Construction machine and support system for construction machine

Abstract

A construction machine comprises a lower chassis, an upper swiveling body mounted on the lower chassis in a pivotable manner, a cabin mounted on the upper swiveling body, and a space detection device arranged on a column in the cabin.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to a construction machine and a support system for a construction machine. STATE OF THE ART

[0002] A construction machine is known that includes a camera arranged at a position that allows the camera to capture an image of an operator sitting in an operator's seat and an operating lever operated by the operator, and a camera arranged at a position that allows the camera to capture an image of a moving operating lever and an operating pedal. It is known that an inadvertent malfunction in the construction machine caused by the operator is prevented by using the images captured by these cameras. CITATION LISTPATENT DOCUMENT

[0003] [Patent Document 1] Japanese Unexamined Patent Publication No. 2020-111895 SUMMARY OF THE INVENTION TECHNICAL PROBLEM

[0004] An operator sitting in the operator's seat doesn't always face forward. Therefore, images of facial parts such as the operator's eyes, nose, and mouth cannot always be captured.

[0005] In view of the above circumstances, an object of the present invention is to capture an image of facial parts of the operator. SOLUTION TO THE PROBLEM

[0006] A construction machine disclosed herein includes a lower traveling body, an upper swing body swingably mounted on the lower traveling body, a cab mounted on the upper swing body, and a space detection device disposed on a pillar in the cab.

[0007] A construction machine support system disclosed herein includes a construction machine and a management device, the construction machine including a lower traveling body, an upper swing body swingably mounted on the lower traveling body, a cab mounted on the upper swing body, a space recognition device disposed on a pillar in the cab, and an output device that outputs a plurality of image data acquired by the space recognition device to the management device, the management device including a memory that stores the plurality of image data. ADVANTAGEOUS EFFECTS OF THE INVENTION

[0008] One goal of the disclosure is to capture images of parts of the operator’s face. BRIEF DESCRIPTION OF THE DRAWINGS [ Fig. 1] Fig. 1 is a diagram showing an example of a system configuration of a support system for an excavator. [ Fig. 2] Fig. Figure 2 is a diagram showing the arrangement of an imaging device within a booth. [ Fig. 3] Fig. 3 is a diagram showing a state where the front window is partially opened. [ Fig. 4] Fig. 4 is a block diagram showing a configuration example of a drive system for an excavator. [ Fig. 5] Fig. 5 is a diagram for explaining an example of a state detection method by a state detector. [ Fig. 6] Fig. 6 is a flowchart for explaining processing of an excavator according to a first embodiment. [ Fig. 7A] Fig. 7A is a first diagram showing an example of image data to be output. [ Fig. 7B] Fig. 7B is a second diagram showing an example of image data to be output. [ Fig. 8] Fig. 8 is a flowchart for explaining an operation of an excavator according to a second embodiment. [ Fig. 9] Fig. 9 is a diagram for explaining a system configuration of a support system for a construction machine according to a third embodiment. DESCRIPTION OF EMBODIMENTS (First Embodiment)

[0009] Embodiments will be described below with reference to the drawings. In the accompanying drawings, an X-axis, a Y-axis, and a Z-axis are orthogonal to each other. Specifically, the X-axis extends along the front-rear axis of the excavator, the Y-axis extends along the left-right axis of the excavator, and the Z-axis extends along the swing axis of the excavator. In the present embodiment, the X-axis and the Y-axis extend in the horizontal direction, and the Z-axis extends in the vertical direction.

[0010] Fig. 1 is a diagram showing an example of a system configuration of a support system for an excavator. An excavator support system SYS of the present embodiment includes an excavator 100 and a management device 200. In the following descriptions, the excavator support system SYS is simply referred to as a "support system SYS."

[0011] In the support system SYS of the present embodiment, the excavator 100 and the management device 200 are connected to each other via a network or the like. The excavator 100 is an example of a work machine.

[0012] In the excavator 100 of the present embodiment, a plurality of imaging devices are arranged at corresponding positions in a cab 10, which will be described later, and a facial image of an operator seated in an operator's seat is always captured. In the present embodiment, a state of an operator is detected based on the image data captured by the plurality of imaging devices arranged in the cab 10, and the detection results and the image data are stored in association with each other.

[0013] Furthermore, the excavator 100 of the present embodiment can transmit information including the image data and detection results acquired by the plurality of imaging devices to the management device 200, and can cause the management device 200 to manage the information.

[0014] In the present embodiment, the management device 200 can be caused to display detection results regarding an operator's state and image data. An operator's state in the present embodiment will be described in detail later.

[0015] Image data in the present embodiment includes moving image data and still image data. In the example of Fig. 1, the support system SYS includes the excavator 100 and the management device 200; however, the support system SYS is not limited to this example. The support system SYS may include a support device that supports an operator operating the excavator 100. The support device may be a portable terminal device such as a smartphone, a tablet device, or a wearable device.

[0016] In the example of Fig. 1, the management device 200 is implemented by a single information processing device; however, the management device 200 is not limited to this example. The management device 200 may be implemented by multiple information processing devices. In other words, the functions implemented by the management device 200 may be implemented by multiple information processing devices.

[0017] Furthermore, in the present embodiment, a plurality of imaging devices are arranged inside the cab 10; however, the present disclosure is not limited to this example. It is sufficient that the imaging devices are arranged at corresponding positions where facial images of an operator seated in the operator's seat are always captured.

[0018] The excavator 100 of the present embodiment will be described below. Fig. 1 shows a side view of the excavator 100.

[0019] The excavator 100 is an example of a construction machine and includes a lower traveling body 1, a swing mechanism 2, and an upper swing body 3. In the excavator 100, an upper swing body 3 is swingably mounted on a lower traveling body 1 via a swing mechanism 2. A boom 4 is attached to the upper swing body 3. A boom 5 is attached to the distal end of the boom 4, and a bucket 6 is attached to the distal end of the boom 5 as an end attachment.

[0020] The boom 4, the arm 5, and the bucket 6 constitute an excavation attachment as an example of an attachment. The boom 4 is driven by a boom cylinder 7, the arm 5 is driven by an arm cylinder 8, and the bucket 6 is driven by a bucket cylinder 9. A boom angle sensor S1 is attached to the boom 4, an arm angle sensor S2 is attached to the arm 5, and a bucket angle sensor S3 is attached to the bucket 6.

[0021] The boom angle sensor S1 is configured to detect a rotation angle of the boom 4. In the present embodiment, the boom angle sensor S1 is an accelerometer and is capable of detecting a rotation angle of the boom 4 with respect to the upper swing body 3 (hereinafter referred to as a "boom angle"). For example, the boom angle is a minimum angle when the boom 4 is lowered to a lowest position and increases as the boom 4 is raised.

[0022] The arm angle sensor S2 is configured to detect a rotation angle of the arm 5. In the present embodiment, the arm angle sensor S2 is an accelerometer and is capable of detecting a rotation angle of the arm 5 relative to the boom 4 (hereinafter referred to as an "arm angle"). For example, the arm angle is a minimum angle when the arm 5 is fully closed and increases as the arm 5 is opened.

[0023] The bucket angle sensor S3 is configured to detect a rotation angle of the bucket 6. In the present embodiment, the bucket angle sensor S3 is an accelerometer and is capable of detecting a rotation angle of the bucket 6 relative to the arm 5 (hereinafter referred to as a "bucket angle"). For example, the bucket angle is a minimum angle when the bucket 6 is maximally closed and increases as the bucket 6 is opened.

