In addition, the storage time of the event image data before the time T0 when the recording trigger signal is received can be different from the storage time of the event image data after the time T0 when the recording trigger signal is received.

[0095] Reference Fig. 9 , the content of the determination process of whether the record holding condition is satisfied executed by the vehicle body controller 110 will be described. For example, by turning on the ignition switch (i.e., key on), the operation is started. Fig. 9 The process of the flowchart shown is to repeatedly execute the processes of steps S110 to S165 after the initial setting is performed.

[0096] like Fig. 9 As shown, in step S110, the vehicle body controller 110 performs information acquisition processing and proceeds to step S115. In the information acquisition processing (S110), the vehicle body controller 110 acquires the detection result of the lock lever operation detection device 79b (information on the operation position of the lock lever 79a), the detection result of the object detection device 90 (information on the object existing around the machine body 4), the detection result of the actuator operation detection device 70 (operation information of the actuator), and the detection result of the posture detection device 60 (posture information of the working device 10).

[0097] In step S115, the vehicle body controller 110 calculates the working radius Rw based on the detection result of the posture detection device 60 obtained in step S110. The vehicle body controller 110 sets the warning area S1 based on the working radius Rw, the left setting angle θL, and the right setting angle θR, and proceeds to step S120.

[0098] In step S120, the vehicle body controller 110 determines whether the lock lever 79a is operated to the unlocked position based on the detection result of the lock lever operation detection device 79b obtained in step S110. If it is determined in step S120 that the lock lever 79a is operated to the unlocked position, the process proceeds to step S125, and if it is determined that the lock lever 79a is operated to the locked position, the process returns to step S110.

[0099] In step S125, the vehicle body controller 110 determines whether there is an object around the machine body 4 based on the detection result of the object detection device 90 obtained in step S110. If it is determined in step S125 that there is an object around the machine body 4, the process proceeds to step S130, and if it is determined that there is no object around the machine body 4, the process returns to step S110.

[0100] In step S130 , the vehicle body controller 110 calculates the position of the detected object with respect to the excavator based on the detection result of the object detection device 90 acquired in step S110 , and the process proceeds to step S135 .

[0101] In step S135, the vehicle body controller 110 determines whether the detected object is a person based on the detection result of the object detection device 90 obtained in step S110. If it is determined in step S135 that the detected object is a person, the process proceeds to step S137, and if it is determined that the detected object is not a person, the process proceeds to step S145.

[0102] In step S137, the vehicle body controller 110 determines whether the detected person exists in the caution area S2 based on the calculation result in step S130. If it is determined in step S137 that the detected person exists in the caution area S2, the process proceeds to step S140. If it is determined that the detected person does not exist in the caution area S2, the process returns to step S110.

[0103] In step S140, the vehicle body controller 110 determines whether the detected person exists in the warning area S1 based on the calculation result in step S130. If it is determined in step S140 that the detected person exists in the warning area S1, the process proceeds to step S160, and if it is determined that the detected person does not exist in the warning area S1, the process proceeds to step S150.

[0104] In step S145, the vehicle body controller 110 determines whether the detected object exists in the warning area S1 based on the calculation result in step S130. If it is determined in step S145 that the detected object exists in the warning area S1, the process proceeds to step S150. If it is determined that the detected object does not exist in the warning area S1, the process returns to step S110.

[0105] In step S150, the vehicle body controller 110 determines whether the actuator operation is being performed based on the detection result of the actuator operation detection device 70 obtained in step S110. If it is determined that the actuator operation is being performed in step S150, the process proceeds to step S160, and if it is determined that the actuator operation is not being performed, the process returns to step S110.

[0106] In step S160, the vehicle body controller 110 regards the recording holding condition as being satisfied, sends a recording trigger signal to the image data recording device 130, and proceeds to step S165. In step S165, the vehicle body controller 110 performs a waiting process of waiting until a predetermined time Ta has passed, and ends the process. Fig. 9 The process is shown in the flowchart.

[0107] For the sake of convenience, the description is made assuming a case of one object, but in reality, the vehicle body controller 110 performs a position calculation process (S130) based on the excavator, a human determination process (S135), a presence determination process (S137) in the attention area S2, and a presence determination process (S140, S145) in the warning area S1 for each detected object, and determines whether a storage retention condition is satisfied for each object. The vehicle body controller 110 determines whether a storage retention condition is satisfied for each object, and even if one storage retention condition is satisfied, a recording trigger signal is sent (S160).

