Control device for work machine

Abstract

To reduce danger when an operator tries to operate a work machine according to gestures made by a signal person arranged outside the work machine.SOLUTION: A control device for a work machine comprising an operating element has: operating means that is operated to operate the work machine; a recognition unit that recognizes gestures by a signal person outside the work machine; and a control unit that, when an operation corresponding to a gesture recognized by the recognition unit is not performed on the operating means, performs at least one of notifying an operator operating the operating means and restricting the operation of the work machine.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present disclosure relates to a control device for a working machine.

Background Art

[0002] In the work site of a working machine, it is known to use gestures for the operation of the working machine. Patent Document 1 discloses a technique in which a shovel operates according to the gestures of an operator. On the other hand, at an actual work site, in many cases, a signaler arranged outside the working machine makes gestures for instructing the operation of the working machine, and the operator of the working machine performs the work while confirming the gestures made by the signaler.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, when the operator of the working machine performs an operation different from the operation corresponding to the gesture made by the signaler, there is a risk that the working machine may collide with the signaler or an obstacle.

[0005] Therefore, it is desirable to provide a control device for a working machine that can reduce the risk when an operator attempts to operate the working machine according to the gestures made by a signaler arranged outside the working machine.

Means for Solving the Problems

[0006] To achieve the above object, the present disclosure provides a control device for a working machine having operating elements, operation means for performing an operation to operate the working machine, A recognition unit that recognizes gestures made by a signaler outside the work machine; A control unit that performs at least one of notifying an operator who operates the operation means and restricting the operation of the work machine when an operation corresponding to the gesture recognized by the recognition unit is not being performed on the operation means.

Effect of the Invention

[0007] According to the present disclosure, it is possible to reduce the risk when the work machine is operated according to a gesture made by a signaler arranged outside the work machine.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Mode for Carrying Out the Invention

[0009] Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[0010] [Outline of Excavator] First, referring to FIGS. 1 and 2, an overview of the excavator 100 according to this embodiment will be described.

[0011] FIG. 1 is a side view of the excavator 100 according to this embodiment. FIG. 2 is a top view of the excavator 100 according to this embodiment.

[0012] The excavator 100 according to this embodiment includes a lower traveling body 1 and an upper revolving body 3 that constitute a work machine body, a boom 4, an arm 5, and a bucket 6 that constitute an attachment AT as an example of a work attachment, and a cabin 10.

[0013] The lower traveling body 1 includes a pair of left and right crawlers 1C, specifically, a left crawler 1CL and a right crawler 1CR. The lower traveling body 1 travels the excavator 100 by the left crawler 1CL and the right crawler 1CR being hydraulically driven by traveling hydraulic motors 2M (specifically, traveling hydraulic motors 2ML, 2MR), respectively.

[0014] The upper revolving body 3 is mounted on the lower traveling body 1 so as to be rotatable via a slewing mechanism 2, and rotates with respect to the lower traveling body 1 by being driven by a slewing hydraulic motor 2A.

[0015] The boom 4 is pivotally attached to the front center of the upper revolving body 3 so as to be able to pitch. An arm 5 is pivotally attached to the tip of the boom 4 so as to be able to rotate up and down, and a bucket 6 is pivotally attached to the tip of the arm 5 so as to be able to rotate up and down. The boom 4, the arm 5, and the bucket 6 are hydraulically driven by a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9 as hydraulic actuators, respectively.

[0016] The cabin 10 is a driver's cab where an operator rides, and is mounted on the front left side of the upper revolving body 3.

[0017] The excavator 100 operates operating elements (driven elements) such as the lower traveling body 1, the upper swing body 3, the boom 4, the arm 5, and the bucket 6 according to the operations of an operator who boards the cab 10 (hereinafter, referred to as the "on-board operator" for convenience) and remote operation signals received from a predetermined external device (for example, the remote operation room RC described later).

[0018] Further, the excavator 100 automatically operates the hydraulic actuator regardless of the operations of the on-board operator in the cab 10 or the content of the remote operation by the operator of the external device (hereinafter, referred to as the "remote operator" for convenience). As a result, the excavator 100 realizes a function (hereinafter, the "automatic operation function") of automatically operating at least a part of the operating elements (driven elements) such as the lower traveling body 1, the upper swing body 3, the boom 4, the arm 5, and the bucket 6.

[0019] The automatic operation function may include a function (so-called "semi-automatic operation function") of automatically operating operating elements (hydraulic actuators) other than the operating element (hydraulic actuator) of the operation target according to the operations of the on-board operator and the remote operation of the remote operator. Further, the automatic operation function may include a function (so-called "fully automatic operation function") of automatically operating at least a part of a plurality of operating elements (hydraulic actuators) on the premise that there is no operation by the on-board operator or the remote operation by the remote operator. Further, the semi-automatic operation function and the fully automatic operation function include not only a mode in which the operation content of the operating element (hydraulic actuator) of the automatic operation target is automatically determined according to a rule defined in advance, but also a mode in which the excavator 100 autonomously makes various determinations and, in accordance with the determination results, the operating elements automatically operate in a form in which the operation content of the operating element (hydraulic actuator) of the automatic operation target is determined (so-called "autonomous operation function"). [Configuration of Excavator] Next, the configuration of the excavator 100 will be described.

[0020] FIG. 3 is a diagram for explaining an example of the configuration of the hydraulic system of the excavator 100.

[0021] The hydraulic system of the excavator 100 according to this embodiment includes an engine 11, regulators 13L and 13R, main pumps 14L and 14R, a pilot pump 15, a control valve 17, an operating device 26, discharge pressure sensors 28L and 28R, operating pressure sensors 29LA, 29LB, 29RA, 29RB, 29DL, and 29DR, and a controller 30. Hereinafter, the operating pressure sensors 29LA, 29LB, 29RA, 29RB, 29DL, and 29DR may be collectively or individually referred to as the "operating pressure sensor 29". Further, as described above, the hydraulic system of the excavator 100 according to this embodiment hydraulically drives each of the driven elements (operating elements) such as the lower traveling body 1, the upper swing body 3, the boom 4, the arm 5, and the bucket 6, including traveling hydraulic motors 2ML and 2MR, a swing hydraulic motor 2A, a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9 and other hydraulic actuators.

[0022] The engine 11 is the main power source of the hydraulic system and is mounted, for example, at the rear of the upper swing body 3. Specifically, the engine 11 rotates at a constant speed at a preset target rotational speed under the direct or indirect control of the controller 30 and drives the main pumps 14L and 14R and the pilot pump 15. The engine 11 is, for example, a diesel engine that uses light oil as fuel.

[0023] The regulators 13L and 13R control the discharge amounts of the main pumps 14L and 14R. For example, the regulators 13L and 13R adjust the angles (tilt angles) of the swash plates of the main pumps 14L and 14R according to control commands from the controller 30. The regulators 13L and 13R respectively correspond to the main pumps 14L and 14R.

[0024] The main pumps 14L and 14R are mounted, for example, at the rear of the upper slewing body 3, like the engine 11, and are driven by the engine 11 as described above to supply hydraulic oil to the control valve 17 through the high-pressure hydraulic line. The main pumps 14L and 14R are each, for example, variable displacement hydraulic pumps. Under the control of the controller 30, as described above, the tilting angle of the swash plate is adjusted by the regulators 13L and 13R to adjust the stroke length of the pistons, thereby controlling the discharge flow rate (discharge pressure).

[0025] The pilot pump 15 is mounted, for example, at the rear of the upper slewing body 3 and supplies pilot pressure to the operating device 26 through the pilot line. The pilot pump 15 is, for example, a fixed displacement hydraulic pump and is driven by the engine 11 as described above.

[0026] The control valve 17 is mounted, for example, at the center of the upper slewing body 3 and is a hydraulic control device that controls the hydraulic drive system according to the operation of the operating device 26 by the operator. The control valve 17 is connected to the main pumps 14L and 14R through the high-pressure hydraulic line as described above, and supplies the hydraulic oil supplied from the main pumps 14L and 14R to the hydraulic actuators (travel hydraulic motors 2ML and 2MR, slewing hydraulic motor 2A, boom cylinder 7, arm cylinder 8, and bucket cylinder 9) selectively according to the operation state of the operating device 26 or the control command by the automatic operation function of the excavator 100. Specifically, the control valve 17 includes control valves 171 to 174, 175L, 175R, 176L, and 176R that control the flow rate and flow direction of the hydraulic oil supplied from the main pump 14 to each of the hydraulic actuators.

[0027] The control valve 171 corresponds to the traveling hydraulic motor 2ML. Also, the control valve 172 corresponds to the traveling hydraulic motor 2MR. Also, the control valve 173 corresponds to the slewing hydraulic motor 2A. Also, the control valve 174 corresponds to the bucket cylinder 9. Also, the control valves 175L and 176R correspond to the boom cylinder 7. Hereinafter, the control valves 175L and 175R may be collectively or individually referred to as the control valve 175. Also, the control valves 176L and 176R correspond to the arm cylinder 8. Hereinafter, the control valves 176L and 176R may be collectively or individually referred to as the control valve 176.

[0028] The operating device 26 is an example of the operating means in the present invention. The operating device 26 is provided near the driver's seat in the cabin 10 and is an operating input means for the operator to operate various operating elements (driven elements such as the lower traveling body 1, the upper slewing body 3, the boom 4, the arm 5, and the bucket 6). In other words, the operating device 26 is an operating input means for the operator to operate the hydraulic actuators (i.e., the traveling hydraulic motors 2ML and 2MR, the slewing hydraulic motor 2A, the boom cylinder 7, the arm cylinder 8, the bucket cylinder 9, etc.) that drive the respective operating elements (driven elements).