[0024] The boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 may be potentiometers using variable resistors, stroke sensors that detect stroke amounts of the corresponding hydraulic cylinders, rotary encoders that detect rotation angles around the coupling pins, gyro sensors, combinations of accelerometers and gyro sensors, or the like.

[0025] A boom rod pressure sensor S7R and a boom ground pressure sensor S7B are mounted on the boom cylinder 7. An arm rod pressure sensor S8R and an arm ground pressure sensor S8B are mounted on the arm cylinder 8.

[0026] A bucket rod pressure sensor S9R and a bucket bottom pressure sensor S9B are mounted on the bucket cylinder 9. The boom rod pressure sensor S7R, the boom bottom pressure sensor S7B, the arm rod pressure sensor S8R, the arm bottom pressure sensor S8B, the bucket rod pressure sensor S9R, and the bucket bottom pressure sensor S9B may be collectively referred to as "cylinder pressure sensors."

[0027] The boom rod pressure sensor S7R detects a pressure of a rod-side oil chamber of the boom cylinder 7 (hereinafter, a "boom rod pressure"), and the boom bottom pressure sensor S7B detects a pressure of a bottom-side oil chamber of the boom cylinder 7 (hereinafter, a "boom bottom pressure"). The arm rod pressure sensor S8R detects a pressure of a rod-side oil chamber of the arm cylinder 8 (hereinafter, an "arm rod pressure"), and the arm bottom pressure sensor S8B detects a pressure of a bottom-side oil chamber of the arm cylinder 8 (hereinafter, an "arm bottom pressure").

[0028] The bucket rod pressure sensor S9R detects a pressure of a rod-side oil chamber of the bucket cylinder 9 (hereinafter, a “bucket rod pressure”), and the bucket bottom pressure sensor S9B detects a pressure of a bottom-side oil chamber of the bucket cylinder 9 (hereinafter, a “bucket bottom pressure”).

[0029] The upper swing body 3 is provided with a cabin 10 as an operator's cabin and a power source such as a motor 11. A sensor for detecting an amount of CO2 discharged may be provided near a discharge mechanism of the motor 11.

[0030] In addition, the upper swing body 3 is equipped with a controller 30, a display device 40, an input device 42, a sound output device 43, a storage device 47, a position measuring device P1, a machine body inclination sensor S4, a swing angle sensor S5, an imaging device S6, and a communication device T1.

[0031] An energy storage device that supplies electrical energy, a motor generator that generates electrical energy using a rotational drive force of the motor 11, and the like can be attached to the upper swing body 3. The energy storage device is, for example, a capacitor or a lithium-ion battery. The motor generator can function as a motor for driving a mechanical load or as a generator for supplying electrical energy to an electrical load.

[0032] The controller 30 functions as a main control unit that performs drive control of the excavator 100. In the present embodiment, the controller 30 is configured by a computer including a CPU, a RAM, a ROM, and the like. The various functions of the controller 30 are realized by the CPU, which executes programs stored in the ROM, for example. The various functions may include, for example, at least one of a machine guidance function for guiding manual operation of the excavator 100 by an operator or a machine control function for automatically assisting manual operation of the excavator 100 by an operator.

[0033] The display device 40 is configured to display various types of information. The display device 40 can be connected to the controller 30 via a communications network, such as a CAN, or can be connected to the controller 30 via a dedicated line.

[0034] The input device 42 is configured to allow an operator to input various types of information into the controller 30. The input device 42 includes at least one of a touch panel, a rotary switch, a membrane switch, and the like, which are installed in the cab 10.

[0035] The sound output device 43 is configured to output sound. The sound output device 43 may be, for example, an in-vehicle speaker connected to the controller 30 or an alarm such as a buzzer. In the present embodiment, the sound output device 43 is configured to output various types of information through sound in response to a sound output command from the controller 30.

[0036] The storage device 47 is configured to store various types of information. The storage device 47 is, for example, a non-volatile storage medium such as a semiconductor memory. The storage device 47 can store information output from various devices during operation of the excavator 100 or can store information acquired via various devices before operation of the excavator 100 is started.

[0037] In particular, the storage device 47 can store information including image data acquired by a plurality of imaging devices (cameras) arranged in the cabin 10 and detection results regarding a state of the operator by the controller 30.

[0038] The storage device 47 may, for example, store information related to a target work area acquired via the communication device T1 or the like. A target construction area may be set by an operator of the excavator 100 or may be set by a construction manager or the like.

[0039] The position measuring device P1 is configured to measure a position of the upper pivot body 3. The position measuring device P1 may be configured to measure an orientation of the upper pivot body 3. In the present embodiment, the position measuring device P1 is, for example, a GNSS compass and detects a position and orientation of the upper pivot body 3 and outputs the detected values ​​to the controller 30. For this reason, the position measuring device P1 may also function as an orientation detection device that detects an orientation of the upper pivot body 3. The orientation detection device may be an azimuth sensor attached to the upper pivot body 3.

[0040] The machine body tilt sensor S4 is configured to detect a tilt of the upper swing body 3. In the present embodiment, the machine body tilt sensor S4 is an accelerometer that detects a front-to-rear tilt angle about the front-to-rear axis and a left-to-right tilt angle about the left-to-right axis of the upper swing body 3 with respect to the virtual horizontal plane. The longitudinal axis and the transverse axis of the upper swing body 3 are orthogonal to each other, for example, at an excavator center point, which is a point on the swing axis of the excavator 100.

[0041] The swivel angular velocity sensor S5 is configured to detect a swivel angular velocity of the upper swivel body 3. The swivel angular velocity sensor S5 can be configured to detect or calculate a swivel angle of the upper swivel body 3. In the present embodiment, the swivel angular velocity sensor S5 is a gyro sensor. The swivel angular velocity sensor S5 can be a resolver, a rotary encoder, or the like.

[0042] The imaging device S6 is an example of a space recognition device and is configured to capture an image of the surroundings of the excavator 100. In the present embodiment, the imaging device S6 includes a front camera S6F that images the space in front of the excavator 100, a left camera S6L that images the space on the left side of the excavator 100, a right camera S6R that images the space on the right side of the excavator 100, and a rear camera S6B that images the space in the rear part of the excavator 100.

[0043] The imaging device S6 of the present embodiment may include a plurality of imaging devices provided in the booth 10. The arrangement of the plurality of imaging devices in the booth 10 will be described in detail later.

[0044] The imaging device S6 is, for example, a monocular camera with an imaging device such as a CCD or a CMOS, and outputs a captured image to the display device 40. The imaging devices S6 may be a stereo camera, a range-finding camera, or the like. The imaging device S6 may be replaced by another spatial recognition device, such as a three-dimensional range-finding sensor, an ultrasonic sensor, a millimeter-wave radar, a LIDAR, or an infrared sensor, or may be replaced by a combination of another spatial recognition device and a camera.

[0045] The front camera S6F is mounted, for example, on the ceiling of the cabin 10, i.e., inside the cabin 10. The front camera S6F can also be mounted on the outside of the cabin 10, such as on the roof of the cabin 10 or on the side surface of the boom 4. The left camera S6L is mounted on the left end of the upper surface of the upper swing body 3; the right camera S6R is mounted on the right end of the upper surface of the upper swing body 3; and the rear camera S6B is mounted on the rear end of the upper surface of the upper swing body 3.

[0046] The communication device T1 controls communication with an external device outside the excavator 100. In the present embodiment, the communication device T1 controls communication with external devices via a satellite network, a mobile phone network, the Internet, or the like. The external device may be, for example, the management device 200, such as a server installed in an external facility, or may be a support device, such as a smartphone, carried by a worker near the excavator 100.

