Shovel and shovel control system

Abstract

To improve detection accuracy.SOLUTION: A shovel comprises: a lower traveling body; an upper revolving body that is rotatably mounted on the lower traveling body; an imaging device fitted to the upper revolving body; a display device that displays captured image data captured by the imaging device; and a control device constituted to execute setting for suppressing detection of an object in the information indicating the object when an operation of specifying the object indicated in the captured image data is received.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present invention relates to an excavator and a control system for an excavator.

Background Art

[0002] Conventionally, a technique has been proposed for detecting an object existing around an excavator and monitoring the surroundings of the excavator (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Patent Document 1 describes a technique for detecting an object existing around a work machine using a stereo camera. However, when detecting an object using a detection device such as a stereo camera, there is a possibility that an error may occur in the detection result of the object. If information is output based on the detection result with an error, an operator or the like may find it troublesome.

[0005] One aspect of the present invention proposes a technique for improving detection accuracy by making it possible to correct a detection result by an operation.

Means for Solving the Problems

[0006] An excavator according to one aspect of the present invention includes a lower traveling body, an upper swing body rotatably mounted on the lower traveling body, an imaging device attached to the upper swing body, a display device for displaying imaging image data captured by the imaging device, and a control device configured to perform a setting for suppressing detection of the object in information indicating the object when an operation for designating an object represented in the imaging image data is received.

Advantages of the Invention

[0007] According to one aspect of the present invention, by making it possible to correct the detection result by an operation, an improvement in detection accuracy is realized.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

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Figure 4

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Figure 10

Figure 11

Figure 12

Mode for Carrying Out the Invention

[0009] Hereinafter, embodiments of the present invention will be described with reference to the drawings. Also, the embodiments described below are illustrative and do not limit the invention, and not all features and combinations thereof described in the embodiments are necessarily essential to the invention. In each drawing, the same or corresponding components are denoted by the same or corresponding reference numerals, and the description thereof may be omitted.

[0010] Hereinafter, in the embodiments of the present invention, an example in which a hydraulic excavator is used as an example of a working machine will be described, but the present invention is not limited to hydraulic excavators. It may be applied to construction machines, standard machines, application machines, forestry machines, or transport machines based on hydraulic excavators.

[0011] (First Embodiment) First, with reference to FIG. 1, an outline of the hydraulic excavator 100 according to the present embodiment will be described. FIG. 1 is a side view of the hydraulic excavator 100 according to the first embodiment. FIG. 2 is a top view of the hydraulic excavator 100 according to the first embodiment.

[0012] The upper swing body 3 is swingably mounted on the lower traveling body 1 of the hydraulic excavator 100 via a swing mechanism 2. A boom 4 is attached to the upper swing body 3. An arm 5 is attached to the tip of the boom 4, and a bucket 6 as an end attachment is attached to the tip of the arm 5. The end attachment may be a slope bucket, a dredging bucket, or the like.

[0013] The boom 4, arm 5, and bucket 6 constitute an excavation attachment which is an example of the attachment AT, and are respectively hydraulically driven by the boom cylinder 7, arm cylinder 8, and bucket cylinder 9. A boom angle sensor S1 is attached to the boom 4, an arm angle sensor S2 is attached to the arm 5, and a bucket angle sensor S3 is attached to the bucket 6. The excavation attachment may be provided with a bucket tilt mechanism.

[0014] The boom angle sensor S1 detects the rotation angle of the boom 4. In the present embodiment, the boom angle sensor S1 is an acceleration sensor and can detect the boom angle which is the rotation angle of the boom 4 with respect to the upper swing body 3. The boom angle becomes the minimum angle, for example, when the boom 4 is lowered to the lowest position, and increases as the boom 4 is raised.

[0015] The boom angle sensor S1 may include, for example, a rotary encoder, an acceleration sensor, a six-axis sensor, an IMU (Inertial Measurement Unit), etc. Further, the boom angle sensor S1 may include a potentiometer using a variable resistor, a cylinder stroke sensor that detects the stroke amount of a hydraulic cylinder (boom cylinder 7) corresponding to the boom angle, etc. The same applies to the arm angle sensor S2, bucket angle sensor S3, and body tilt sensor S4 below. The detection signal corresponding to the boom angle by the boom angle sensor S1 is taken into the controller 30.