[0029] The operating device 26 is, for example, a hydraulic pilot type that outputs a pilot pressure corresponding to its operating state. The operating device 26 is connected to the control valve 17 via a shuttle valve 32 (described later) provided in the pilot line on the secondary side thereof. As a result, a pilot pressure corresponding to the operating states of the lower traveling body 1, the upper slewing body 3, the boom 4, the arm 5, and the bucket 6 in the operating device 26 can be input to the control valve 17. Therefore, the control valve 17 can drive the respective hydraulic actuators according to the operating states in the operating device 26.

[0030] The operating device 26 includes a left operating lever 26L and a right operating lever 26R for operating the attachment AT, that is, the boom 4 (boom cylinder 7), the arm 5 (arm cylinder 8), the bucket 6 (bucket cylinder 9), and the upper swing body 3 (swing hydraulic motor 2A). The operating device 26 also includes a travel lever 26D for operating the lower travel body 1, and the travel lever 26D includes a left travel lever 26DL for operating the left crawler 1CL (travel hydraulic motor 2ML) and a right travel lever 26DR for operating the right crawler 1CR (travel hydraulic motor 2MR).

[0031] The left operating lever 26L is used for the swing operation of the upper swing body 3 and the operation of the arm 5. When the left operating lever 26L is operated in the front-rear direction (that is, the front-rear direction of the upper swing body 3) as viewed by the operator in the cab 10, it utilizes the hydraulic oil discharged from the pilot pump 15 and outputs a control pressure (pilot pressure) corresponding to the lever operation amount to the secondary pilot line connected to the pilot ports of the control valves 176L and 176R. Also, when the left operating lever 26L is operated in the left-right direction (that is, the left-right direction of the upper swing body 3) as viewed by the operator in the cab 10, it utilizes the hydraulic oil discharged from the pilot pump 15 and outputs a control pressure (pilot pressure) corresponding to the lever operation amount to the secondary pilot line connected to the pilot port of the control valve 173.

[0032] The right operating lever 26R is used for the operation of the boom 4 and the operation of the bucket 6. When the right operating lever 26R is operated in the front-rear direction as viewed by the operator in the cab 10, it utilizes the hydraulic oil discharged from the pilot pump 15 and outputs a control pressure (pilot pressure) corresponding to the lever operation amount to the secondary pilot line connected to the pilot ports of the control valves 175L and 175R. Also, when the right operating lever 26R is operated in the left-right direction, it utilizes the hydraulic oil discharged from the pilot pump 15 and outputs a control pressure (pilot pressure) corresponding to the lever operation amount to the secondary pilot line connected to the control valve 174.

[0033] The left travel lever 26DL is used for operating the left crawler 1CL as described above, and may be configured to be interlocked with a left travel pedal (not shown). When the left travel lever 26DL is operated in the front-rear direction as viewed by the operator in the cabin 10, it utilizes the hydraulic oil discharged from the pilot pump 15 and outputs a control pressure (pilot pressure) corresponding to the lever operation amount to the secondary pilot line connected to the control valve 171.

[0034] The right travel lever 26DR is used for operating the right crawler 1CR as described above, and may be configured to be interlocked with a right travel pedal (not shown). When the right travel lever 26DR is operated in the front-rear direction as viewed by the operator in the cabin 10, it utilizes the hydraulic oil discharged from the pilot pump 15 and outputs a control pressure (pilot pressure) corresponding to the lever operation amount to the secondary pilot line connected to the control valve 172.

[0035] Also, the operating device 26 (left operating lever 26L, right operating lever 26R, left travel lever 26DL, and right travel lever 26DR) may be an electric type that outputs an electric signal instead of a hydraulic pilot type that outputs a pilot pressure. In this case, the control valves 171 to 174, 175L, 175R, 176L, and 176R in the control valve 17 may be electromagnetic solenoid type spool valves that are operated by an electric signal corresponding to the operation content of the operating device 26 output from the operating device 26 or the controller 30.

[0036] The discharge pressure sensors 28L and 28R detect the discharge pressures of the main pumps 14L and 14R, respectively. The detection signals corresponding to the discharge pressures detected by the discharge pressure sensors 28L and 28R are taken into the controller 30.

[0037] The operation pressure sensor 29 detects the pilot pressure on the secondary side of the operation device 26, that is, the pilot pressure corresponding to the operation state of each operation element (i.e., the hydraulic actuator) in the operation device 26. The detection signal of the pilot pressure corresponding to the operation states of the lower traveling body 1, the upper slewing body 3, the boom 4, the arm 5, the bucket 6, etc. in the operation device 26 by the operation pressure sensor 29 is taken into the controller 30.

[0038] The operation pressure sensor 29LA detects the operation content in the front-rear direction (e.g., the operation direction and the operation amount) with respect to the left operation lever 26L by the operator in the form of the pressure of the hydraulic oil (hereinafter, "operation pressure") in the corresponding secondary pilot line of the left operation lever 26L.

[0039] The operation pressure sensor 29LB detects the operation content in the left-right direction (e.g., the operation direction and the operation amount) with respect to the left operation lever 26L by the operator in the form of the operation pressure of the corresponding secondary pilot line of the left operation lever 26L.

[0040] The operation pressure sensor 29RA detects the operation content in the front-rear direction (e.g., the operation direction and the operation amount) with respect to the right operation lever 26R by the operator in the form of the operation pressure of the corresponding secondary pilot line of the right operation lever 26R.

[0041] The operation pressure sensor 29RB detects the operation content in the left-right direction (e.g., the operation direction and the operation amount) with respect to the right operation lever 26R by the operator in the form of the operation pressure of the corresponding secondary pilot line of the right operation lever 26R.

[0042] The operation pressure sensor 29DL detects the operation content in the front-rear direction (e.g., the operation direction and the operation amount) with respect to the left travel lever 26DL by the operator in the form of the operation pressure of the secondary pilot line of the left travel lever 26DL.

[0043] The operation pressure sensor 29DR detects the content of the operator's forward and backward operation on the right traveling lever 26DR (for example, the operation direction and the operation amount) in the form of the operation pressure of the pilot line on the secondary side of the right traveling lever 26DR.

[0044] Note that the operation content of the operation device 26 (the left operation lever 26L, the right operation lever 26R, the left traveling lever 26DL, and the right traveling lever 26DR) may be detected by sensors other than the operation pressure sensor 29 (for example, potentiometers attached to the right operation lever 26R, the left traveling lever 26DL, and the right traveling lever 26DR). Also, when the operation device 26 is electric, the operation pressure sensor 29 is omitted. This is because an electric signal (operation signal) corresponding to the operation state is input from the electric operation device 26 to the controller 30, and the controller 30 can grasp the operation state from the operation signal.

[0045] The controller 30 is provided, for example, inside the cabin 10 and performs drive control of the excavator 100. The function of the controller 30 may be realized by arbitrary hardware, software, or a combination thereof. For example, the controller 30 is mainly composed of a microcomputer including a CPU (Central Processing Unit), a memory device such as a RAM (Random Access Memory), a non-volatile auxiliary storage device such as a ROM (Read Only Memory), and various input / output interfaces. The controller 30 realizes various functions, for example, by executing various programs stored in the auxiliary storage device on the CPU.

[0046] Note that a part of the function of the controller 30 may be realized by another controller (control device). That is, the function of the controller 30 may be realized in a manner distributed among a plurality of controllers.

[0047] Here, as shown in FIG. 3, in the hydraulic system of the excavator 100, the hydraulic system part of the drive system that drives the hydraulic actuator circulates the hydraulic oil from each of the main pumps 14L and 14R driven by the engine 11 to the hydraulic oil tank via the center bypass oil passages 40L and 40R and the parallel oil passages 42L and 42R.

[0048] The center bypass oil passage 40L starts from the main pump 14L, passes through the control valves 171, 173, 175L, and 176L arranged in the control valve 17 in sequence, and reaches the hydraulic oil tank.

[0049] The center bypass oil passage 40R starts from the main pump 14R, passes through the control valves 172, 174, 175R, and 176R arranged in the control valve 17 in sequence, and reaches the hydraulic oil tank.

[0050] The control valve 171 is a spool valve that supplies the hydraulic oil discharged from the main pump 14L to the travel hydraulic motor 2ML and discharges the hydraulic oil discharged from the travel hydraulic motor 2ML to the hydraulic oil tank.

[0051] The control valve 172 is a spool valve that supplies the hydraulic oil discharged from the main pump 14R to the travel hydraulic motor 2MR and discharges the hydraulic oil discharged from the travel hydraulic motor 2MR to the hydraulic oil tank.

[0052] The control valve 173 is a spool valve that supplies the hydraulic oil discharged from the main pump 14L to the swing hydraulic motor 2A and discharges the hydraulic oil discharged from the swing hydraulic motor 2A to the hydraulic oil tank.

[0053] The control valve 174 is a spool valve that supplies the hydraulic oil discharged from the main pump 14R to the bucket cylinder 9 and discharges the hydraulic oil in the bucket cylinder 9 to the hydraulic oil tank.

[0054] The control valves 175L and 175R are spool valves that supply the hydraulic oil discharged from the main pumps 14L and 14R to the boom cylinder 7, respectively, and discharge the hydraulic oil in the boom cylinder 7 to the hydraulic oil tank.

[0055] The control valves 176L and 176R are spool valves that supply the hydraulic oil discharged from the main pumps 14L and 14R to the arm cylinder 8, respectively, and discharge the hydraulic oil in the arm cylinder 8 to the hydraulic oil tank.