[0047] The excavator 100 can transmit image data acquired by the imaging device S6 to an external device, such as the management device 200, via the communication device T1. With this configuration, a worker, a manager, or the like outside the excavator 100 can visually recognize a state of the surroundings of the excavator 100 and a state of the operator through a display device, such as a monitor, connected to the management device 200 or the support device.

[0048] Next, the arrangement of the imaging device S6 in the interior of the cabin 10 of the present embodiment will be described with reference to Fig. 2 described. Fig. Figure 2 is a diagram showing the arrangement of the imaging device inside the booth.

[0049] Fig. 2 is a perspective view of the interior of the cab 10, showing a state where the front is viewed from the operator's seat in the cab 10.

[0050] As in Fig. 2, an operator seat 90 is installed in the cab 10. A left console 90L is installed on the left side of the operator seat 90, and a right console 90R is installed on the right side of the operator seat 90. A left operation lever 26L is attached to an upper portion of a front end of the left console 90L, and a right operation lever 26R is attached to a position corresponding to the left operation lever 26L on the right console 90R. A main monitor 40M, which is one of the display devices 40, is attached to an upper portion of a front end of the right console 90R.

[0051] In the cabin 10, a camera S6PL is mounted on the left column 111L and a camera S6PR on the right column 111R. The left column 111L and the right column 111R are parts of the Fig. 3. The camera S6PL and the camera S6PR are imaging devices and are examples of a three-dimensional sensor.

[0052] In the present embodiment, as shown in Fig. 3, which will be described later, the cameras S6PL and S6PR are mounted on the left and right pillars at respective positions between a height H1 of a seat surface 90m of the operator's seat 90 and a height H2 of an upper end portion of a headrest 90c of the operator's seat 90. The "height" in the present embodiment may be, for example, a vertical distance from the floor surface 10f of the cab 10.

[0053] In the present embodiment, by arranging the cameras S6PL and S6PR in such a manner, an image of an operator sitting on the operator's seat 90 and looking forward can be captured from both the left and right sides.

[0054] Specifically, for example, in the case where an operator sitting on the operator seat 90 looks to the right, an image including facial parts of the operator can be captured by the camera S6PR mounted on the right column 111R. In the case where an operator sitting on the operator seat 90 looks to the left, an image including facial parts of the operator can be captured by the camera S6PL mounted on the left column 111L.

[0055] The cameras S6PL and S6PR of the present embodiment are mounted so as not to obstruct an operator's field of view through the windshield 62. For this reason, the cameras S6PL and S6PR of the present embodiment are set to a size that fits within the widths of the left pillar 111L and the right pillar 111R.

[0056] In the present embodiment, by setting the cameras S6PL and S6PR to have such a size, the cameras S6PL and S6PR can be prevented from interfering with the opening and closing of the glass surface front portion 60. In other words, in the present embodiment, the cameras S6PL and S6PR and the opening and closing operation of the front glass 62 can be set so that they do not interfere with each other.

[0057] In the example of Fig. 2, one imaging device is mounted on each of the left and right pillars; however, the number of pillars mounted on the left pillar 111L and the right pillar 111R is not limited to this example. In the present embodiment, for example, multiple imaging devices may be mounted on each of the left and right pillars.

[0058] The cameras S6PL and S6PR of the present embodiment may be movable. For example, a rail with a groove may be attached to each of the left column 111L and the right column 111R, and the cameras S6PL and S6PR may be fitted into the rails attached to the left column 111L and the right column 111R.

[0059] In this case, an operator can move the mounting positions of the S6PL and S6PR cameras by moving the S6PL and S6PR cameras on the rail.

[0060] In the present embodiment, for example, a plurality of mounting portions for mounting the cameras S6PL and S6PR may be provided on each of the left pillar 111L and the right pillar 111R. The mounting portions may be, for example, a USB hub including a plurality of USB (Universal Serial Bus) ports.

[0061] In this case, the S6PL and S6PR cameras are connected to freely selectable USB ports of the USB hubs, and thus the mounting positions of the S6PL and S6PR cameras can be moved.

[0062] Furthermore, the cameras S6PL and S6PR of the present embodiment may be provided with fastening elements for fastening the cameras to the left column 111L and the right column 111R, respectively, for example, on the back of the housing. In the case where the left column 111L and the right column 111R are formed of metals such as steel, the fastening elements may be, for example, a magnet or the like, or may be a screw or the like.

[0063] In this case, the cameras S6PL and S6PR are mounted at any position on the left column 111L and the right column 111R, and thus the mounting positions of the cameras S6PL and S6PR can be moved.

[0064] As described above, in the present embodiment, the cameras S6PL and S6PR are installed in a movable manner, and thus, when an operator sits on the operator seat 90, the cameras S6PL and S6PR can be moved to a position suitable for capturing the facial image of the operator according to the seat height or the like.

[0065] In the present embodiment, although not shown, a left monitor and a right monitor may be provided at corresponding positions on the left pillar 111L and the right pillar 111R, respectively, and the left monitor and the right monitor do not interfere with the cameras S6PL and S6PR.

[0066] In this case, the left monitor is preferably mounted at a height higher than the main monitor 40M and lower than the left rearview mirror 10c. The "height" is, for example, a vertical distance from the ground. Preferably, the left monitor is mounted at substantially the same height as the left camera S6L. Similarly, the right monitor is preferably mounted at a height higher than the main monitor 40M and lower than the left rearview mirror 10c. Preferably, the right monitor is mounted at substantially the same height as the right camera S6R.

[0067] The rear monitor 40B is mounted on an upper portion of the right column 111R so as to be arranged along the front ceiling frame 113. The front ceiling frame 113 is a part of the Fig. 3 shown frame body 110.

[0068] The rear monitor 40B may be mounted on an upper part of the left pillar 111L so as to be arranged along the front ceiling frame 113.

[0069] In this way, the left monitor can be positioned as if it were a left rearview mirror in the left side of the field of vision of an excavator operator sitting in the operator's seat and looking forward. Similarly, a right monitor can be positioned in the right side of the field of vision as if it were a right rearview mirror.

[0070] In the present embodiment, the rear monitor 40B is arranged at the top of the field of view, as if it were a rearview mirror. Therefore, an operator of the excavator can intuitively recognize that the image displayed on the left monitor is a mirror image of the left rear of the excavator. Similarly, the operator can intuitively recognize that the image displayed on the right monitor is a mirror image of the right rear of the excavator, and the image displayed on the rear monitor 40B is a mirror image of the rear of the excavator.

[0071] The images displayed on the left monitor, right monitor, and rear monitor 40B correspond to the images captured by the left camera S6L, the right camera S6R, and the rear camera S6B, respectively. In other words, the left monitor, right monitor, and rear monitor 40B independently display views from different directions. The display of the left monitor, right monitor, and rear monitor 40B starts simultaneously with the activation of the main monitor 40M when an operator turns the key to ON. However, the display can also start simultaneously with the start of the engine 11.

[0072] The left monitor, the right monitor, and the rear monitor 40B are mounted so that they do not obstruct an operator's field of view through the front window 62. For this reason, in the present embodiment, the left monitor and the right monitor have sizes that fit within the widths of the left column 111L and the right column 111R, and the rear monitor 40B is mounted at the upper right corner of the front window 62. The left monitor and the right monitor may have widths wider than the widths of the left column 111L and the right column 111R, and the rear monitor 40B may have a size that fits within the widths of the front ceiling frame 113. The left monitor, the right monitor, and the rear monitor 40B are mounted in appropriate positions where they do not interfere with the opening and closing of the front window 62.