[0016] The arm angle sensor S2 detects the rotation angle of the arm 5. In the present embodiment, the arm angle sensor S2 is an acceleration sensor and can detect the arm angle which is the rotation angle of the arm 5 with respect to the boom 4. The arm angle becomes the minimum angle, for example, when the arm 5 is closed most, and increases as the arm 5 is opened.

[0017] The bucket angle sensor S3 detects the rotation angle of the bucket 6. In this embodiment, the bucket angle sensor S3 is an acceleration sensor and can detect the bucket angle, which is the rotation angle of the bucket 6 with respect to the arm 5. The bucket angle, for example, has a minimum angle when the bucket 6 is closed most, and increases as the bucket 6 is opened.

[0018] The boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 may be a potentiometer using a variable resistor, a stroke sensor that detects the stroke amount of the corresponding hydraulic cylinder, or a rotary encoder that detects the rotation angle around the connecting pin, etc. The boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 constitute an attitude sensor that detects the attitude of the excavation attachment.

[0019] The upper swing body 3 is provided with a cabin 10 which is a driver's cab and is equipped with a power source such as an engine 11. In addition, a machine body tilt sensor S4, a swing angle sensor S5, and an imaging device S6 are attached to the upper swing body 3. Further, a communication device T1 and a positioning device PS are attached to the upper swing body 3.

[0020] The machine body tilt sensor S4 is configured to detect the tilt of the upper swing body 3 with respect to a predetermined plane. In this embodiment, the machine body tilt sensor S4 is an acceleration sensor that detects the tilt angle around the front-rear axis and the tilt angle around the left-right axis of the upper swing body 3 with respect to the horizontal plane. The front-rear axis and the left-right axis of the upper swing body 3, for example, are orthogonal to each other and pass through the excavator center point which is a point on the swing axis of the excavator 100.

[0021] The swing angle sensor S5 is configured to detect the swing angular velocity of the upper swing body 3. In this embodiment, the swing angle sensor S5 is a gyro sensor. The swing angle sensor S5 may be a resolver or a rotary encoder, etc. The swing angle sensor S5 may detect the swing speed. The swing speed may be calculated from the swing angular velocity.

[0022] In addition, when the body tilt sensor S4 includes a gyro sensor, a six-axis sensor, an IMU, etc. that can detect the angular velocity around three axes, the turning state (for example, the turning angular velocity) of the upper slewing body 3 may be detected based on the detection signal of the body tilt sensor S4. In this case, the turning angle sensor S5 may be omitted.

[0023] The imaging device S6 is configured to acquire images of the surroundings of the excavator 100. In this embodiment, the imaging device S6 includes a left camera S6L that images the space to the left of the excavator 100, a right camera S6R that images the space to the right of the excavator 100, and a rear camera S6B that images the space behind the excavator 100.

[0024] The imaging device S6 is, for example, a monocular camera having an imaging element such as a CCD or a CMOS, and outputs the captured image to the first display device D3 via the controller 30.

[0025] The input device D2 receives an operation input from the operator and outputs it to the controller 30. The input device D2 includes, for example, any hardware operation means such as a touch panel, a touch pad, buttons, toggles, and rotary knobs. In addition, the input device D2 may include software operation means that can be operated through hardware operation means such as virtual button icons on an operation screen displayed on the first display device D3 or the like.

[0026] As shown in FIG. 2, the left camera S6L is attached to the left end of the upper surface of the upper slewing body 3. The right camera S6R is attached to the right end of the upper surface of the upper slewing body 3. The rear camera S6B is attached to the rear end of the upper surface of the upper slewing body 3.

[0027] The rear camera S6B, the left camera S6L, and the right camera S6R are all attached to the upper swing body 3 such that their optical axes face obliquely downward and a part of the upper swing body 3 is included in the imaging range. Therefore, each imaging range of the rear camera S6B, the left camera S6L, and the right camera S6R has a viewing angle of approximately 180 degrees in, for example, a top view. In the example of FIG. 2, the imaging range AB represents an example of the imaging range of the rear camera S6B, the imaging range AL represents an example of the imaging range of the left camera S6L, and the imaging range AR represents an example of the imaging range of the right camera S6R. The three monocular cameras are preferably attached to the upper swing body 3 so as not to protrude from the upper surface of the upper swing body 3 as shown in FIG. 2.