[0056] The control valves 171 to 174, 175L, 175R, 176L, and 176R adjust the flow rate of the hydraulic oil supplied to and discharged from the hydraulic actuator according to the pilot pressure acting on the pilot port, respectively. Also, the control valves 171 to 174, 175L, 175R, 176L, and 176R switch the flow direction of the hydraulic oil supplied to and discharged from the hydraulic actuator according to which of the two pilot ports the pilot pressure is acting on, respectively.

[0057] The parallel oil passage 42L supplies the hydraulic oil of the main pump 14L to the control valves 171, 173, 175L, and 176L in parallel with the center bypass oil passage 40L. Specifically, the parallel oil passage 42L branches from the center bypass oil passage 40L upstream of the control valve 171 and is configured to be able to supply the hydraulic oil of the main pump 14L in parallel to each of the control valves 171, 173, 175L, and 176R. Thereby, when the flow of the hydraulic oil passing through the center bypass oil passage 40L is restricted or blocked by any one of the control valves 171, 173, and 175L, the parallel oil passage 42L can supply the hydraulic oil to the control valves downstream.

[0058] The parallel oil passage 42R supplies the hydraulic oil of the main pump 14R to the control valves 172, 174, 175R, and 176R in parallel with the center bypass oil passage 40R. Specifically, the parallel oil passage 42R branches from the center bypass oil passage 40R upstream of the control valve 172 and is configured to be able to supply the hydraulic oil of the main pump 14R in parallel to each of the control valves 172, 174, 175R, and 176R. Thereby, when the flow of the hydraulic oil passing through the center bypass oil passage 40R is restricted or blocked by any one of the control valves 172, 174, and 175R, the parallel oil passage 42R can supply the hydraulic oil to the more downstream control valves.

[0059] The regulators 13L and 13R respectively adjust the discharge amounts of the main pumps 14L and 14R by adjusting the tilting angles of the swash plates of the main pumps 14L and 14R under the control of the controller 30.

[0060] The discharge pressure sensor 28L detects the discharge pressure of the main pump 14L, and the detection signal corresponding to the detected discharge pressure is taken into the controller 30. The same applies to the discharge pressure sensor 28R. Thereby, the controller 30 can control the regulators 13L and 13R according to the discharge pressures of the main pumps 14L and 14R.

[0061] Negative control throttles (hereinafter referred to as "negative control throttles") 18L and 18R are provided between each of the most downstream control valves 176L and 176R and the hydraulic oil tank in the center bypass oil passages 40L and 40R. Thereby, the flow of the hydraulic oil discharged by the main pumps 14L and 14R is restricted by the negative control throttles 18L and 18R. And the negative control throttles 18L and 18R generate a control pressure (hereinafter referred to as "negative control pressure") for controlling the regulators 13L and 13R.

[0062] The negative control pressure sensors 19L and 19R respectively detect the negative control pressures of the negative control throttles 18L and 18R, and the detection signals corresponding to the detected negative control pressures are taken into the controller 30.

[0063] The controller 30 may control the regulators 13L and 13R according to the discharge pressures of the main pumps 14L and 14R detected by the discharge pressure sensors 28L and 28R, and adjust the discharge amounts of the main pumps 14L and 14R. For example, the controller 30 may control the regulator 13L according to an increase in the discharge pressure of the main pump 14L, and decrease the discharge amount by adjusting the swash plate tilt angle of the main pump 14L. The same applies to the regulator 13R. Thereby, the controller 30 can perform total horsepower control of the main pumps 14L and 14R so that the absorbed horsepower of the main pumps 14L and 14R, which is represented by the product of the discharge pressure and the discharge amount, does not exceed the output horsepower of the engine 11.

[0064] Further, the controller 30 may control the regulators 13L and 13R according to the negative pressure detected by the negative pressure sensors 19L and 19R, and adjust the discharge amounts of the main pumps 14L and 14R. For example, the controller 30 decreases the discharge amounts of the main pumps 14L and 14R as the negative pressure increases, and increases the discharge amounts of the main pumps 14L and 14R as the negative pressure decreases.

[0065] Specifically, in the standby state (the state shown in FIG. 3) where none of the hydraulic actuators in the excavator 100 are operated, the hydraulic oil discharged from the main pumps 14L and 14R reaches the negative pressure throttles 18L and 18R through the center bypass oil passages 40L and 40R. Then, the flow of the hydraulic oil discharged from the main pumps 14L and 14R increases the negative pressure generated upstream of the negative pressure throttles 18L and 18R. As a result, the controller 30 decreases the discharge amounts of the main pumps 14L and 14R to the allowable minimum discharge amount, and suppresses the pressure loss (pumping loss) when the discharged hydraulic oil passes through the center bypass oil passages 40L and 40R.

[0066] On the other hand, when any one of the hydraulic actuators is operated, the hydraulic oil discharged from the main pumps 14L and 14R flows into the hydraulic actuator to be operated through the control valve corresponding to the hydraulic actuator to be operated. Then, the flow of the hydraulic oil discharged from the main pumps 14L and 14R reduces or eliminates the amount reaching the negative control throttles 18L and 18R, and reduces the negative control pressure generated upstream of the negative control throttles 18L and 18R. As a result, the controller 30 can increase the discharge amount of the main pumps 14L and 14R, circulate sufficient hydraulic oil to the hydraulic actuator to be operated, and surely drive the hydraulic actuator to be operated.

[0067] Further, the control system of the excavator 100 according to the present embodiment includes a controller 30, a space recognition device 70, an orientation detection device 71, an input device 72, a positioning device 73, a display device D1, an audio output device D2, a boom angle sensor S1, an arm angle sensor S2, a bucket angle sensor S3, a machine body inclination sensor S4, a slewing state sensor S5, and a communication device T1.

[0068] The space recognition device 70 is configured to recognize an object existing in the three-dimensional space around the excavator 100 and measure (calculate) the positional relationship such as the distance to the object recognized from the space recognition device 70 or the excavator 100. The space recognition device 70 may include, for example, an ultrasonic sensor, a millimeter-wave radar, a monocular camera, a stereo camera, LIDAR (Light Detecting and Ranging), a distance image sensor, an infrared sensor, etc. In the present embodiment, the space recognition device 70 includes a front recognition sensor 70F attached to the front end of the upper surface of the cab 10, a rear recognition sensor 70B attached to the rear end of the upper surface of the upper slewing body 3, a left recognition sensor 70L attached to the left end of the upper surface of the upper slewing body 3, and a right recognition sensor 70R attached to the right end of the upper surface of the upper slewing body 3. Further, an upper recognition sensor for recognizing an object existing in the space above the upper slewing body 3 may be attached to the excavator 100.

[0069] Note that the installation location of the front recognition sensor 70F is not limited to the upper surface of the cab 10, and can be arbitrarily set as long as it can recognize an object in front of the upper swing body 3. Specifically, the front recognition sensor 70F may be arranged in a manner of being directly attached to an arbitrary position at the front end of the upper swing body 3, or may be arranged on a component other than the cab 10 mounted on the front end of the upper swing body 3, for example, the boom 4 or the arm 5 of the attachment.

[0070] The orientation detection device 71 detects information regarding the relative relationship between the orientation of the upper swing body 3 and the orientation of the lower traveling body 1 (for example, the turning angle of the upper swing body 3 with respect to the lower traveling body 1).

[0071] The orientation detection device 71 may include, for example, a combination of a geomagnetic sensor attached to the lower traveling body 1 and a geomagnetic sensor attached to the upper revolving body 3. Further, the orientation detection device 71 may include a combination of a GNSS (Global Navigation Satellite System) receiver attached to the lower traveling body 1 and a GNSS receiver attached to the upper revolving body 3. Further, the orientation detection device 71 may include a rotary encoder, a rotary position sensor, etc. that can detect the relative turning angle of the upper revolving body 3 with respect to the lower traveling body 1, that is, the turning state sensor S5 described later. For example, it may be attached to a center joint provided in relation to the turning mechanism 2 that realizes the relative rotation between the lower traveling body 1 and the upper revolving body 3. Further, the orientation detection device 71 may include a camera attached to the upper revolving body 3. In this case, the orientation detection device 71 performs known image processing on the image (input image) captured by the camera attached to the upper revolving body 3 to detect the image of the lower traveling body 1 included in the input image. Then, the orientation detection device 71 may specify the longitudinal direction of the lower traveling body 1 by detecting the image of the lower traveling body 1 using a known image recognition technique, and derive the angle formed between the direction of the front-rear axis of the upper revolving body 3 and the longitudinal direction of the lower traveling body 1. At this time, the direction of the front-rear axis of the upper revolving body 3 can be derived from the attachment position of the camera. In particular, since the crawler 1C protrudes from the upper revolving body 3, the orientation detection device 71 can specify the longitudinal direction of the lower traveling body 1 by detecting the image of the crawler 1C.

[0072] In addition, in the case where the upper revolving body 3 is rotationally driven by an electric motor instead of the rotary hydraulic motor 2A, the orientation detection device 71 may be a resolver.

[0073] The input device 72 is provided within reach of a seated operator in the cabin 10, receives various operation inputs from the operator, and outputs a signal corresponding to the operation input to the controller 30. The input device 72 includes a touch panel mounted on the display of the display device D1 that displays various information images, knob switches provided at the tips of the left operation lever 26L and the right operation lever 26R, button switches installed around the display device D1, levers, toggles, and the like. A signal corresponding to the operation content for the input device 72 is taken into the controller 30.