[0073] The screen sizes and resolutions of the left monitor, the right monitor, and the rear monitor 40B are preferably selected so that the images of people located at a predetermined distance (for example, 12 m) from the excavator are displayed on the screen at a size larger than a predetermined size (for example, 7 mm × 7 mm). For example, monitors with a screen size of 7 inches or more are used as the left and right monitors, and monitors with a screen size of 7 inches or 8 inches are preferably used.

[0074] The left and right monitors are mounted at the same height with respect to a horizontal reference plane. The horizontal reference plane is, for example, the ground on which the excavator is positioned. In the present embodiment, the monitors are mounted so that they are level with respect to the center line of the operator's cab, which is indicated by the alternating long and short dashed line in Fig. 2, are bilaterally symmetrical.

[0075] The left monitor, the right monitor, and the rear monitor 40B may be configured so that the mounting angles thereof can be adjusted according to a body shape, a working posture, and the like of an operator sitting on the operator seat 90.

[0076] As in Fig. 2, the operator's seat 90 is located in the center of the cab 10, and a left operation lever 26L and a right operation lever 26R are provided on both sides of the operator's seat 90. For this reason, an operator sitting on the operator's seat 90 can move the bucket 6 to a desired position and perform excavation work by operating the left operation lever 26L with the left hand and the right operation lever 26R with the right hand.

[0077] An image display part 41M and a control panel 42M of the main monitor 40M are mounted on the right front side of the operator's seat 90. An operator of the excavator can determine the operating status of the excavator by viewing the image display part 41M. In the example of Fig. 2, the image display part 41M displays a top view image. The top view image is an example of a composite image generated based on images captured by the rear camera S6B and the left and right side cameras. Specifically, the top view image is a view angle conversion image, representing a state where the surroundings of the excavator are viewed from a virtual viewpoint directly above.

[0078] The left monitor is mounted on the left pillar 111L, and the right monitor is mounted on the right pillar 111R. The left monitor and the right monitor can be mounted at corresponding positions so that the left monitor and the right monitor can be viewed in the peripheral field of view when an operator views the bucket 6 in the central field of view through the front glass 62 of the cab 10. For this reason, when an operator performs excavation work while viewing the bucket 6 in the central field of view, the operator can view the states of the left rear and right rear of the excavator displayed on the left monitor and the right monitor in the peripheral field of view without shifting the line of sight.

[0079] A selector 52 and an operating device 53 are provided on the left console 90L. When the operator wants to change the range of the left monitor displaying an image of the left rear of the excavator, the operator operates the selector 52 to select the left camera S6L. Then, the operator operates the operating device 53 to change the orientation of the left camera S6L, thereby changing the range of the image displayed on the left monitor. The same operation is performed when changing the range of the image reflected by the left rearview mirror 10c.

[0080] Next, opening and closing of the front window 62 will be described with reference to Fig. 3 described. Fig. 3 shows a state where the windscreen is partially opened; (A) of Fig. 3 is a front view and (C) of Fig. 3 is a view of the left side.

[0081] The cabin 10 includes an operating device 26 as a drive operating part, the operator seat 90, the display device 40, a door lock lever 45, the cameras S6PL and S6PR, and the like. Although not shown, the Fig. 1 shown control 30 and the like are mounted in the cabin 10.

[0082] The operating device 26 includes a left operating lever 26L, a right operating lever 26R, a travel lever 26B, a pedal 26C, and the like. The door lock lever 45 and a door lock valve 19 are provided at a lower left position of the operator's seat 90. In a case where the door lock lever 45 is pulled upward so that an operator cannot exit the cab 10, the door lock valve 19 is switched to a communication state (open state), thereby communicating a pilot line and placing the various operating devices in an operable state.In the case where the door lock lever 45 is pulled down so that the operator can get out of the cab 10, the door lock valve 19 is switched to a non-communicating state (closed state), whereby the pilot line is interrupted and the various operating devices are deactivated to be in an inoperable state.

[0083] The operator seat 90 includes an armrest 90a, a backrest 90b, and a headrest 90c. In the present embodiment, the height from the floor 10f of the cab 10 to the seat 90m of the operator seat 90 is H1, and the height from the floor 10f of the cab 10 to the top of the headrest 90c is H2.

[0084] The cameras S6PL and S6PR of the present embodiment are arranged at corresponding positions where the height from the floor surface 10f of the cab 10 is between H1 and H2, on the left pillar 111L and the right pillar 111R, respectively. In other words, the cameras S6PL and S6PR of the present embodiment are arranged in such a manner that the height of the cameras from the floor surface 10f of the cab 10 is within the height range H3.

[0085] In the present embodiment, by arranging the cameras S6PL and S6PR in this manner, it is possible to capture a facial image of an operator regardless of the seat height of the operator sitting on the seat surface 90m.

[0086] The cab 10 includes a frame body 110. The frame body 110 is formed by combining a vertical frame, a horizontal frame, and a connecting frame. The vertical frame includes a pair of left and right pillars 111 (111L and 111R) arranged at the front (the traveling direction side, the Z1 side), and a pair of left and right vertical frames (pillars) 112 arranged at the rear (the Z2 side). The horizontal frame includes a front ceiling frame 113 bridged horizontally between the left and right pillars 111L and 111R on the front side, and a rear ceiling frame 114 bridged horizontally between the left and right pillars 112 on the rear side. The pair of left and right columns 111 at the front and the pair of left and right columns 112 at the rear are connected by a pair of left and right connecting frames 115, respectively.

[0087] In the present embodiment, in the example of Fig. 2, one imaging device can be mounted on the rear of each of the left and right columns 112. In this case, at least four imaging devices are provided in the cabin 10.

[0088] In the present embodiment, attaching an imaging device to each of the left and right rear pillars 112 enables the imaging devices to capture a facial image of an operator even when the operator's face is directed rearward.

[0089] The cab 10 includes a glass surface front portion 60 disposed within a front frame formed by a frame body 110. In the cab 10, side windows 65 are disposed within the left and right frames formed by the frame body 110. Furthermore, the cab 10 includes a head window disposed on a top frame formed by the frame body 110.

[0090] The pane surface front section 60 comprises a lower front pane 61, a front pane 62 and an upper front pane 63.

[0091] The front window 62 has a sliding mechanism capable of sliding the front window 62. In the present embodiment, the front window 62 and the lower front window 61 are separated from each other, so that the front window 62 can be accommodated in the cab 10 when the front window 62 is slid.

[0092] The sliding mechanism of the present embodiment includes a pair of left and right slide rails 111a provided on the respective inner surfaces of the pair of left and right pillars 111, and a pair of left and right slide rails 115a provided on the respective inner surfaces of the left and right connecting frames 115. The front glass 62 is arranged between the left and right slide rails 111a and between the left and right slide rails 115a. The slide rail 111a and the slide rail 115a may be formed in such a manner that the rail grooves are continuous, and a sliding portion (not shown) provided at an end portion of the front glass 62 or the like may be configured to be movable from the slide rail 111a to the slide rail 115a. The sliding portion may be a roller or the like.

[0093] The front panel 62 is arranged between the lower front panel 61 and the upper front panel 63 when the front panel 62 is closed. When the front panel 62 is opened, the front panel 62 is separated from the lower front panel 61 and the upper front panel 63 and slides in the opening direction (toward the Y1 side). When closing, the front panel 62 slides in a closing direction (toward the Y2 side) and is arranged between the lower front panel 61 and the upper front panel 63.