[0108] Reference Fig. 10A The content of the recording control process executed by the recording controller 140 is described below. For example, the recording control process is started by turning on the ignition switch (i.e., the key is turned on). Fig. 10A Processing of the flowchart shown.

[0109] like Fig. 10A As shown, in step S210, the recording controller 140 performs initialization processing and proceeds to step S215. In step S215, the recording controller 140 performs recording preparation processing. In the recording preparation processing, the recording controller 140 starts to continuously record the synthetic image data generated by the monitor controller 120 to the continuous recording unit 151. When a predetermined time Ta has passed from the time when recording to the continuous recording unit 151 starts, the recording controller 140 regards the recording preparation processing as completed and proceeds to step S220.

[0110] In step S220, the recording controller 140 starts to receive the recording trigger signal from the vehicle body controller 110, and the process proceeds to step S230. In step S230, the recording controller 140 determines whether the recording trigger signal from the vehicle body controller 110 is received. The recording controller 140 repeatedly performs this determination process until it determines that the recording trigger signal from the vehicle body controller 110 is received. When it determines that the recording trigger signal from the vehicle body controller 110 is received, the process proceeds to step S240.

[0111] In step S240 , the recording controller 140 stores the composite video data of a predetermined period [time (T0 −Ta) to time (T0 +Ta)] including time T0 when the recording trigger signal is received in the event recording unit 152 as event video data, and returns to step S230 .

[0112] Reference Fig. 10B , the content of the processing when the recording control of the recording controller 140 is ended will be described. By executing the processing of starting to receive the recording trigger ( Fig. 10A Step S220) starts Fig. 10B Processing of the flowchart shown.

[0113] like Fig. 10B As shown, in step S250, the recording controller 140 determines whether the ignition switch is turned off (ie, the key is off). The recording controller 140 repeatedly performs this determination process until it determines that the ignition switch is turned off, and when it determines that the ignition switch is turned off, it proceeds to step S255.

[0114] In step S255, the recording controller 140 determines whether the event recording process is being executed (step S240). In step S255, if it is determined that the event recording process is being executed, the process proceeds to step S260. If it is determined that the event recording process is not being executed, the process proceeds to step S265. In step S260, the recording controller 140 executes a waiting process, waits until a predetermined time Ta has passed, and then proceeds to step S265. In step S265, the recording controller 140 executes a predetermined end process, disconnects the power supply, and ends the recording process. Fig. 10B The process is shown in the flowchart.

[0115] The main operation of this embodiment will be described. When the operator gets into the cab 7, operates the lock lever 79a to the unlock position, and turns on the ignition switch, the engine 21 starts, and the continuous recording of the image data recording device 130 begins ( Fig. 10A S215).

[0116] When the operator is working in the area within the attention area S2 and outside the warning area S1, when the operator performs an actuator operation, that is, any one or a combination of the travel operation, the rotation operation, and the working operation, the record holding condition is satisfied ( Fig. 9 Therefore, the control device 100 sends a recording trigger signal ( Fig. 9 The image data recording device 130 records and maintains the synthesized image data ( Fig. 10A (Yes in S230 → S240). That is, in the present embodiment, when the hydraulic excavator 1 is likely to approach the operator through the operator's actuator operation, the synthetic image data can be recorded and maintained.

[0117] When the operator enters the warning area S1 from the caution area S2, the record holding condition is satisfied even if the operator does not operate the actuator (in Fig. 9 Therefore, the control device 100 sends a recording trigger signal ( Fig. 9 The image data recording device 130 records and maintains the synthesized image data ( Fig. 10A That is, in the present embodiment, when an operator is present near the hydraulic excavator 1 and the hydraulic excavator 1 is likely to come into contact with the operator due to the operator's actuator operation, the synthetic image data can be recorded and maintained.

[0118] When a working vehicle such as a wheel loader or a dump truck is located in the warning area S1, if the operator operates the actuator, the record holding condition is satisfied (in Fig. 9 Therefore, the control device 100 sends a recording trigger signal ( Fig. 9 The image data recording device 130 records and maintains the synthesized image data ( Fig. 10A (Yes in S230 → S240). That is, in the present embodiment, when there is a possibility that the hydraulic excavator 1 may come into contact with the work vehicle due to the operator's actuator operation, the synthetic image data can be recorded and maintained.

[0119] According to the above-mentioned embodiment, the following effects are achieved.