[0074] The positioning device 73 measures the position and orientation of the upper swing body 3. The positioning device 73 is, for example, a GNSS compass, detects the position and orientation of the upper swing body 3, and a detection signal corresponding to the position and orientation of the upper swing body 3 is taken into the controller 30. Also, the function of detecting the orientation of the upper swing body 3 among the functions of the positioning device 73 may be replaced by an azimuth sensor attached to the upper swing body 3.

[0075] The display device D1 is provided in a place easily visible to a seated operator in the cabin 10 and displays various information images under the control of the controller 30. The display device D1 is, for example, a liquid crystal display or an organic EL (Electroluminescence) display. The display device D1 may be connected to the controller 30 via an in-vehicle communication network such as CAN (Controller Area Network), or may be connected to the controller 30 via a dedicated one-to-one line.

[0076] The voice output device D2 is provided, for example, in the cabin 10 and outputs various information as voice in response to a voice output command from the controller 30. The voice output device D2 outputs various information as voice in response to a voice output command from the controller 30.

[0077] The boom angle sensor S1 is attached to the boom 4 and detects the pitching angle θ1 of the boom 4 with respect to the upper slewing body 3 (hereinafter referred to as the "boom angle"). For example, in a side view, it detects the angle formed by the straight line connecting the fulcrums at both ends of the boom 4 with respect to the slewing plane of the upper slewing body 3. The boom angle sensor S1 may include, for example, a rotary encoder, an acceleration sensor, a 6-axis sensor, an IMU (Inertial Measurement Unit), etc. The same applies to the arm angle sensor S2, the bucket angle sensor S3, and the machine body inclination sensor S4 hereinafter. The detection signal corresponding to the boom angle detected by the boom angle sensor S1 is taken into the controller 30.

[0078] The arm angle sensor S2 is attached to the arm 5 and detects the rotation angle θ2 of the arm 5 with respect to the boom 4 (hereinafter referred to as the "arm angle"). For example, in a side view, it detects the angle formed by the straight line connecting the fulcrums at both ends of the arm 5 with respect to the straight line connecting the fulcrums at both ends of the boom 4. The detection signal corresponding to the arm angle detected by the arm angle sensor S2 is taken into the controller 30.

[0079] The bucket angle sensor S3 is attached to the bucket 6 and detects the rotation angle θ3 of the bucket 6 with respect to the arm 5 (hereinafter referred to as the "bucket angle"). For example, in a side view, it detects the angle formed by the straight line connecting the fulcrum and the tip (cutting edge) of the bucket 6 with respect to the straight line connecting the fulcrums at both ends of the arm 5. The detection signal corresponding to the bucket angle detected by the bucket angle sensor S3 is taken into the controller 30.

[0080] The machine body inclination sensor S4 detects the inclination state of the machine body (for example, the upper slewing body 3) with respect to a predetermined reference plane (for example, the horizontal plane). The machine body inclination sensor S4 is attached to, for example, the upper slewing body 3 and detects the inclination angles (hereinafter referred to as the "front-rear inclination angle" and the "left-right inclination angle") around two axes in the front-rear direction and the left-right direction of the excavator 100 (that is, the upper slewing body 3). The detection signals corresponding to the inclination angles (front-rear inclination angle and left-right inclination angle) detected by the machine body inclination sensor S4 are taken into the controller 30.

[0081] The swing state sensor S5 is attached to the upper swing body 3 and outputs detection information regarding the swing state of the upper swing body 3. The swing state sensor S5 detects, for example, the swing angular velocity and swing angle of the upper swing body 3. The swing state sensor S5 includes, for example, a gyro sensor, a resolver, a rotary encoder, and the like. The detection information regarding the swing state detected by the swing state sensor S5 is taken into the controller 30.

[0082] In addition, when the aircraft attitude sensor S4 includes a gyro sensor, a 6-axis sensor, an IMU, etc. that can detect the angular velocity around three axes, the swing state (for example, swing angular velocity) of the upper swing body 3 may be detected based on the detection signal of the aircraft attitude sensor S4. In this case, the swing state sensor S5 may be omitted.

[0083] The communication device T1 communicates with an external device through a predetermined network including a mobile communication network, a satellite communication network, an Internet network, etc. having a base station as an end. The communication device T1 is, for example, a mobile communication module corresponding to mobile communication standards such as LTE (Long Term Evolution), 4G (4th Generation), 5G (5th Generation), or a satellite communication module for connecting to a satellite communication network.

[0084] FIG. 4 is a block diagram showing a configuration example of the drive system of the excavator 100, and shows the mechanical power system, the hydraulic oil line, the pilot line, and the electric control system with double lines, solid lines, broken lines, and dotted lines, respectively.

[0085] As shown in FIG. 4, the drive system of the excavator 100 includes, in addition to the engine 11, the regulator 13, the main pump 14, the pilot pump 15, the control valve 17, the operating device 26, the discharge pressure sensor 28, the operating pressure sensor 29, and the controller 30 described above, a proportional valve 31 and a shuttle valve 32.

[0086] The proportional valve 31 is provided in a pilot line connecting the pilot pump 15 and the shuttle valve 32, and is configured to be able to change its flow passage area (the cross-sectional area through which the hydraulic oil can flow). The proportional valve 31 operates in response to a control command input from the controller 30. Thereby, even when the operating device 26 (specifically, the left operating lever 26L, the right operating lever 26R, the left travel lever 26DL, or the right travel lever 26DR) is not operated by the operator, the controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the pilot port of the corresponding control valve in the control valve 17 via the proportional valve 31 and the shuttle valve 32.

[0087] The shuttle valve 32 has two inlet ports and one outlet port, and outputs the hydraulic oil having the higher pilot pressure among the pilot pressures input to the two inlet ports to the outlet port. One of the two inlet ports of the shuttle valve 32 is connected to the operating device 26, and the other is connected to the proportional valve 31. The outlet port of the shuttle valve 32 is connected to the pilot port of the corresponding control valve in the control valve 17 through a pilot line. Therefore, the shuttle valve 32 can apply the higher one of the pilot pressure generated using the pilot pressure output from the operating device 26 as the original pressure and the pilot pressure generated by the proportional valve 31 to the pilot port of the corresponding control valve. The controller 30 controls the proportional valve 31, for example, to output a pilot pressure higher than the pilot pressure input from the secondary side pilot line of the operating device 26 to the shuttle valve 32 from the proportional valve 31. Thereby, the controller 30 can control the corresponding control valve and control the operations of the lower traveling body 1, the upper slewing body 3, and the attachment AT without depending on the operation of the operating device 26 by the operator. Therefore, the controller 30 can realize the automatic operation function of the excavator 100 by using the proportional valve 31.

[0088] The controller 30 includes a gesture recognition unit 301 and a control unit 310. Further, the controller 30 includes a storage unit 320 as a storage area defined in an internal memory such as a non-volatile auxiliary storage device, for example.

[0089] The gesture recognition unit 301 is an example of the recognition unit in the present invention. The gesture recognition unit 301 recognizes a person around the excavator 100, such as a supervisor at the work site (hereinafter referred to as the "signaler"), and also recognizes a predetermined gesture (hereinafter referred to as the "recognition target gesture") made by the recognized signaler. The recognition target gesture is one or more gestures defined in advance for an operator or the like to instruct the operation of the excavator 100 from the outside (surroundings). Specifically, the gesture recognition unit 301 applies known image recognition processing based on the information input from the space recognition device 70, such as an imaging image around the excavator 100, to recognize the signaler around the excavator 100 and the recognition target gesture made by the signaler. Further, the gesture recognition unit 301 can recognize the position of the signaler based on the information input from the space recognition device 70.

[0090] Further, the gesture recognition unit 301 may register the signaler in advance and determine whether the person included in the information input from the space recognition device 70 is the pre-registered signaler. In that case, when the person included in the information input from the space recognition device 70 is the pre-registered signaler, it may be configured to execute the operation control of the excavator 100 described later.

[0091] Note that the function of the gesture recognition unit 301 may be incorporated in the space recognition device 70.

[0092] The storage unit 320 stores gesture / operation correspondence information 321.

[0093] FIG. 5 is a diagram showing an example of the correspondence relationship between the recognition target gesture defined by the gesture / operation correspondence information 321 and the operation content for the operation element.

[0094] As shown in FIG. 5, in this example, in the gesture / operation correspondence information 321, seven recognition target gestures are defined, and the operation content for the operation elements for each of the seven recognition target gestures is defined.

[0095] Specifically, in this example, the gesture / operation correspondence information 321 defines a recognition target gesture (hereinafter, "attachment raising gesture") for raising the attachment AT (for example, raising the boom 4). More specifically, the attachment raising gesture is a gesture in which, with the other fingers grasped, only the thumb is raised upward and pushed upward from the horizontal. Also, the attachment raising gesture may be a gesture in which, after placing the fist on the head, with the other fingers grasped, only the thumb is raised upward and pushed upward from the horizontal.

[0096] Also, in this example, the gesture / operation correspondence information 321 defines a recognition target gesture (hereinafter, "attachment lowering gesture") for lowering the attachment (for example, lowering the boom 4). More specifically, the attachment lowering gesture is a gesture in which, with the other fingers grasped, only the thumb is lowered downward and pushed downward from the horizontal. Also, the attachment lowering gesture may be a gesture in which, after placing the fist on the head, with the other fingers grasped, only the thumb is lowered downward and pushed downward from the horizontal.

[0097] Also, in this example, the gesture / operation correspondence information 321 defines a recognition target gesture (hereinafter, "horizontal movement gesture") for horizontally moving the excavator 100 (for example, swing movement by the upper swing body 3 or traveling movement by the lower traveling body 1). More specifically, the horizontal movement gesture is a gesture in which the arm is extended substantially horizontally and moved several times in the direction of moving the palm.