[0094] The front panel 62 is provided with a handle portion 62a at each of an upper left position and an upper right position. The handle portion 62a may be provided on only one of the left and right sides. An operator grasps the handle portion 62a and slides the front panel 62 in the opening direction or the closing direction. The handle portion 62a may include a locking mechanism for securing the front panel 62 between the lower front panel 61 and the upper front panel 63.

[0095] A sealing member (not shown) may be interposed between the upper front glass 63 and the front glass 62. The sealing member may be provided at the lower edge portion of the upper front glass 63 and at the upper edge portion of the front glass 62, respectively. The sealing member provided at the lower edge portion of the upper front glass 63 may have an eave portion on the front side (the Z1 side). The eave portion prevents rainwater or the like from penetrating between the two sealing members. The two sealing members may be configured to be separable from each other.

[0096] The lower front panel 61 is directly attached to the frame body 110 or the like. A sealing element may be inserted between the lower front panel 61 and the front panel 62.

[0097] The front window 62 is arranged flush with the upper front window 63, with a sealing member interposed therebetween when closed, and forms the window surface front portion 60 of the cab 10. When the operator opens the front window 62 by opening the handle part 62a, the front window 62 moves rearward (toward the Z2 side) and separates from the upper front window 63. At this time, the front window 62 is also separated from the lower front window 61. The opening operation refers to an unlocking operation for releasing the front window 62 from a fixed state and an operation for sliding the front window 62 upward.

[0098] Next, when an operator grasps the grip part 62a of the front panel 62 and performs an opening operation, the front panel 62 slides in the opening direction (the Y1 direction) as shown in (A) of Fig. 3. Since the cameras S6PL and S6PR are sized to fit the respective widths of the left pillar 111L and the right pillar 111R, the windshield 62 does not touch the cameras S6PL and S6PR at this time. In other words, the cameras S6PL and S6PR do not interfere with the opening and closing operation of the windshield 62.

[0099] When the front window 62 is slid, the front window 62 is in a position parallel to the top of the cab 10. At this time, the front of the cab 10 is opened at a portion where the front window 62 is arranged.

[0100] Next, a configuration of a drive system of the excavator 100 will be described with reference to Fig. 4 described. Fig. Figure 4 is a block diagram showing a configuration example of a drive system of the excavator. Fig. 4, the mechanical power system, the high-pressure hydraulic line, the pilot line and the electrical control system are represented by a double line, a thick solid line, a dashed line and a dotted line, respectively.

[0101] The drive system of the excavator 100 essentially includes the engine 11, a governor 13, a main pump 14, a pilot pump 15, a control valve 17, the operating device 26, a discharge pressure sensor 28, an operating pressure sensor 29, the controller 30, a proportional valve 31, a working mode selecting device 32, and the like.

[0102] The engine 11 is a power source of the excavator. In the present embodiment, the engine 11 is, for example, a diesel engine that operates to maintain a predetermined speed. An output shaft of the engine 11 is connected to the respective input shafts of the main pump 14 and the pilot pump 15.

[0103] The main pump 14 supplies hydraulic oil to the control valve 17 via a high-pressure hydraulic line. In the present embodiment, the main pump 14 is a variable-displacement hydraulic pump of the swash plate type.

[0104] The controller 13 controls a discharge amount of the main pump 14. In the present embodiment, the controller 13 controls a discharge amount of the main pump 14 by adjusting the swash plate tilt angle of the main pump 14 in response to a control command from the controller 30.

[0105] The pilot pump 15 supplies hydraulic oil via the pilot line to various hydraulic control devices, including the operating device 26 and the proportional valve 31. In the present embodiment, the pilot pump 15 is a fixed-displacement hydraulic pump.

[0106] The control valves 17 are a hydraulic control device that controls a hydraulic system in the excavator. The control valves 17 include control valves 171 to 176 and a drain valve 177. The control valves 17 can selectively supply hydraulic oil discharged from the main pump 14 to one or more hydraulic actuators via the control valves 171 to 176.

[0107] The control valves 171 to 176 control the flow rate of hydraulic oil flowing from the main pump 14 to the hydraulic actuator and the flow rate of hydraulic oil flowing from the hydraulic actuator to a hydraulic oil tank. The hydraulic actuators include the boom cylinder 7, the arm cylinder 8, the bucket cylinder 9, a left travel hydraulic motor 1A, a right travel hydraulic motor 1B, and a swing hydraulic motor 2A.

[0108] The drain valve 177 controls a flow rate of hydraulic oil discharged from the main pump 14 to the hydraulic oil tank without passing through the hydraulic actuators (hereinafter, "a drain flow rate"). The drain valve 177 may be provided outside the control valves 17.

[0109] The operating device 26 is a device used by an operator to operate the hydraulic actuators. In the present embodiment, the operating device 26 supplies hydraulic oil discharged from the pilot pump 15 via the pilot lines to the pilot ports of the control valves corresponding to the hydraulic actuators, respectively. The pressure (pilot pressure) of hydraulic oil supplied to each of the pilot ports is a pressure corresponding to an operating direction and an operating amount of a lever or a pedal (not shown) of the operating device 26 associated with each of the hydraulic actuators.

[0110] The discharge pressure sensor 28 detects a discharge pressure of the main pump 14. In the present embodiment, the discharge pressure sensor 28 outputs the detected value to the controller 30.

[0111] The operation pressure sensor 29 detects the content of an operator's operation using the operation device 26. In the present embodiment, the operation pressure sensor 29 detects an operation direction and an operation amount of the lever or pedal of the operation device 26 corresponding to each of the hydraulic actuators in the form of pressure (operation pressure), and outputs the detected value to the controller 30. The content of an operation of the operation device 26 may be detected using a sensor other than the operation pressure sensor.

[0112] The controller 30 is a control unit that controls the entire excavator 100. The functions of the controller 30 of the present embodiment will be described in detail later.

[0113] The proportional valve 31 operates in response to a control command issued by the controller 30. In the present embodiment, the proportional valve 31 is an electromagnetic valve that adjusts a secondary pressure introduced from the pilot pump 15 to the pilot port of the discharge valve 177 in the control valves 17 in accordance with an electric current command issued by the controller 30. The proportional valve 31 operates in such a manner that, for example, a secondary pressure introduced into the pilot port of the discharge valve 177 increases as an electric current command increases.

[0114] The working mode selection device 32 is a device for an operator to select an operating mode and enables switching between a plurality of different operating modes. Data indicating a setting state of the engine speed and a setting state of the acceleration / deceleration characteristics corresponding to a working mode are constantly transmitted from the working mode selection device 32 to the controller 30.

[0115] The work mode selection device 32 is configured to switch a work mode in multiple stages, including an SP mode, an H mode, an A mode, and an IDLE mode. In other words, the work mode selection device 32 of the present embodiment can switch the setting state of the excavator 100.

[0116] The SP mode is an example of a first mode, and the H mode is an example of a second mode. Fig. 4 shows a state where the SP mode is selected by the working mode selecting device 32.

[0117] SP mode is a work mode selected when work rate is prioritized, and uses the highest engine speed and the highest acceleration / deceleration characteristics. H mode is a work mode selected when both work rate and fuel efficiency are desired, and uses the second-highest engine speed and the second-highest acceleration / deceleration characteristics.