[0028] In this embodiment, by providing the imaging device S6 in the above-described arrangement, an object existing around the excavator 100 can be imaged. This embodiment does not limit the number of imaging devices S6 provided on the upper swing body 3, and the number may be two or less or four or more. In that case, a front camera may be provided on the upper surface of the cab 10 of the upper swing body 3 or the like. The front camera may image, for example, a predetermined imaging range in front of the upper swing body 3.

[0029] The positioning device PS is configured to acquire information regarding the position of the excavator 100. In this embodiment, the positioning device PS is configured to measure the position and orientation of the excavator 100. Specifically, the positioning device PS is a GNSS receiver incorporating an electronic compass, which measures the latitude, longitude, and altitude of the current position of the excavator 100 and measures the orientation of the excavator 100.

[0030] FIG. 3 is a diagram showing a configuration example of the drive control system of the excavator 100 of FIG. 1. In FIG. 3, the mechanical power transmission system is shown by a double line, the hydraulic oil line is shown by a thick solid line, the pilot line is shown by a broken line, and the electric drive / control system is shown by a thin solid line.

[0031] The engine 11 is the power source of the excavator 100. In the present embodiment, the engine 11 is a diesel engine that employs isochronous control to maintain a constant engine speed regardless of the increase or decrease of the engine load. The fuel injection amount, fuel injection timing, boost pressure, etc. in the engine 11 are controlled by an engine control unit (ECU) D7.

[0032] The rotary shafts of a main pump 14 and a pilot pump 15, each serving as a hydraulic pump, are connected to the rotary shaft of the engine 11. The main pump 14 is connected to a control valve unit 17 via a hydraulic oil line.

[0033] The control valve unit 17 is a hydraulic control device that controls the hydraulic system of the excavator 100. Hydraulic actuators such as left and right travel hydraulic motors, a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, and a swing hydraulic motor are connected to the control valve unit 17 via hydraulic oil lines. The swing hydraulic motor may be a swing electric generator.

[0034] FIG. 3 shows the connection relationship between the controller 30, the first display device D3, and the second display device D3S. In the present embodiment, the first display device D3 and the second display device D3S are connected to the controller 30. The first display device D3, the second display device D3S, and the controller 30 may be connected via a communication network such as CAN.

[0035] The first display device D3 includes a control unit D3a that generates an image. In the present embodiment, the control unit D3a generates a display camera image based on the output of a camera as the imaging device S6. The imaging device S6 is connected to the first display device D3 via a dedicated line, for example. The first display device D3 may display the display camera image generated by the control unit D3a. At that time, the first display device D3 may display all the display camera images generated from each of the imaging devices S6 provided on the excavator 100.

[0036] The control unit D3a generates a display image based on the output of the controller 30. In the present embodiment, the control unit D3a converts various types of information output by the controller 30 into an image signal. The information output by the controller 30 includes, for example, data indicating the temperature of the engine coolant, data indicating the temperature of the hydraulic oil, data indicating the remaining fuel amount, data indicating the remaining amount of urea water, data indicating the position of the working part of the bucket 6, data indicating the orientation of the slope surface of the work target, data indicating the orientation of the excavator 100, data indicating the operation direction for making the excavator 100 face the slope surface directly, and the like.

[0037] Similar to the first display device D3, the second display device D3S includes a control unit D3Sa that generates an image. In the present embodiment, the second display device D3S is not directly connected to the imaging device S6. Therefore, the control unit D3Sa does not generate a camera image. However, the control unit D3Sa may generate a camera image when the second display device D3S is directly connected to the imaging device S6. Regardless of whether the second display device D3S is directly connected to the imaging device S6, the second display device D3S may display a display camera image generated based on the imaging device S6. Further, the display camera images generated from each of the imaging devices S6 may be separately displayed on each of the first display device D3 and the second display device D3S.

[0038] The control unit D3Sa generates a display image based on the output of the controller 30. In the present embodiment, the control unit D3Sa converts various types of information output by the controller 30 into an image signal.

[0039] The control unit D3a may be realized as a function of the controller 30 instead of a function of the first display device D3. The same applies to the control unit D3Sa. In this case, the imaging device S6 is connected to the controller 30 instead of the first display device D3.

[0040] The first display device D3 and the second display device D3S operate by receiving power supply from the storage battery 70. The storage battery 70 is charged with the power generated by the alternator 11a (generator) of the engine 11. The power of the storage battery 70 is supplied not only to the controller 30, the first display device D3, and the second display device D3S, but also to the electrical components 72 of the excavator 100 and the like. The starter 11b of the engine 11 is driven by the power from the storage battery 70 to start the engine 11.