[0098] Regarding whether the horizontal movement by the horizontal movement gesture corresponds to the turning operation of the upper swing body 3 or the traveling operation of the lower traveling body 1, for example, setting registration to the controller 30 (for example, the storage unit 320) may be performed through the input device 72 or the like. Also, different recognition target gestures may be provided for each of the turning operation and the traveling operation of the excavator 100.

[0099] Also, in this example, the gesture / operation correspondence information 321 defines a recognition target gesture (hereinafter, "spin turn gesture") for causing the lower traveling body 1 (crawler 1C) to perform a spin turn (hereinafter, "crawler spin turn"). More specifically, the spin turn gesture is a gesture in which both hands are extended horizontally in a substantially parallel state and the arms are rotated substantially horizontally so as to hold in the direction of causing the crawler 1C to perform a spin turn.

[0100] Also, in this example, the gesture / operation correspondence information 321 defines a recognition target gesture (hereinafter, "stop gesture") for stopping (specifically, stopping and maintaining the stopped state) the operation elements of the excavator 100. More specifically, the stop gesture is a gesture of raising the palm of the hand high. Also, the stop gesture may be an operation of closing the fingers after raising the palm of the hand high.

[0101] Also, in this example, the gesture / operation correspondence information 321 defines a recognition target gesture (hereinafter, "emergency stop gesture") for suddenly stopping (specifically, suddenly stopping and maintaining the stopped state) the operation elements of the excavator 100. More specifically, the emergency stop gesture is a gesture of spreading both hands wide, raising them high, and shaking them vigorously from side to side.

[0102] The control unit 310 includes a gesture determination unit 302, an operation restriction unit 303, an alert notification unit 304, and a restriction release unit 305.

[0103] The gesture determination unit 302 determines whether an operation stored in the storage unit 320 corresponding to the gesture recognized by the gesture recognition unit 301 is being performed on the operation device 26. Here, the operation pressure sensor 29 detects the pilot pressure on the secondary side of the operation device 26, that is, the pilot pressure corresponding to the operation state of each operating element (i.e., the hydraulic actuator) in the operation device 26. Then, the detection signals of the pilot pressure corresponding to the operation states of the lower traveling body 1, the upper slewing body 3, the boom 4, the arm 5, the bucket 6, etc. in the operation device 26 by the operation pressure sensor 29 are taken into the controller 30. Therefore, the gesture determination unit 302 can recognize the operation content of the lower traveling body 1, the upper slewing body 3, the boom 4, the arm 5, the bucket 6, etc. on the operation device 26 based on the pilot pressure detected by the operation pressure sensor 29. And the gesture determination unit 302 determines whether the recognized operation content matches the operation content stored in the storage unit 320 corresponding to the gesture recognized by the gesture recognition unit 301.

[0104] For example, when the gesture recognized by the gesture recognition unit 301 is a gesture in which only the thumb is raised upward and pushed upward from the horizontal while the other fingers are clenched, the gesture determination unit 302 determines, based on the pilot pressure detected by the operation pressure sensor 29, whether the operation content on the operation device 26 is an operation of raising the attachment AT (for example, raising the boom 4).

[0105] Also, when the gesture recognized by the gesture recognition unit 301 is a gesture in which only the thumb is lowered downward and pushed downward from the horizontal while the other fingers are clenched, the gesture determination unit 302 determines, based on the pilot pressure detected by the operation pressure sensor 29, whether the operation content on the operation device 26 is an operation of lowering the attachment AT (for example, lowering the boom 4).

[0106] In addition, when the gesture recognized by the gesture recognition unit 301 is a gesture of stretching the arm substantially horizontally and moving the palm several times in the direction of movement, the gesture determination unit 302 determines, based on the pilot pressure detected by the operation pressure sensor 29, whether the operation content for the operation device 26 is an operation for horizontally moving the excavator 100 (for example, slewing movement by the upper slewing body 3 or traveling movement by the lower traveling body 1).

[0107] In addition, when the gesture recognized by the gesture recognition unit 301 is a gesture of stretching both hands horizontally in a substantially parallel state and rotating the arms substantially horizontally so as to hold the crawler 1C in the direction of spinner turning, the gesture determination unit 302 determines, based on the pilot pressure detected by the operation pressure sensor 29, whether the operation content for the operation device 26 is an operation for spinner turning the lower traveling body 1 (crawler 1C).

[0108] In addition, when the gesture recognized by the gesture recognition unit 301 is a gesture of raising the palm high, the gesture determination unit 302 determines, based on the pilot pressure detected by the operation pressure sensor 29, whether the operation content for the operation device 26 is an operation for stopping the operating elements of the excavator 100 (specifically, stopping and maintaining the stopped state).

[0109] In addition, when the gesture recognized by the gesture recognition unit 301 is a gesture of spreading both hands wide, raising them high, and shaking them vigorously from side to side, the gesture determination unit 302 determines, based on the pilot pressure detected by the operation pressure sensor 29, whether the operation content for the operation device 26 is an operation for suddenly stopping the operating elements of the excavator 100 (specifically, suddenly stopping and maintaining the stopped state).

[0110] When the gesture determination unit 302 determines that the operation stored in the storage unit 320 corresponding to the gesture recognized by the gesture recognition unit 301 is not being performed on the operation device 26, the operation restriction unit 303 controls the operation of the excavator 100. Here, as described above, even when the operation device 26 is not being operated by the operator, the controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the pilot port of the corresponding control valve in the control valve 17 via the proportional valve 31 and the shuttle valve 32. Therefore, the controller 30 can control the corresponding control valve and restrict the operations of the lower traveling body 1, the upper swing body 3, and the attachment AT regardless of the operation of the operation device 26 by the operator.

[0111] For example, even though the gesture recognized by the gesture recognition unit 301 is a gesture to raise the attachment AT (for example, raise the boom 4), if the operation content for the operation device 26 is an operation to lower the attachment AT (for example, lower the boom 4), the operation restriction unit 303 can supply the hydraulic oil having a pilot pressure capable of invalidating the operation of lowering the attachment AT to the control valve 17 via the shuttle valve 32 by controlling the proportional valve 31. Thereby, the operation of lowering the attachment AT can be invalidated. Also, even when the gesture recognized by the gesture recognition unit 301 is a gesture to swing the upper swing body 3, if the operation content for the operation device 26 is an operation of raising and lowering the attachment AT, the operation restriction unit 303 can invalidate the operation of raising and lowering the attachment AT.

[0112] In addition, when the gesture determination unit 302 determines that the operation stored in the storage unit 320 associated with the gesture recognized by the gesture recognition unit 301 is not being performed on the operating device 26, the operation restriction unit 303 may limit the operation speed of the excavator 100. Also in this case, the controller 30 can limit the operation speed according to the operation being performed on the operating device 26 by controlling the proportional valve 31. For example, when the operation content for the operating device 26 is an operation of lowering the attachment AT (for example, lowering the boom 4), the operation restriction unit 303 may limit the speed so that the operation of lowering the attachment AT becomes slower than that corresponding to the operation on the operating device 26, or may limit the speed so that the operation of lowering the attachment AT gradually becomes slower. In this case, the operation restriction unit 303 may reduce the power of the engine 11, or may reduce the discharge amount of the main pump 14 by controlling the regulator 13.

[0113] In addition, when the gesture determination unit 302 determines that the operation stored in the storage unit 320 associated with the gesture recognized by the gesture recognition unit 301 is not being performed on the operating device 26, the operation restriction unit 303 may stop the operation of the excavator 100. Particularly when the risk is high, such as when the signaler collides with the excavator 100, the operation of the excavator 100 may be stopped. In that case, if the position of the signaler is recognized by the gesture recognition unit 301, for example, when an operation is being performed on the operating device 26 such that the attachment AT approaches the signaler, the operation of the excavator 100 may be stopped. Also, when the size of the load attached to the attachment AT (for example, the sling 80 of the bucket 6) is recognized, the operation of the excavator 100 may be stopped when the distance between the signaler and the load calculated based on the size of this load and the position of the signaler becomes equal to or less than a predetermined distance. Note that the operation of the excavator 100 may be stopped by invalidating all operations on the operating device 26, or may be stopped by the controller 30 stopping the engine 11.

[0114] When the gesture determination unit 302 determines that the operation stored in the storage unit 320 corresponding to the gesture recognized by the gesture recognition unit 301 is not being performed on the operating device 26, the alert notification unit 304 notifies the operator of the excavator 100, that is, the operator who operates the operating device 26. The alert notification unit 304 may perform notification, for example, by outputting an alarm sound via the sound output device D2. Further, the alert notification unit 304 may cause the display device D1 to display that the operation corresponding to the gesture by the signaler is not being performed on the operating device 26.

[0115] The restriction release unit 305 releases the operation restriction of the excavator 100 described above. The restriction release unit 305 may release the operation restriction of the excavator 100 when a predetermined operation is performed. For example, the operation restriction of the excavator 100 may be released when the lever being operated among the operating devices 26 is returned to the neutral state. Further, the operation restriction of the excavator 100 may be released when the release button provided as the input device 72 is pressed.

[0116] Further, the restriction release unit 305 may release the operation restriction of the excavator 100 when the operation corresponding to the gesture recognized by the gesture recognition unit 301 is performed on the operating device 26. Here, as described above, in the gesture determination unit 302, it is determined whether the operation stored in the storage unit 320 corresponding to the gesture recognized by the gesture recognition unit 301 is being performed on the operating device 26. Therefore, after the operation restriction of the excavator 100 is performed when it is determined that the operation stored in the storage unit 320 corresponding to the gesture recognized by the gesture recognition unit 301 is not being performed on the operating device 26 by the gesture determination unit 302, when it is determined by the gesture determination unit 302 that the operation stored in the storage unit 320 corresponding to the gesture recognized by the gesture recognition unit 301 is being performed on the operating device 26, the operation restriction of the excavator 100 may be released.