[0120] (1) A hydraulic excavator (working machine) 1 comprises: a machine body 4; an actuator (a hydraulic cylinder 10a, a travel hydraulic motor 2a, and a rotation hydraulic motor 3a) mounted on the machine body 4; an operating device (a locking lever device 79 and actuator operating devices 71, 72, and 73) for actuating the actuator (the hydraulic cylinder 10a, the travel hydraulic motor 2a, and the rotation hydraulic motor 3a); an operation detection device (a locking lever operation detection device 79b and an actuator operation detection device 70) for detecting the operation of the operating device (the locking lever device 79 and the actuator operating devices 71, 72, and 73); a camera 30 for capturing images around the machine body 4; an image data recording device 130 for recording image data including images captured by the camera 30; a control device 100 for controlling the image data recording device 130; and an object detection device 90 for detecting objects around the machine body 4. The control device 100 determines whether the recording and holding conditions, including the presence of an object around the body 4 and the operating device being operated, are met based on the detection results of the object detection device 90 and the detection results of the operation detection device (the locking rod operation detection device 79b and the actuator operation detection device 70). If the recording and holding conditions are met, the image data is recorded and maintained through the image data recording device 130.

[0121] Conventionally, there is known a technique for recording and maintaining image data when an impact is detected, but in the hydraulic excavator 1, impacts frequently occur during operation. Therefore, in the hydraulic excavator 1, if the image data is recorded and maintained by detecting an impact, the image data is frequently recorded and maintained, and the accuracy of recording and maintaining image data of a desired scene, that is, the recording accuracy, is reduced.

[0122] In contrast, in this embodiment, when there are objects around the hydraulic excavator 1, video data can be recorded and maintained only in scenes where the objects may approach or contact the hydraulic excavator 1, such as when the hydraulic excavator 1 is being operated. That is, according to this embodiment, the recording accuracy of the required scenes can be improved.

[0123] (2) However, if the image data is recorded and maintained at all times during the operation of the hydraulic excavator 1, the capacity of the recording device may be overwhelmed, and the image data of the required scene may be overwritten, or the operation of extracting the image data of the required scene may be laborious. In contrast, in the present embodiment, the image data is recorded and maintained when the recording and maintaining conditions are met, so the amount of image data can be suppressed to a small amount. Therefore, it is possible to prevent the capacity of the recording device (event recording unit 152) from being insufficient. In addition, the operation of extracting the required image data can be easily performed.

[0124] (3) The hydraulic excavator 1 includes a communication device 160 that transmits the recorded image data to the management server (external device) 53 by wireless communication. As described above, in the present embodiment, the image data is recorded and retained when the record retention condition is satisfied, so the amount of image data transmitted to the management server 53 can be suppressed to a small amount. That is, according to the present embodiment, the communication volume when uploading image data to the management server 53 can be suppressed to a low level.

[0125] (4) The hydraulic excavator 1 includes a display device 190 provided in the cab 7. The control device 100 generates a synthetic image 199 by synthesizing the image captured by the imaging device 30 and the image (frame image, message image, icon image) generated based on the detection result of the object detection device 90, and displays the generated synthetic image 199 on the display screen 191a of the display device 190. The image data recorded and maintained by the image data recording device 130 is the data of the synthetic image 199 displayed by the display device 190. In this way, in the present embodiment, when the record holding condition is satisfied, the monitor image of the operator's line of sight is recorded, so that the situation when the record holding condition is satisfied can be accurately reviewed.

[0126] (5) When the lock lever device 79 is operated to the unlock position, and there is an object around the machine body 4, and the object is a person, and the object is within the warning area (first range) S1, the control device 100 regards that the first record retention condition is satisfied, and performs record retention of the image data through the image data recording device 130. According to this structure, it is possible to record and retain the image data of the scene where the operator and the like may come into contact with the hydraulic excavator 1.

[0127] (6) When the lock lever device 79 is operated to the unlocked position, there is an object around the machine body 4, the object is within the warning area (first range) S1, and at least one of the actuator operating devices 71, 72, and 73 is being operated, the control device 100 regards the second record retention condition as being satisfied and performs record retention of the image data by the image data recording device 130. With this configuration, it is possible to perform record retention of image data of a scene where an object such as a work vehicle may come into contact with the hydraulic excavator 1.

[0128] (7) When the lock lever device 79 is operated to the unlocked position, and there is an object around the machine body 4, and the object is a person, and at least one of the actuator operating devices 71, 72, and 73 is being operated, and the object is not in the warning area (first range) S1 but in the caution area (second range) S2, the control device 100 regards that the third record holding condition is satisfied, and performs record holding of the image data by the image data recording device 130. According to this configuration, it is possible to perform record holding of the image data of the scene where the operator and the hydraulic excavator 1 may approach.