[0118] The A mode is a working mode selected when it is desired to operate the excavator quietly by making the acceleration and deceleration characteristics of the hydraulic actuator, which correspond to a lever operation, smooth and improving precise operability and safety, and using a third-highest engine speed and third-highest acceleration / deceleration characteristics. The IDLE mode is a working mode selected when it is desired to have the engine 11 in a low idle state and uses the lowest engine speed and lowest acceleration / deceleration characteristics.

[0119] Here, in this case where the operation of each actuator is stopped during engine drive in each working mode (high idle state), the controller 30 causes the engine 11 to maintain the speed set for each working mode. The controller 30 can switch the engine speed to the low idle state when the high idle state continues for a predetermined time. The idle state includes a high idle state and a low idle state.

[0120] In the above description, the names of the respective stages of the working mode are SP mode, H mode, A mode, and IDLE mode; however, the names of the respective stages are not limited to these. For example, the names of the SP mode, H mode, and A mode may be POWER mode, STD mode, ECO mode, and IDLE (low idle) mode, respectively. The working mode is not limited to the modes described in the present embodiment and may be set to five or more stages.

[0121] The engine 11 is controlled to rotate at a constant speed corresponding to the engine speed of the working mode set by the working mode selection device 32. The opening of the drain valve 177 is controlled based on the drain valve opening characteristics of the operating mode set by the working mode selection device 32.

[0122] In the present embodiment, each of the working modes described above can be referred to as a setting state of the excavator 100, and information indicating the setting state can be referred to as setting state information. The setting state information is information in which a designated item and a value of the item are associated with each other. The designated item is, for example, an item indicating the state of an engine speed corresponding to each working mode or an item indicating the state of the acceleration / deceleration characteristics. Therefore, the setting condition information of the present embodiment includes an item and a value of the item indicating the state of an engine speed corresponding to each working mode, and an item and a value of the item indicating the state of the acceleration / deceleration characteristics.

[0123] In the configuration diagram of Fig. 4, the ECO mode is set as one of the modes selected by the working mode selection device 32, but an ECO mode switch may be provided separately from the working mode selection device 32. In this case, the engine speed may be set in accordance with each mode selected by the working mode selection device 32, and the acceleration / deceleration characteristics corresponding to each mode of the working mode selection device 32 may be gradually changed when the ECO mode switch is turned on.

[0124] The working mode change can be realized by voice input. In this case, the excavator is equipped with a voice input device for inputting a voice uttered by an operator to the controller 30. The controller 30 is also equipped with a sound identification section for identifying a sound input via the voice input device.

[0125] In this way, the operation mode is selected by the working mode selecting device 32, the ECO mode switch, the sound identifying section and the like.

[0126] Next, the function of the controller 30 of the present embodiment will be described. The controller 30 of the present embodiment includes an image data acquisition device 301, a state detector 302, and an output device 303.

[0127] The image data acquisition device 301 acquires image data captured by the imaging device S6. Specifically, the image data acquisition device 301 acquires the image data (moving image data) captured by the camera S6PL and the camera S6PR. In the case where the left and right pillars 112 on the rear side are also equipped with cameras, the image data acquisition device 301 additionally acquires image data captured by these cameras.

[0128] The condition detector 302 detects an operator's condition based on image data acquired by the image data acquisition device 301. In the present embodiment, at this time, image data suitable for detecting a condition is selected from image data captured by the cameras S6PL and S6PR in accordance with an operator's condition that is a target of detection. Then, the condition detector 302 detects an operator's condition based on the selected image data. The processing of the condition detector 302 will be described in detail later.

[0129] The controller 30 stores, in the storage device 47, information in which image data acquired by the image data acquisition device 301 and a detection result detected by the state detector 302 are associated with each other. In the following description, information in which image data (moving image data) acquired by the image data acquisition device 301 and a detection result detected by the state detector 302 are associated with each other may be referred to as "state history information."

[0130] The output device 303 outputs the state history information stored in the storage device 47 to the communication device T1. In other words, the output device 303 outputs the state history information to the management device 200 via the communication device T1.

[0131] The controller 30 of the present embodiment can stop capturing image data by the camera S6PL and the camera S6PR when, for example, a state where an operator is not sitting on the operator seat 90 continues for a certain period of time. The state where an operator is not sitting on the operator seat 90 is a state where an image of the operator is not included in the image represented by the image data acquired by the image data acquisition device 301. The certain period of time can be, for example, about one hour.

[0132] The controller 30 of the present embodiment can turn off the motor 11 as the drive source when a state in which an operator is not sitting on the operator's seat 90 continues for a certain time or longer.

[0133] The state of an operator and the processing of the state detector 302 in the present embodiment will be described below.

[0134] The state of an operator in the present embodiment includes a posture of an operator when sitting on the operator seat 90, whether or not wearing accessories (helmet, seat belt, etc.), facial expressions, behaviors, and the like.

[0135] Specifically, the operator's state includes, for example, a state where the operator sits cross-legged, a state where the operator is not wearing a helmet, and the like. The cross-legged sitting posture may cause misoperation and is therefore an inappropriate posture for an operator to assume during operation of the excavator 100. The helmet-free state is a state where accessories for increasing the operator's safety are not worn during work and is therefore an undesirable state.

[0136] The state of an operator includes, for example, a state where an operator yawns, a state where the operator's eyes are closed, a state where the operator constantly blinks, and the like. The state of yawning is estimated as a state where the operator's concentration on work decreases. The state where the operator's eyes are closed for a predetermined time or longer is estimated as a state where the operator feels drowsy. The state where the operator constantly blinks is estimated as a state where the operator feels tired.

[0137] Furthermore, the state of an operator includes, for example, a state in which an operator is performing a non-work-related activity. The state in which a non-work-related activity is performed is assessed, for example, as a state in which the operator is not engaged in the work of the operator.

[0138] In the present embodiment, the condition detector 302 detects the above-described conditions as a condition of an operator. In other words, the condition detector 302 can detect a posture, presence or absence of accessories, drowsiness, a decrease in concentration, a degree of fatigue, a work attitude, and the like as a condition of an operator. An operator condition detected by the condition detector 302 can be defined in advance.

[0139] Moreover, when detecting a plurality of states of an operator, the state detector 302 of the present embodiment selects image data corresponding to the state to be detected from the image data captured by the cameras S6PL and S6PR, and detects a state using the selected image data.

[0140] In particular, when detecting an operator's condition such as drowsiness, a decrease in concentration, a degree of fatigue, or the like, the operator's facial expression is important. For this reason, the condition detector 302 selects image data (moving image data) including a facial image from images captured by the cameras S6PL and S6PR. Then, based on the selected image data, the condition detector 302 detects whether the operator feels drowsy, whether concentration is decreased, the degree of fatigue, and the like, and stores condition history information including the detection result in the storage device 47.

[0141] Furthermore, when detecting an operator's posture, presence or absence of accessories, work posture, and the like, an image of the operator's entire body is important. Therefore, the condition detector 302 selects image data (moving image data) including the operator's entire body from the image data captured by the cameras S6PL and S6PR. Then, based on the selected image data, the condition detector 302 detects whether the operator's posture is appropriate, whether the operator is wearing appropriate accessories, and whether the operator is engaged in work, and stores condition history information including the detection result in the storage device 47.

[0142] The status history information of the present embodiment is transmitted from the output device 303 to the management device 200 and managed by the management device 200. The status history information may include, for example, identification information for identifying an operator and a machine number for identifying the excavator 100.