[0117] Further, when the gesture recognition unit 301 recognizes a predetermined gesture, the restriction release unit 305 may release the operation restriction of the excavator 100. For example, as the gesture / operation correspondence information 321 stored in the storage unit 320, store a gesture for releasing the operation restriction of the excavator 100. Then, in the gesture determination unit 302, when it is determined that the gesture recognized by the gesture recognition unit 301 is the same as the gesture stored as the gesture for releasing the operation restriction of the excavator 100 in the gesture / operation correspondence information 321, the restriction release unit 305 may release the operation restriction of the excavator 100.

[0118] As described above, the excavator 100 of the present disclosure includes an operation device 26 for performing an operation to operate the excavator 100, a gesture recognition unit 301 for recognizing a gesture by a signaler outside the excavator 100, and when an operation corresponding to the gesture recognized by the gesture recognition unit 301 is not performed on the operation device 26, a control unit 310 that performs at least one of notification to the operator operating the operation device 26 and operation restriction of the excavator 100. Thereby, the risk when the operator tries to operate the excavator 100 according to the gesture by the signaler arranged outside the excavator 100 can be reduced. In particular, in the case of the excavator 100 or the like as described above, in which the operating elements include an attachment AT that is movably attached to the lower traveling body 1 and the upper slewing body 3, it is possible to reduce the possibility that the attachment AT moves and collides with the signaler or an obstacle due to an operation different from the gesture by the signaler. [Operation of Excavator] Hereinafter, the specific operation of the excavator 100 configured as described above will be described.

[0119] FIG. 6 is a flowchart for explaining an example of the operation of the excavator 100.

[0120] In the excavator 100 configured as described above, when work is started, the gesture recognition unit 301 recognizes a signaler outside the excavator 100 together with the position thereof based on the information input from the space recognition device 70 (step ST11). For example, a moving object may be recognized as the signaler with reference to the information input from the space recognition device 70, or the signaler may be registered in advance, and whether the person included in the information input from the space recognition device 70 is the pre-registered signaler may be determined by using face recognition technology or the like. Note that the position of the signaler may be recognized by means other than the gesture recognition unit 301, but by the gesture recognition unit 301 recognizing the position of the signaler, it is not necessary to separately provide means for recognizing the position of the signaler.

[0121] After recognizing the signaler, the gesture recognition unit 301 recognizes the gesture by the signaler based on the information input from the space recognition device 70 (step ST12). At this time, gestures by persons not registered as signalers may be invalidated. However, for example, at a work site where the excavator 100 is automatically controlled and no signaler is arranged, since no signaler is registered in the first place, in order to urgently stop the excavator 100 in an emergency, all gestures by persons outside the excavator 100 may be made valid.

[0122] FIG. 7 is a diagram showing an example of a work site having a signaler.

[0123] As shown in FIG. 7, at a work site having a signaler 500, the signaler 500 is arranged outside the excavator 100, the signaler 500 makes a gesture for instructing the operation of the excavator 100, and the operator operating the excavator 100 performs work while confirming the gesture by the signaler 500.

[0124] Therefore, for example, when the excavator 100 transports while holding the load 600 as shown in FIG. 7, if the operator of the excavator 100 operates the excavator 100 without following the gesture by the signaler 500, there is a risk that the load 600 may come into contact with the signaler 500, etc.

[0125] Therefore, in the present disclosure, when the excavator 100 recognizes a gesture by the signaler 500 and the operation corresponding to the recognized gesture is not performed, notification is given to the operator of the excavator 100 or the operation of the excavator 100 is restricted.

[0126] When a gesture by the signaler is recognized by the gesture recognition unit 301, the gesture determination unit 302 determines whether an operation stored in the storage unit 320 in association with the gesture recognized by the gesture recognition unit 301 is being performed on the operation device 26 (step ST13). Here, in the storage unit 320, the content of the operation corresponding to the gesture by the signaler is stored in association with the gesture. Further, a detection signal of the pilot pressure corresponding to the operation on the operation device 26 is taken into the controller 30. Therefore, the gesture determination unit 302 can recognize the content of the operation on the operation device 26 based on the detection signal of the pilot pressure taken into the controller 30 and determine whether the recognized operation content corresponds to the gesture recognized by the gesture recognition unit 301. In this way, by storing in the storage unit 320 the content to be operated by the gesture in association with the gesture, it is possible to determine whether an operation is being performed corresponding to the gesture by the signaler.

[0127] When the gesture determination unit 302 determines that the operation stored in the storage unit 320 in association with the gesture recognized by the gesture recognition unit 301 is being performed on the operation device 26 (YES in step ST13), the process returns to the process in step ST11, and the recognition of the signaler is continued.

[0128] On the other hand, when the gesture determination unit 302 determines that the operation stored in the storage unit 320 in association with the gesture recognized by the gesture recognition unit 301 has not been performed on the operation device 26 (NO in step ST13), the operation restriction unit 303 invalidates the operation on the operation device 26 (step ST14). As a result, even if an operation is performed on the operation device 26, the shovel 100 will not perform an operation corresponding to the operation. For example, even if an operation to raise the attachment AT (e.g., to raise the boom 4) is performed on the operation device 26, the attachment AT will not be raised.

[0129] In this way, when the operator operating the shovel 100 does not perform an operation on the operating device 26 corresponding to the gesture by the signaler, the operation on the operating device 26 is invalidated, and the shovel 100 does not perform an action corresponding to the operation on the operating device 26. Note that when the operator operating the shovel 100 "does not perform an operation on the operating device 26 corresponding to the gesture by the signaler", this includes not only a case where the operator performs an operation different from the operation corresponding to the gesture by the signaler, but also a case where the operator does not perform any operation on the operating device 26 despite recognizing the gesture by the signaler. In that case, for example, the alert notification unit 304 can output an alarm sound as described below, to prompt the operator to perform an operation corresponding to the gesture.

[0130] As described above, when an operation corresponding to a gesture by a signal person is not performed on the operating device 26, the operation limiting unit 303 limits the operation of the shovel 100, but thereafter, in order to continue working using the shovel 100, it is necessary to release the operation limit of the shovel 100. Therefore, the limit releasing unit 305 releases the above-mentioned operation limit of the shovel 100 under certain conditions.

[0131] The restriction release unit 305 may release the operation restriction of the excavator 100 when a predetermined operation is performed on the operation device 26. When the operation restriction of the excavator 100 is in effect, an operation different from the operation corresponding to the gesture by the signaler is being performed on the operation device 26. Therefore, in the restriction release unit 305, the operation restriction of the excavator 100 may be released when the lever being operated on the operation device 26 is returned to the neutral state.

[0132] Also, the above-described operation restriction on the excavator 100 is performed to avoid the risk of the excavator 100 colliding with the signaler or an obstacle because an operation corresponding to the gesture by the signaler is not being performed on the operation device 26. Therefore, if an operation corresponding to the gesture by the signaler is being performed on the operation device 26, it is not necessary to continue the operation restriction on the excavator 100. Therefore, when the above-described operation restriction is in effect, and then an operation corresponding to the gesture recognized by the gesture recognition unit 301 is performed on the operation device 26, the restriction release unit 305 may release the operation restriction of the excavator 100. Here, as described above, in the gesture determination unit 302, it is determined whether the operation stored in the storage unit 320 associated with the gesture recognized by the gesture recognition unit 301 is being performed on the operation device 26. Therefore, after the operation restriction of the excavator 100 is determined not to be performed because it is determined that the operation stored in the storage unit 320 associated with the gesture recognized by the gesture recognition unit 301 is not being performed on the operation device 26, and then it is determined in the gesture determination unit 302 that the operation stored in the storage unit 320 associated with the gesture recognized by the gesture recognition unit 301 is being performed on the operation device 26, the operation restriction of the excavator 100 can be released.

[0133] Also, a gesture for releasing the operation restriction of the excavator 100 may be determined, and the operation restriction may be released when the gesture is recognized. In that case, for example, as the gesture / operation correspondence information 321 stored in the storage unit 320, a gesture for releasing the operation restriction of the excavator 100 is stored. Then, in the gesture determination unit 302, when it is determined that the gesture recognized by the gesture recognition unit 301 is the one stored as the gesture for releasing the operation restriction of the excavator 100 in the gesture / operation correspondence information 321, the restriction release unit 305 may release the operation restriction of the excavator 100.

[0134] Further, as one of the input devices 72, a release button for releasing the operation restriction of the excavator 100 may be provided. In that case, the restriction release unit 305 may release the operation restriction of the excavator 100 when the release button provided as one of the input devices 72 is pressed. Also, if a touch panel is mounted on the display device D1, when the operation restriction is in effect, a release button may be displayed on the display device D1, and the restriction release unit 305 may release the operation restriction when this release button is pressed.

[0135] In this way, the restriction release unit 305 releases the operation restriction of the excavator 100 when a predetermined operation is performed on the operation device 26 or the input device 72, when a predetermined gesture is recognized by the gesture recognition unit 301, or when an operation corresponding to the gesture recognized by the gesture recognition unit 301 is performed on the operation device 26. Thereby, even when the operation restriction of the excavator 100 is imposed, the operation restriction can be released under predetermined conditions, and work can be continued using the excavator 100.

[0136] FIG. 8 is a flowchart for explaining another example of the operation of the excavator 100.