[0129] The following modified examples are also within the scope of the present invention, and it is possible to combine the configuration shown in the modified examples with the configuration described in the above embodiment, or to combine the configurations described in the following different modified examples with each other.

[0130] <Modification 1>

[0131] The control device 100 may also determine that the recording and holding condition is satisfied when the lock lever device 79 is operated to the unlocked position and an object exists around the machine body 4, and record and hold the image data through the image data recording device 130. Fig. 9 Steps S115, S130, S135, S137, S140, S145, and S150 are shown in the flowchart. When the lock lever device 79 is operated to the unlocked position, the actuator can be operated by the actuator operating devices 71, 72, and 73. According to this structure, it is possible to record and maintain image data in a scene where an object and the hydraulic excavator 1 may approach or contact each other.

[0132] <Modification 2>

[0133] The control device 100 may also record and retain the image data through the image data recording device 130 when the lock lever device 79 is operated to the unlock position and there is an object around the machine body 4, and the object is a person. Fig. 9 Steps S115, S130, S137, S140, S145, and S150 are shown in the flowchart. When the lock lever device 79 is operated to the unlocked position, the actuator can be operated by at least one of the actuator operating devices 71, 72, and 73. According to this structure, it is possible to record and maintain image data in a scene where a person and the hydraulic excavator 1 may approach or contact each other.

[0134] <Variation 3>

[0135] The control device 100 may also record and retain the image data through the image data recording device 130 when at least one of the actuator operating devices 71, 72, and 73 is being operated and an object exists around the machine body 4, as if the recording and retaining condition is satisfied. Fig. 9 The processing of step S150 is executed instead of the processing of step S120 by executing steps S115 and S130 to S145 shown in the flowchart of FIG. 1. According to this configuration, it is possible to record and store image data in a scene where an object and the hydraulic excavator 1 may approach or contact each other.

[0136] <Variation 4>

[0137] The control device 100 may also record and maintain the image data through the image data recording device 130 when the recording and maintaining conditions including the lock lever device 79 being operated to the unlocking position, the presence of an object around the machine body 4, and the change in the rotation speed (engine speed) of the engine 21 are satisfied. The control device 100 determines whether the engine speed has changed based on the signal from the engine speed sensor that detects the engine speed. According to such a modified example, when the operator operates the actuator operating devices 71, 72, 73 to start the operation, if the engine speed changes, the recording and maintaining of the image data is started, so that the recording and maintaining of the image data in the scene where the object may approach or contact the hydraulic excavator 1 can be performed.

[0138] <Variation 5>

[0139] In the above embodiment, the following example is described: the left setting angle θL of the predetermined attention area S2 is set to 90 degrees in the left direction with the x-axis as the reference, and the right setting angle θR of the predetermined attention area S2 is set to 90 degrees in the right direction with the x-axis as the reference, but the present invention is not limited to this. The left setting angle θL and the right setting angle θR can be set to any value. In addition, the left setting angle θL and the right setting angle θR can also be arbitrarily set by the operator of the hydraulic excavator 1 performing a predetermined operation on the display device (touch screen monitor) 190.

[0140] <Variation 6>

[0141] In the above embodiment, if Figure 6As shown in FIG. 1 , the following example is described: the area synthesized by the sector (semicircular) area S11 defined by the left setting angle θL, the right setting angle θR and the operation radius Rw and the circular area S12 with the radius Rs centered on the rotation center axis O is set as the warning area (first range) S1, but the present invention is not limited to this. For example, by performing touch operations on multiple locations on the display screen of the display device (touch screen monitor) 190, a polygonal warning area (first range) S1 with the touch operation positions as vertices can be set.

[0142] <Variation 7>

[0143] In the above embodiment, the example of recording and holding the synthesized image data and sending it to the management server 53 is described, but the present invention is not limited to this. The image data captured by the imaging device 30 may be directly recorded and held and sent to the management server 53.

[0144] <Variation 8>

[0145] In the above embodiment, the monitor controller 120 generates the bird's-eye view image 194a based on the images captured by the plurality of cameras 30, but the present invention is not limited thereto. The monitor controller 120 may display the images captured by the plurality of cameras 30 as separate images on the display screen 191a of the display device 190.