[0041] The engine 11 is controlled by the engine controller unit D7. Various data indicating the state of the engine 11 are constantly transmitted from the engine controller unit D7 to the controller 30. Various data indicating the state of the engine 11 are an example of the operation information of the excavator 100, and include, for example, data indicating the cooling water temperature detected by the water temperature sensor 11c as an operation information acquisition unit. The controller 30 stores this data in the temporary storage unit (memory) 30a and can transmit it to the first display device D3 when necessary.

[0042] The following various data are supplied to the controller 30 as the operation information of the excavator 100 and stored in the temporary storage unit 30a of the controller 30.

[0043] For example, data indicating the swash plate tilt angle is supplied from the regulator 13 of the main pump 14, which is a variable displacement hydraulic pump, to the controller 30. Also, data indicating the discharge pressure of the main pump 14 is supplied from the discharge pressure sensor 14b to the controller 30. These data are stored in the temporary storage unit 30a. Further, an oil temperature sensor 14c is provided in the pipeline between the tank storing the hydraulic oil sucked by the main pump 14 and the main pump 14, and data representing the temperature of the hydraulic oil flowing through the pipeline is supplied from the oil temperature sensor 14c to the controller 30. The regulator 13, the discharge pressure sensor 14b, and the oil temperature sensor 14c are examples of the operation information acquisition unit.

[0044] Data indicating the fuel storage amount is supplied from the fuel storage amount detection unit 55a in the fuel storage unit 55 to the controller 30. In the present embodiment, data indicating the remaining fuel amount state is supplied from the fuel remaining amount sensor as the fuel storage amount detection unit 55a in the fuel tank as the fuel storage unit 55 to the controller 30.

[0045] Specifically, the fuel remaining amount sensor includes a float that follows the liquid level and a variable resistor (potentiometer) that converts the vertical movement amount of the float into a resistance value. With this configuration, the fuel remaining amount sensor can continuously display the remaining fuel amount state on the first display device D3. The detection method of the fuel storage amount detection unit can be appropriately selected according to the usage environment and the like, and a detection method that can display the remaining fuel amount state in steps may be adopted. These configurations are the same for the urea water tank.

[0046] The operating device 26 is provided near the driver's seat in the cabin 10 and is used for the operator to operate various driven elements. Specifically, the operating device 26 is used for the operator to operate hydraulic actuators such as the left and right travel hydraulic motors, the boom cylinder 7, the arm cylinder 8, the bucket cylinder 9, and the slewing hydraulic motor. As a result, the operator can operate the driven elements that are the driving targets of the hydraulic actuators. The operating device 26 includes a pedal device and a lever device for operating each driven element.

[0047] The operation sensor 29 is configured to detect the operation content of the operator using the operation device 26. In the present embodiment, the operation sensor 29 detects the operation direction and operation amount of the operation device 26 corresponding to each of the hydraulic actuators, and outputs an electric signal (hereinafter also referred to as an operation signal) corresponding to the detected value to the controller 30. In the present embodiment, the controller 30 controls the opening area of the proportional valve 31 according to the output of the operation sensor 29. Then, the controller 30 supplies the hydraulic oil discharged by the pilot pump 15 to the pilot port of the corresponding control valve in the control valve unit 17. The pressure of the hydraulic oil (pilot pressure) supplied to each of the pilot ports is, in principle, a pressure corresponding to the operation direction and operation amount of the operation device 26 corresponding to each of the hydraulic actuators. In this way, the operation device 26 is configured to be able to supply the hydraulic oil discharged by the pilot pump 15 to the pilot port of the corresponding control valve in the control valve unit 17. Thereby, the hydraulic actuator can be driven.

[0048] Also, the direction switching valve for driving each of the hydraulic actuators built in the control valve unit 17 may be an electromagnetic solenoid type. In this case, the operation signal output from the operation device 26 may be directly input to the control valve unit 17 (that is, to the electromagnetic solenoid type direction switching valve).