[0137] In this example, when the excavator 100 starts working, the gesture recognition unit 301 recognizes a signaler outside the excavator 100 together with its position based on the information input from the space recognition device 70 (step ST21).

[0138] After recognizing the signaler, the gesture recognition unit 301 recognizes the gesture by the signaler based on the information input from the space recognition device 70 (step ST22).

[0139] When the gesture by the signaler is recognized by the gesture recognition unit 301, the gesture determination unit 302 determines whether the operation stored in the storage unit 320 corresponding to the gesture recognized by the gesture recognition unit 301 is being performed on the operation device 26 (step ST23).

[0140] The processing of steps ST21 to ST23 up to this point is the same as the processing of ST11 to ST13 shown in FIG. 6.

[0141] When the gesture determination unit 302 determines that the operation stored in the storage unit 320 corresponding to the gesture recognized by the gesture recognition unit 301 is being performed on the operation device 26 (YES in step ST23), the process returns to the process in step ST21, and the recognition of the signaler is continued.

[0142] On the other hand, when the gesture determination unit 302 determines that the operation stored in the storage unit 320 corresponding to the gesture recognized by the gesture recognition unit 301 is not being performed on the operation device 26 (NO in step ST23), the alert notification unit 304 outputs an alarm sound via the sound output device D2 to notify the operator of the excavator 100, that is, the operator operating the operation device 26 (step ST24). Note that the notification to the operator operating the operation device 26 may be performed via the display device D1. In that case, the alert notification unit 304 may cause the display device D1 to display that the operation corresponding to the gesture by the signaler is not being performed on the operation device 26.

[0143] Also, when the gesture determination unit 302 determines that the operation stored in the storage unit 320 associated with the gesture recognized by the gesture recognition unit 301 is not being performed on the operation device 26 (NO in step ST23), the operation restriction unit 303 restricts the speed of the operation of the excavator 100. For example, when the operation content for the operation device 26 is an operation of lowering the attachment AT (for example, lowering the boom 4), the operation restriction unit 303 restricts the speed so that the operation of lowering the attachment AT gradually slows down.

[0144] In this way, when the operation corresponding to the gesture recognized by the gesture recognition unit 301 is not being performed on the operation device 26, the alert notification unit 304 notifies the operator, and the operation restriction unit 303 restricts the speed of the operation of the excavator 100 according to the operation on the operation device 26. Thereby, even when the operator does not notice the warning via the sound output device D2 or the display device D1, the possibility that the excavator 100 collides with the signaler or an obstacle can be reduced.

[0145] Further, the operation restriction unit 303 determines, for example, whether an operation in which the bucket 6 approaches the signaler is being performed on the operation device 26 (step ST25). Here, the position of the signaler is recognized by the gesture recognition unit 301, and the detection signal of the pilot pressure corresponding to the operation on the operation device 26 is taken into the controller 30. Therefore, the operation restriction unit 303 can determine whether an operation in which the attachment AT approaches the signaler is being performed on the operation device 26.

[0146] And when the operation restriction unit 303 determines that an operation in which the operation element including the attachment AT approaches the signaler is not being performed on the operation device 26 (NO in step ST25), the warning output and the speed reduction in step ST24 are continued until the above-described operation release condition is obtained.

[0147] On the other hand, when the operation restriction unit 303 determines that an operation in which an operation element including the attachment AT approaches the signaler is being performed on the operation device 26 (YES in step ST25), it determines that the risk is high and stops the operation of the excavator 100 (step ST26). Note that the operation of the excavator 100 may be stopped by invalidating all operations on the operation device 26, or may be stopped by the controller 30 stopping the engine 11.

[0148] In this way, when the operation corresponding to the gesture recognized by the gesture recognition unit 301 is not being performed on the operation device 26, and an operation in which an operation element such as the lower traveling body 1, the upper slewing body 3, the boom 4, the arm 5, and the bucket 6 approaches the signaler is being performed on the operation device 26, the operation restriction unit 303 stops the operation of the excavator. Thereby, it is possible to avoid the excavator 100 from colliding with the signaler.

[0149] Note that the operation of the excavator 100 may be stopped at the time when the gesture determination unit 302 determines in step ST23 that the operation stored in the storage unit 320 in association with the gesture recognized by the gesture recognition unit 301 is not being performed on the operation device 26.

[0150] Further, when an operation in which an operation element approaches the signaler is being performed on the operation device 26, when the distance between the signaler and the operation element becomes equal to or less than a predetermined distance, the operation restriction unit 303 may stop the operation of the excavator 100. At this time, the position of the signaler may be recognized by the gesture recognition unit 301. The position of the operation element may be determined by the operation restriction unit 303 from the detection signal of the pilot pressure input to the controller 30, or may be determined by the operation restriction unit 303 based on the detection signal obtained from at least one of the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, the body inclination sensor S4, and the slewing angular velocity sensor S5. Thereby, it is possible to surely avoid the excavator 100 from colliding with the signaler.

[0151] For example, when a load 600 is attached to the lifting tool 80 of the bucket 6 as shown in FIG. 7, the distance between the signaler and the operating element may be determined according to the size of the load 600. At this time, the size of the load 600 may be input by the operator of the excavator 100 via the input device 72, or may be determined by the gesture recognition unit 301 based on the information input from the space recognition device 70. When the gesture recognition unit 301 determines based on the information input from the space recognition device 70, since the gesture recognition unit 301 can also recognize the position of the signaler, the distance between the signaler and the load 600 can be directly recognized. Note that the distance between the signaler and the operating element is not limited to the size of the load 600, and may be determined by load information including the shape of the load. In this way, when a load 600 is attached to the lifting tool 80 of the bucket 6, by determining the distance between the signaler and the operating element according to the load information obtained for the load 600 attached to the bucket 6 via the lifting tool 80, even when a load is attached to the operating element, it is possible to avoid the signaler from colliding with the load.

[0152] After that, in the same manner as the process shown in FIG. 6, under predetermined conditions, the restriction release unit 305 will release the alarm output by the alert notification unit 304 and the operation restriction by the operation restriction unit 303.

[0153] In the present embodiment, the excavator 100 is described as an example of the work machine. However, the work machine is not limited to the excavator, and may be, for example, a crane, an asphalt finisher, a forklift, a wheel loader, or the like. [Remote System] The above-described excavator 100 may be adopted in the construction system. Referring to FIG. 9, the construction system SYS will be described.

[0154] FIG. 9 is a schematic diagram showing an example of the construction system SYS.

[0155] As shown in FIG. 9, the construction system SYS includes a shovel 100, a support device 200, and a management device 300. The construction system SYS is configured to support construction by one or more shovels 100.

[0156] The information obtained by the shovel 100 may be shared with the administrator and the operators of other shovels, etc. through the construction system SYS. Each of the shovel 100, the support device 200, and the management device 300 constituting the construction system SYS may be one unit or multiple units. In this example, the construction system SYS includes one shovel 100, one support device 200, and one management device 300.

[0157] The support device 200 is typically a portable terminal device, for example, a laptop computer terminal, a tablet terminal, or a smartphone, etc., carried by an operator at the construction site. The support device 200 may be a portable terminal carried by the operator of the shovel 100. The support device 200 may also be a fixed terminal device.

[0158] The management device 300 is typically a fixed terminal device, for example, a server computer (so-called cloud server) installed in a management center outside the construction site. Also, the management device 300 may be, for example, an edge server set at the construction site. Further, the management device 300 may be a portable terminal device (for example, a portable terminal such as a laptop computer terminal, a tablet terminal, or a smartphone).

[0159] At least one of the support device 200 and the management device 300 may be provided with a monitor and an operating device for remote operation. In this case, the operator using the support device 200 or the administrator using the management device 300 may operate the shovel 100 while using the operating device for remote operation. The operating device for remote operation is communicably connected to a controller 30 mounted on the shovel 100 through a wireless communication network such as a short-range wireless communication network, a mobile phone communication network, or a satellite communication network.

[0160] In addition, various information (for example, image information representing the state around the excavator 100 or various setting screens, etc.) displayed on the display device D1 installed in the cabin 10 may be displayed on a display device connected to at least one of the support device 200 and the management device 300. The image information representing the state around the excavator 100 may be generated based on an image captured by an imaging device (for example, a camera as the space recognition device 70). Thereby, an operator using the support device 200, or an administrator using the management device 300, etc., can remotely operate the excavator 100 or perform various settings related to the excavator 100 while checking the state around the excavator 100.

[0161] For example, in the construction system SYS, the controller 30 of the excavator 100 transmits information related to at least one of the time and location when the switch of the input device 72 is pressed, the target trajectory used when the excavator 100 operates autonomously, and the trajectory actually traced by a predetermined part during the autonomous operation, etc., to at least one of the support device 200 and the management device 300. At that time, the controller 30 may transmit the captured image of the imaging device to at least one of the support device 200 and the management device 300. The captured image may be a plurality of images captured during the autonomous operation. Further, the controller 30 may transmit information related to at least one of data related to the operation content of the excavator 100 during the autonomous operation, data related to the posture of the excavator 100, and data related to the posture of the excavation attachment, etc., to at least one of the support device 200 and the management device 300. Thereby, an operator using the support device 200 or an administrator using the management device 300 can obtain information related to the excavator 100 during the autonomous operation.

[0162] In this way, the construction system SYS enables the operator of the excavator 100 to share information related to the excavator 100 with the administrator and the operators of other excavators, etc.