[0146] <Variation 9>

[0147] In the above embodiment, the vehicle body controller 110 and the monitor controller 120 are provided separately, but the present invention is not limited thereto. The functions of the vehicle body controller 110 and the monitor controller 120 may be realized by a single controller.

[0148] <Variation 10>

[0149] The actuator operation detection device 70 may also be a potentiometer or the like that detects the operation angle (operation amount) of the operating lever 71a, 72a, 73a. In this case, the control device 100 determines that the actuator operating device 71, 72, 73 is being operated when the absolute value |θ| of the operation angle θ of the operating lever 71a, 72a, 73a is greater than a predetermined threshold value θ0, and determines that the actuator operating device 71, 72, 73 is not being operated when the absolute value |θ| of the operation angle θ is less than the threshold value θ0. The operation angle of the operating lever 71a, 72a, 73a in the neutral position is 0 (zero) degrees, and the threshold value θ0 is set to a value greater than 0 (zero).

[0150] <Variation 11>

[0151] In the above embodiment, an example is described in which the vehicle body controller 110 determines whether the object is a person based on the information of the reflection intensity transmitted from the object detection device 90, but the determination method is not limited to this. The object detection device 90 may also determine whether the object is a person based on the information of the reflection intensity, and output the determination result to the vehicle body controller 110. In this case, the vehicle body controller 110 determines whether the object is a person based on the determination result (for example, the determination flag signal) transmitted from the object detection device 90.

[0152] <Variation 12>

[0153] In the above embodiment, an example in which the object detection device 90 is an infrared sensor is described, but the present invention is not limited to this. The object detection device 90 may also be a stereo camera. In this case, the stereo camera functions as the object detection device 90 and the shooting device 30. The control device 100 extracts a pattern of the shape of the object photographed by the stereo camera, for example, and determines that the object is a person when the extracted pattern matches a pre-set pattern of a person, and determines that it is not a person when it does not match. In addition, a 3D LiDAR may also be used as the object detection device 90.

[0154] <Variation 13>

[0155] In the above embodiment, an example is described in which the recording and holding process is terminated when the predetermined time Ta has passed since the time T0 at which the recording trigger signal is received, but the present invention is not limited to this. For example, the recording and holding process may be terminated when the recording and holding conditions are not met, such as when the lock lever 79a is operated to the lock position or when the object detection device 90 cannot detect an object.

[0156] <Variant 14>

[0157] In the above embodiment, the continuous recording unit 151 and the event recording unit 152 are separate recording devices, but the continuous recording unit 151 and the event recording unit 152 may be a single recording device. In this case, the continuous recording synthetic image data can be overwritten, but the event recording synthetic image data cannot be overwritten.

[0158] <Variant 15>

[0159] In the above embodiment, the actuator operating devices 71, 72, 73 are hydraulic pilot type operating devices, but the present invention can also be applied to electric operating devices. In addition, the actuator is not limited to a hydraulic actuator, and the present invention can also be applied to an electric actuator.

[0160] <Variant 16>

[0161] In the above embodiment, the case where the working machine is a crawler-type hydraulic excavator 1 is described as an example, but the present invention is not limited to this and can be applied to various working machines such as wheel-type hydraulic excavators and wheel loaders.

[0162] Although the embodiments of the present invention have been described above, the above embodiments merely illustrate a part of application examples of the present invention, and the technical scope of the present invention is not limited to the specific configurations of the above embodiments.

[0163] Explanation of symbols

[0164] 1 ... hydraulic excavator (working machine), 2a ... travel hydraulic motor (actuator), 3a ... swing hydraulic motor (actuator), 4 ... machine body, 7 ... operator's cab, 10 ... working device, 10a ... hydraulic cylinder (actuator), 19 ... surrounding monitoring system, 30 ... imaging device, 31, 32, 33, 34 ... camera (imaging device), 53 ... management server (external device), 60 ... posture detection device, 70 ... actuator operation detection device, 71 ... working operating device (actuator operating device), 72 ... swing operating device (actuator operating device), 73 ... travel operating device (actuator operating device), 76a, 76b ... working operation sensor (actuator operation detection device), 77a, 77b ... swing operation sensor (actuator operation detection device), 78a, 78b …driving operation sensor (actuator operation detection device), 79…locking rod device, 79b…locking rod operation detection device, 80…hydraulic system, 90…object detection device, 100…control device, 110…body controller, 120…monitor controller, 130…image data recording device, 140…recording controller, 160…communication device, 190…display device, 191a…display screen, 192…icon area, 193…message area, 194…camera image area, 194a…overhead image, 195a…object, 195b…frame image, 196a…object, 196b…frame image, S197a…object, S197b…frame image, S199b…synthetic image, S1…warning area (first range), S2…caution area (second range).