[0143] Therefore, in the present embodiment, for example, in the case where a manager attempts to detect a condition of a specific operator whose concentration decreases during work, it is sufficient for the manager to input identification information for identifying the operator and the "decrease in concentration" information for determining the condition into the management device 200. In response to receiving this input, it is sufficient for the management device 200 to display image data associated with the "decrease in concentration" detection result in the condition history information including the operator's identification information.

[0144] The state detector 302 according to the present embodiment may be, for example, a trained model generated by learning such as machine learning.

[0145] A state detection method by the state detector 302 of the present embodiment will be described below with reference to Fig. 5 described.

[0146] Fig. 5 is a diagram for explaining an example of a state detection method by the state detector. The state detector 302 according to the present embodiment may be a trained model configured primarily by a DNN. In other words, the controller 30 may have a trained model that implements the state detector 302.

[0147] A deep neural network (DNN) is a so-called deep neural network with one or more intermediate layers (hidden layers) between an input layer and an output layer. In a deep neural network (DNN), a weight parameter representing the connection strength with a lower layer is defined for each of the multiple neurons forming each intermediate layer. The DNN neural network is configured such that the neurons of each layer output the sum of values ​​obtained by multiplying input values ​​from the multiple neurons of an upper layer by weight parameters defined for the neurons of the upper layer to the neurons of the lower layer through a threshold function.

[0148] Machine learning, specifically deep learning, is performed on the DNN neural network, and the weighting parameters described above are optimized. Thus, the DNN neural network can receive an input of image data acquired by the image data acquisition device 301 as an input signal x and output a probability that an operator's state is a predefined state as an output signal y.

[0149] In the present embodiment, the output signal y1 output from the DNN indicates that a prediction probability that an operator's state at the time of inputting an input signal x is an unsuitable posture is 10%. The output signal y2 indicates that a probability that an operator is in a low-concentration state at the time of inputting an input signal x is 50%.

[0150] For example, the state detector 302 according to the present embodiment may acquire a set of a plurality of states included in the output signal y and a probability that a state of an operator is each of the plurality of states as a detection result regarding a state of an operator, and accumulate the set as a piece of state history information.

[0151] In the present embodiment, accumulating the state history information in this way enables a manager or the like to ascertain the details of the history of the operator's state during work even after the operator's work is finished.

[0152] The state detector 302 can set a state with a highest probability among all states included in the output signal y as the operator's state when the input signal x is input (detection result).

[0153] Specifically, for example, assume that a state with the highest probability among the multiple states included in the output signal y is a low concentration state. In this case, the state detector 302 may select the "low concentration state" as a state of an operator at that time from the multiple states and may use the selected state as the detection result.

[0154] For example, the DNN is a convolutional neural network (CNN). The CNN is a neural network to which an existing image processing technique (convolutional processing and pooling processing) is applied.

[0155] Next, the operation of the excavator 100 of the present embodiment will be described with reference to Fig. 6 described. Fig. 6 is a flowchart for explaining the processing of the excavator according to the first embodiment.

[0156] The controller 30 of the excavator 100 according to the present embodiment acquires image data from the cameras S6PL and S6PR via the image data acquisition device 301 (step S601).

[0157] Subsequently, the state detector 302 selects the image data to be used for detection from the plurality of acquired image data according to the type of the state, and detects a state of an operator using the selected image data (step S602).

[0158] Subsequently, the controller 30 causes the output device 303 to store the state history information including the detection result and the image data used for the state detection in the storage device 47 (step S603).

[0159] In this way, in the excavator 100 of the present embodiment, image data suitable for detecting a state of an operator is selected from a plurality of image data (moving image data) captured by a plurality of imaging devices arranged on the cab 10, and a state of an operator is detected using the selected image data.

[0160] In other words, in the present embodiment, for example, when a state of an operator that a manager or the like wants to detect is regarded as a "purpose," image data suitable for detecting the purpose is automatically selected from a plurality of image data captured in the booth 10. In the present embodiment, an operator's state that is a purpose of detection is detected using selected image data.

[0161] In this way, in the present embodiment, a state of an operator can be detected in response to a request from a site manager or the like who manages the operator, the excavator 100 or the like.

[0162] An example of image data of a state of an operator stored in the storage device 47 as the state history information will be described below with reference to Fig. 7A and Fig. 7B. Fig. 7A is a first diagram showing an example of image data to be output, and Fig. Figure 7B is a second diagram showing an example of image data to be output. Fig. Image 71 shown in Fig. 7A is an example of an image output as a result of detecting a state where the operator assumes an inappropriate posture.

[0163] Figure 71 shows that the operator is grasping the lever. However, the operator operates the lever with his legs crossed, and this posture is considered inappropriate at the time of operation.

[0164] Picture 72 in Fig. 7B shows a state where an operator is not engaged in work, that is, a state where the operator is not gripping the lever and is not wearing an accessory (helmet). In this case, the screen is an example of a screen output as a result of detecting an operator in an inappropriate posture while the excavator 100 is in an operational state (the engine 11 is ON and the door lock valve 19 is in an open state).

[0165] From image 72, it can be seen that the operator is not wearing a helmet and is crossing his legs and not operating the excavator 100. Specifically, by combining the image with various detection information output from various sensors mounted on the excavator 100, it is possible to confirm whether the operator's condition is appropriate with respect to the condition of the excavator 100 (whether the excavator 100 is in an operational state or not, etc.).

[0166] In the present embodiment, displaying such an image in the management device 200 as a detection result enables a manager to determine a situation of an operator at a time of detecting a condition. (Second embodiment)

[0167] The second embodiment will be described below with reference to the drawings. The second embodiment differs from the first embodiment in that a three-dimensional model of an operator working is created from multiple image data acquired by multiple imaging devices mounted on columns, and a state of the operator is detected based on the three-dimensional model. In the following description of the second embodiment, the differences from the first embodiment will be described.

[0168] Fig. 8 is a flowchart for explaining an operation of an excavator according to the second embodiment. The excavator 100 of the present embodiment acquires image data (moving image data) captured by the camera S6PL and the camera S6PR via the image data acquisition device 301 of the controller 30 (step S801).

[0169] Subsequently, the controller 30 of the present embodiment generates a three-dimensional model of an operator from a plurality of image data acquired by the image data acquisition device 301, and detects a state of an operator based on the generated three-dimensional model through the state detector 302 (step S802). The three-dimensional model of the operator is a three-dimensional model represented by a group of points in a three-dimensional coordinate space.

[0170] Subsequently, the controller 30 causes the output device 303 to store the state history information including the detection result and the image used for the state detection in the storage device 47 (step S803).

[0171] As described above, in the present embodiment, since a three-dimensional model of an operator is generated from multiple image data acquired by the image data acquisition device 301, it is not necessary to select image data suitable for multiple operator states as a detection target. In other words, since a three-dimensional model generated from multiple image data obtained by imaging an operator from different directions is used to detect an operator state, the imaging direction of the operator by the camera has no influence on the detection of the state.

[0172] In the present embodiment, as the number of cameras mounted on the pillars in the cab 10 increases, a three-dimensional model with higher accuracy can be generated, and the accuracy in detecting a state of an operator can be increased. (Third embodiment)

[0173] The third embodiment will be described below. The third embodiment differs from the first and second embodiments in that a status determination function of the excavator 100 is provided in the management device 200.

[0174] Fig. 9 is a diagram for explaining a system configuration of a support system for a construction machine according to the third embodiment.

[0175] In the excavator support system SYS of the present embodiment, the management device 200 includes the image data acquisition device 301, the state detector 302, and an output device 303A.