[0163] Note that, as shown in FIG. 9, the communication device mounted on the excavator 100 may be configured to transmit and receive information to and from the communication device T2 installed in the remote operation room RC via wireless communication. In the example shown in FIG. 9, the communication device T1 and the communication device T2 mounted on the excavator 100 are configured to transmit and receive information via a fifth-generation mobile communication line (5G line), an LTE line, a satellite line, or the like.

[0164] In the remote operation room RC, a remote controller 30R, a sound output device A2, an indoor imaging device C2, a display device RD, a communication device T2, and the like are installed. Further, in the remote operation room RC, a driver's seat DE on which an operator OP who remotely operates the excavator 100 sits is installed.

[0165] The remote controller 30R is an arithmetic device that executes various calculations. In the present embodiment, the remote controller 30R is configured as a microcomputer including a CPU and a memory, similar to the controller 30. And various functions of the remote controller 30R are realized by the CPU executing a program stored in the memory.

[0166] The sound output device A2 is configured to output sound. In the present embodiment, the sound output device A2 is a speaker and is configured to reproduce the sound collected by a sound collecting device (not shown) attached to the excavator 100.

[0167] The indoor imaging device C2 is configured to image the inside of the remote operation room RC. In the present embodiment, the indoor imaging device C2 is a camera installed inside the remote operation room RC and is configured to image the operator OP sitting on the driver's seat DE.

[0168] The communication device T2 is configured to control wireless communication with the communication device attached to the excavator 100.

[0169] In this embodiment, the driver's seat DE has the same structure as the driver's seat installed in the cabin 10 of a normal excavator. Specifically, a left console box is arranged on the left side of the driver's seat DE, and a right console box is arranged on the right side of the driver's seat DE. And a left operation lever is arranged at the front end of the upper surface of the left console box, and a right operation lever is arranged at the front end of the upper surface of the right console box. Further, a travel lever and travel pedals are arranged in front of the driver's seat DE. Furthermore, a dial 75 is arranged at the center of the upper surface of the right console box. Each of the left operation lever, the right operation lever, the travel lever, and the travel pedals constitutes an operating device 26E.

[0170] The dial 75 is a dial for adjusting the rotational speed of the engine 11, and is configured to be able to switch the engine rotational speed in, for example, four steps.

[0171] Specifically, the dial 75 is configured to be able to switch the engine rotational speed in four steps: SP mode, H mode, A mode, and idling mode. The dial 75 transmits data regarding the setting of the engine rotational speed to the controller 30.

[0172] The SP mode is a rotational speed mode selected when the operator OP wants to prioritize the amount of work, and uses the highest engine rotational speed. The H mode is a rotational speed mode selected when the operator OP wants to balance the amount of work and fuel efficiency, and uses the second highest engine rotational speed. The A mode is a rotational speed mode selected when the operator OP wants to operate the excavator with low noise while prioritizing fuel efficiency, and uses the third highest engine rotational speed. The idling mode is a rotational speed mode selected when the operator OP wants to put the engine in an idling state, and uses the lowest engine rotational speed. And the engine 11 is constantly rotationally controlled at the engine rotational speed of the rotational speed mode selected via the dial 75.

[0173] The operating device 26E is provided with an operating pressure sensor 129A for detecting the operation content of the operating device 26E. The operating pressure sensor 129A is, for example, an inclination sensor that detects the inclination angle of the operating lever, or an angle sensor that detects the swing angle around the swing axis of the operating lever. The operating pressure sensor 129A may be composed of other sensors such as a pressure sensor, a current sensor, a voltage sensor, or a distance sensor. The operating pressure sensor 129A outputs information regarding the detected operation content of the operating device 26E to the remote controller 30R. The remote controller 30R generates an operation signal based on the received information and transmits the generated operation signal toward the excavator 100. The operating pressure sensor 129A may be configured to generate an operation signal. In this case, the operating pressure sensor 129A may output the operation signal to the communication device T2 without passing through the remote controller 30R.

[0174] The display device RD is configured to display information regarding the situation around the excavator 100. In the present embodiment, the display device RD is a multi-display composed of nine monitors arranged in three rows and three columns vertically, and is configured to be able to display the states of the spaces in front of, to the left of, and to the right of the excavator 100. Each monitor is a liquid crystal monitor or an organic EL monitor. However, the display device RD may be composed of one or more curved monitors, or may be composed of a projector. Also, the display device RD may be configured to be able to display the states of the spaces in front of, to the left of, to the right of, and behind the excavator 100.

[0175] The display device RD may be a display device wearable by the operator OP. For example, the display device RD may be a head-mounted display, and may be configured to transmit and receive information to and from the remote controller 30R by wireless communication. The head-mounted display may be wired to the remote controller 30R. The head-mounted display may be a transmissive head-mounted display or a non-transmissive head-mounted display. The head-mounted display may be a monocular head-mounted display or a binocular head-mounted display.

[0176] The display device RD is configured to display an image that allows the operator OP in the remote operation room RC to visually recognize the surroundings of the excavator 100. That is, the display device RD displays an image so that the operator can confirm the situation around the excavator 100 as if the operator were inside the cab 10 of the excavator 100 even though the operator is in the remote operation room RC.

[0177] Also in the above-described construction system SYS, since the remote controller 30R has the functions of the controller 30 of the excavator 100, the remote controller 30R and the operating device 26E can constitute an example of the control device of the present invention.

[0178] In that case, the gesture recognition unit in the remote controller 30R may be configured to recognize the gesture by the signaler based on the information recognized by the space recognition device 70 of the excavator 100 and transmitted from the excavator 100 to the remote controller 30R.

[0179] Further, the operation restriction unit, the alert notification unit, and the restriction release unit in the remote controller 30R recognize the operation content for the operating device 26E based on the operation pressure detected by the operation pressure sensor 129A.

[0180] Further, the remote controller 30R does not store the gesture / operation correspondence information 321, and the gesture determination unit 302 of the excavator 100 determines whether an operation corresponding to the gesture recognized by the gesture recognition unit 301 is being performed on the operation device 26E based on the operation content of the operation device 26E recognized by the remote controller 30R and transmitted from the remote controller 30R.

[0181] In this way, even in remote operation, it is possible to perform the operation restriction and alarm output of the excavator 100 according to the above-described gesture.

Explanation of Signs

[0182] 1 Lower Travel Body 1L Left Travel Hydraulic Motor 1R Right Travel Hydraulic Motor 2 Swing Mechanism 2A Swing Hydraulic Motor 3 Upper Swing Structure 4 Boom 5 Arm 6 Bucket 7 Boom Cylinder 8 Arm Cylinder 9 Bucket Cylinder 10 Cab 11 Engine 13, 13L, 13R Regulator 14, 14L, 14R Main Pump 15 Pilot Pump 17 Control Valve 18L, 18R Throttle 19L, 19R Negative Pressure Sensor 26, 26E Operating Device 28 Discharge Pressure Sensor 29 Operating Pressure Sensor 30 Controller 30R Remote Controller 31 Proportional Valve 32 Shuttle Valve 70 Space Recognition Device 70A Front Recognition Sensor 70B Rear Recognition Sensor 70L Left Recognition Sensor 70R Right Recognition Sensor 71 Orientation Detection Device 72 Input Device 73 Positioning Device 75 Dial 171~174, 175L, 175R, 176L, 176R Control Valve 200 Support Device 300 Management Device 301 Gesture Recognition Unit 302 Gesture Judgment Unit 303 Operation Limitation Unit 304 Alert Notification Unit 305 Limitation Release Unit 310 Control Unit 320 Memory Unit 321 Gesture / Operation Correspondence Information 500 Signaler 600 Luggage C2 Indoor Imaging Device D1, RD Display Device D2, A2 Sound Output Device RC Remote Operation Room S1 Boom Angle Sensor S2 Arm Angle Sensor S3 Bucket Angle Sensor S4 Airframe Inclination Sensor S5 Turning Angular Velocity Sensor T1, T2 Communication Device

Claims

1. A control device for a working machine having operating elements, comprising: operating means for performing an operation to operate the working machine; a recognition unit that recognizes gestures by a signaler outside the working machine; a control unit that performs at least one of notifying an operator who operates the operating means and restricting the operation of the working machine when an operation corresponding to the gesture recognized by the recognition unit is not being performed on the operating means. A control device for a working machine.

2. It has a storage unit that stores the content of the operation corresponding to the gesture by the signaler in association with the gesture, The control unit determines whether an operation stored in the storage unit in association with the gesture recognized by the recognition unit is being performed on the operating means. The control device for a working machine according to claim 1.

3. The control unit cancels the notification or the operation restriction when any of the following occurs: a predetermined operation is performed on the control device, a predetermined gesture is recognized by the recognition unit, or an operation corresponding to the gesture recognized by the recognition unit is performed on the operating means. The control device for a working machine according to claim 1.

4. The control unit stops the operation of the working machine when an operation corresponding to the gesture recognized by the recognition unit is not being performed on the operating means and an operation for the operating element to approach the signaler is being performed on the operating means. The control device for a working machine according to claim 1.

5. The control device for a working machine according to claim 4, wherein the recognition unit recognizes the position of the signaler.

6. The control unit stops the operation of the working machine when the distance between the signaler and the operating element becomes equal to or less than a predetermined distance. The control device for a working machine according to claim 4.

7. The predetermined distance is determined by load information acquired for a load attached to the operating element. The control device for a working machine according to claim 6.

8. When an operation corresponding to the gesture recognized by the recognition unit is not being performed on the operating means, the control unit notifies the operator and restricts the speed of the operation of the working machine according to the operation on the operating means. The control device for a working machine according to claim 1.

9. The operating element includes a working attachment movably attached to the working machine body. The control device for a working machine according to claim 1.

Images