Claims

1. A working machine, comprising: a machine body; an actuator mounted on the machine body; an operating device for operating the actuator; an operation detection device for detecting the operation of the operating device; a photographing device for photographing the surroundings of the machine body; an image data recording device for recording image data including the image photographed by the photographing device; a control device for controlling the image data recording device; and an object detection device for detecting objects around the machine body. It is characterized in that The control device determines whether a record keeping condition is satisfied based on the detection result of the object detection device and the detection result of the operation detection device, and when the record keeping condition is satisfied, the image data is recorded and kept by the image data recording device, wherein the record keeping condition includes that an object exists around the machine body and the operation device is being operated. The operating device includes: an actuator operating device that instructs the action of the actuator; and a locking lever device that is selectively operated to a locking position and a lock release position, wherein the locking position is a position where the actuator cannot be operated by the actuator operating device, and the lock release position is a position where the actuator can be operated by the actuator operating device, The control device determines whether the object detected by the object detection device is a person, and the control device determines whether the object detected by the object detection device exists in a first range or a second range, wherein the first range is a range pre-set around the body and in an area close to the body, and the second range is a range pre-set in a manner that includes the first range. When the recording and maintaining conditions are met, including the locking lever device being operated to the unlocking position, there being an object around the body, the object being a person, the actuator operating device being operated, and the object not being within the first range but being within the second range, the control device records and maintains the image data through the image data recording device.

2. The working machine according to claim 1, characterized in that: When the record keeping conditions are satisfied, including that the lock lever device is operated to the lock release position, an object exists around the body, and the object is a person, the control device records and maintains the image data through the image data recording device.

3. The working machine according to claim 1, characterized in that: When the recording and maintaining conditions are met, including the locking lever device being operated to the unlocking position, the existence of an object around the body, the object being a person, and the object existing within the first range, the control device records and maintains the image data through the image data recording device.

4. The working machine according to claim 1, characterized in that: When the record keeping conditions are satisfied, including that the lock lever device is operated to the lock release position, an object exists around the body, the object is a person, and the object exists within the first range, the control device performs record keeping of the image data through the image data recording device; and When the recording and maintaining conditions are met, including the locking lever device being operated to the unlocking position, the existence of an object around the body, the existence of the object within the first range, and the operation of the actuator operating device being performed, the control device records and maintains the image data through the image data recording device.

5. The working machine according to claim 1, characterized in that: The record keeping condition further includes a case where the engine speed of the working machine changes.

6. The working machine according to claim 1, characterized in that: The working machine further includes a communication device that transmits the video data stored in the record to an external device through wireless communication.

7. The working machine according to claim 1, characterized in that: The working machine includes a display device installed in a cab. The control device generates a synthetic image by synthesizing the image captured by the imaging device with an image generated based on the detection result of the object detection device, and displays the generated synthetic image on the display screen of the display device. The video data recorded and held by the video data recording device is data of the synthesized video.

8. A working machine comprising: Body; an actuator mounted on the body; an actuator operating device that commands the action of the actuator; A locking lever device is selectively operated to a locking position and a lock release position, wherein The locked position is a position where the actuator cannot be operated by the actuator operating device, and the unlocked position is a position where the actuator can be operated; a locking lever operation detection device, which detects the operation of the locking lever device; A photographing device for photographing the surroundings of the machine body; an image data recording device that records image data including images captured by the camera; A control device, which controls the image data recording device; as well as an object detection device for detecting objects around the body, It is characterized in that The control device determines whether a record keeping condition is satisfied based on the detection result of the object detection device and the detection result of the lock lever operation detection device, and when the record keeping condition is satisfied, the image data is recorded and maintained by the image data recording device, wherein the record keeping condition includes the existence of an object around the body and the lock lever device being operated to the lock release position, The control device determines whether the object detected by the object detection device is a person, The control device determines whether the object detected by the object detection device exists in a first range or a second range, the first range being a range pre-set around the body and close to the body, and the second range being a range pre-set in a manner including the first range, When the first recording and maintaining condition is met, including that the locking lever device is operated to the unlocking position, there is an object around the body, the object is a person, the actuator operating device is being operated, and the object is not within the first range but within the second range, the control device records and maintains the image data through the image data recording device.

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