[0176] The management device 200 may be a general computer including an arithmetic processing device and a storage device, and the functions of the image data acquisition device 301, the state detector 302, and the output device 303A are realized by the arithmetic processing device reading and executing a state detection program stored in the storage device of the management device 200.

[0177] The excavator 100 of the present embodiment transmits image data captured by the camera S6PL and the camera S6PR to the management device 200.

[0178] The management device 200 acquires a plurality of image data transmitted from the excavator 100 through a plurality of image data acquisition devices 301, detects a state of an operator using the plurality of image data through the state detector 302, and stores state history information including the image data and the detection result.

[0179] The output device 303A causes a display device included in the management device 200, a display device connected to the management device 200, or the like to display the state history information.

[0180] Specifically, for example, in response to input of the information designating a state that a manager wants to detect to the management device 200, along with identification information of an operator and a machine number of the excavator 100, the output device 303A reads state history information corresponding to the identification information of the operator and the machine number of the excavator 100. The management device 200 may cause the designated detection result and the image data associated with the designated detection result to be displayed among the detection results included in the read state history information.

[0181] In the case where only an operator's identification information and a machine number of the excavator 100 are input, the output device 303A can read the condition history information corresponding to the operator's identification information and the machine number of the excavator 100 and display a list of detected conditions. In response to selecting a specific condition from the list of detected conditions, the output device 303A can display the image data associated with the selected condition. In response to, for example, input of an operator's identification information, the output device 303A can refer to the condition history information associated with the identification information and display the number of times the unsuitable condition was detected.

[0182] In the present embodiment, outputting a detection result regarding a state of an operator can cause a manager to determine a state of the operator.

[0183] In the present embodiment, states of a plurality of image data are detected by the management device 200, and thus it is possible to reduce a processing load of the controller 30 of the excavator 100.

[0184] In the present embodiment, the cab 10 as an operator's cab is the cab 10 of the excavator 100; however, the present disclosure is not limited to this example. The present embodiment can also be applied to a work machine other than the excavator 100. Such a work machine may be, for example, a gantry crane, a crawler crane, an overhead crane, a bridge crane, a jib crane, or the like.

[0185] A gantry crane includes a pair of legs arranged in a lateral direction and capable of moving in a longitudinal direction, a beam bridged between the legs, a main crane trolley capable of moving along the beam, an operator's cabin for performing crane operations, and a walkway portion connected to a main crane trolley and connecting the main crane trolley and the operator's cabin. The present embodiment can be applied to the operator's cabin of such a gantry crane. The present embodiment can be used for the operator's seat of such a gantry crane.

[0186] In the crawler crane, an upper slewing body is pivotally mounted on a lower traveling body with a crawler belt in a pivotable manner, and a tower boom is attached to the upper slewing body so as to be capable of being raised or lowered. The upper slewing body is provided with an operator's seat. In a crawler crane, a tower boom that does not extend and contract is pivotally supported on the upper end side of a tower boom so that it can be raised or lowered with respect to the tower boom, and a tower stay, which is arranged between the tower boom and a suspension rope and serves as a support member when raising or lowering the tower boom, is pivotally supported on the other part of the upper end side of the tower boom. The present embodiment can be applied to the operator's seat of such a crawler crane.

[0187] For example, an overhead crane includes a traveling section that travels on a rail, a fixed section provided on the traveling section, a rotating section provided on the fixed section so that it can rotate, an operator's cab provided on the rotating section, and a boom provided on the rotating section. The overhead crane also includes a hoist for hoisting a load, a wire rope for winding and unwinding the hoist, and a drum for winding and paying out the wire rope. The overhead crane can travel on the rail by driving the traveling section in a state where the load is lifted by the hoist, and can convey the load. The present embodiment can be applied to the operator's seat of such an overhead crane.

[0188] An overhead crane is installed in a building and lifts an object to be lifted (hereinafter simply referred to as an "object") by means of a lifting tool and moves the lifting tool in a horizontal direction to thereby transport the object. The overhead crane includes a girder provided to bridge a pair of rails provided in a building, and the girder can travel on the rails. A trolley capable of traveling along the extension direction of the girder is attached to the girder. A lifting tool is attached to the trolley. In other words, the lifting tool moves in the traveling direction when the girder moves, and the lifting tool moves in the transverse direction when the trolley moves. The object is thus transported by the movement of the lifting tool. The girder is provided with an operator's cabin for operating the overhead crane.The present embodiment can be applied to the operator seat of such a bridge crane.

[0189] In a jib crane, a boom is attached to one end of a slewing body, on which a rear support is erected so that it can be freely raised and lowered around a central hoisting and lowering shaft. The boom is raised and lowered by winding and releasing a hoisting and lowering rope, and a suspended load is raised and lowered from a tip of the boom by winding and lowering a hoisting rope. The present embodiment can be applied to the operator seat of such a jib crane.

[0190] Although the preferred embodiments of the present disclosure have been described in detail, the present disclosure is not limited to the above-described embodiments, and various modifications and substitutions may be made to the above-described embodiments without departing from the scope of the present disclosure.

[0191] The present international application claims priority based on Japanese Patent Application No. 2022-084645 filed on May 24, 2022, and the entire contents of Japanese Patent Application No. 2022-084645 are incorporated herein by reference. LIST OF REFERENCE SYMBOLS 10 cabins 11 Engine 30 Control 100 excavators 110 frame body 111, 112 column 200 Management device 301 Image data acquisition device 302 Condition Detector 303 Dispensing device QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] JP 2020-111895

[0003] JP 2022-084645

[0191]

Claims

[1] Construction machine, comprising: a lower chassis; an upper swing body mounted on the lower landing gear body in a pivotable manner; a cabin mounted on the upper swing body; and a space detection device mounted on a column in the cabin. [2] The construction machine according to claim 1, wherein the space detection device is arranged between a height of a seat surface of an operator's seat provided in the cab and a height of an upper end portion of a headrest of the operator's seat. [3] The construction machine according to claim 1 or 2, wherein the space detection device is arranged at a position where the space detection device does not interfere with a front window provided in the cab when opening and closing the front window. [4] Construction machine according to claim 3, wherein the space recognition device is movable. [5] Construction machine according to claim 4, wherein a plurality of room detection devices are arranged, each of the room detection devices being the room detection device, the column includes a mounting element for mounting the plurality of room detection devices, and the plurality of space detection devices each comprise a fastening element attachable to and detachable from the attachment element, the fastening element attaching a corresponding one of the plurality of space detection devices to the column. [6] Construction machine according to claim 5, wherein the fastening element is a magnet. [7] Construction machine according to claim 1, comprising: an image data acquisition device configured to acquire a plurality of image data acquired by each of the plurality of space recognition devices; and a state detector configured to detect a state of an operator seated on an operator seat provided in the cab using the plurality of image data. [8] Construction machine according to claim 7, wherein the condition detector is configured to Selects image data from the plurality of image data according to the operator’s condition to be detected, and detects the operator's condition based on the selected image data. [9] Construction machine according to claim 7 or 8, comprising: an output device configured to cause a display device to display image data at a time of detecting the operator's condition by the condition detector. [10] A support system for a construction machine comprising a construction machine and a management device, wherein the construction machine includes a lower chassis; an upper swing body mounted on the lower landing gear body in a pivotable manner; a cabin mounted on the upper swing body; a space detection device arranged on a column in the cabin; and an output device configured to output a plurality of image data captured by the space recognition device to the management device, and the management device includes a storage section configured to store the plurality of image data.

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