[0049] Note that the operating device 26 may be a hydraulic pilot type. Specifically, the operating device 26 uses the hydraulic oil supplied from the pilot pump 15 through the pilot line and outputs a pilot pressure corresponding to the operation content to the secondary-side pilot line. Then, the secondary-side pilot line is connected to the control valve unit 17. Thereby, a pilot pressure corresponding to the operation content regarding various driven elements (hydraulic actuators) in the operating device 26 can be input to the control valve unit 17. Therefore, the control valve unit 17 can drive each hydraulic actuator according to the operation content of the operating device 26 by an operator or the like. In this case, an operation sensor 29 capable of acquiring information regarding the operation state of the operating device 26 is provided, and the output of the operation sensor 29 is taken into the controller 30. Thereby, the controller 30 can grasp the operation state of the operating device 26. The operation sensor 29 is, for example, a pressure sensor that acquires information regarding the pilot pressure (operation pressure) of the secondary-side pilot line of the operating device 26.

[0050] Also, some or all of the hydraulic actuators may be replaced with electric actuators. In this case, for example, the controller 30 may output an operation command corresponding to the operation content of the operating device 26 or the content of the remote operation defined by the remote operation signal to the electric actuator or a driver or the like that drives the electric actuator. Further, when an operation signal is input from the operating device 26 to the electric actuator or a driver or the like, the electric actuator may be configured to be operable by the operating device 26.

[0051] Also, when the excavator 100 is exclusively remotely operated or operates exclusively by a fully automatic operation function, the operating device 26 may be omitted.

[0052] The proportional valve 31 functions as a control valve for machine control, and is provided for each driven element (hydraulic actuator) to be operated by the operating device 26 and for each operating direction of the driven element (hydraulic actuator) (for example, the raising direction and the lowering direction of the boom 4). For example, two proportional valves 31 are provided for each double-acting hydraulic actuator for driving the lower traveling body 1, the upper swing body 3, the boom 4, the arm 5, the bucket 6, and the like. The proportional valve 31 is provided, for example, in a pilot line between the pilot pump 15 and the control valve unit 17, and may be configured to be able to change its flow passage area (that is, the cross-sectional area through which the hydraulic oil can flow). Thereby, the proportional valve 31 can output a predetermined pilot pressure to the secondary-side pilot line by using the hydraulic oil of the pilot pump 15 supplied through the primary-side pilot line. Therefore, the proportional valve 31 can apply a predetermined pilot pressure corresponding to an operation command from the controller 30 to the control valve unit 17. Thus, for example, the controller 30 can directly supply a pilot pressure corresponding to the operation content (operation signal) of the operating device 26 from the proportional valve 31 to the control valve unit 17, and realize the operation of the excavator 100 based on the operation of the operator.

[0053] Further, the controller 30 may control the proportional valve 31 to realize the automatic operation function of the excavator 100. Specifically, the controller 30 outputs an operation command corresponding to the automatic operation function to the proportional valve 31 from the proportional valve 31. Thereby, the controller 30 can realize the operation of the excavator 100 by the automatic operation function.

[0054] Further, the controller 30 controls the proportional valve 31 to realize remote operation of the excavator 100. Specifically, the controller 30 outputs an operation command corresponding to the content of the operation specified by the operation signal received from the remote operation room RC to the proportional valve 31 by the communication device T1. Thereby, the controller 30 can supply a pilot pressure corresponding to the content of the remote operation from the proportional valve 31 to the control valve unit 17, and realize the operation of the excavator 100 based on the remote operation of the operator.

[0055] In addition, when the operating device 26 is a hydraulic pilot type, a shuttle valve may be provided in the pilot line between the operating device 26 and the proportional valve 31 and the control valve unit 17. The shuttle valve 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. The shuttle valve is provided for each driven element (hydraulic actuator) to be operated by the operating device 26 and for each operating direction of the driven element (hydraulic actuator), similar to the proportional valve 31. For example, two shuttle valves are provided for each double-acting hydraulic actuator for driving the lower traveling body 1, the upper swing body 3, the boom 4, the arm 5, the bucket 6, and the like. One of the two inlet ports of the shuttle valve is connected to the secondary pilot line of the operating device 26 (specifically, the above-mentioned lever device or pedal device included in the operating device 26), and the other is connected to the secondary pilot line of the proportional valve 31. The outlet port of the shuttle valve is connected to the pilot port of the corresponding direction switching valve of the control valve unit 17 through the pilot line. The corresponding direction switching valve is the direction switching valve that drives the hydraulic actuator that is the operation target of the above-mentioned lever device or pedal device connected to one inlet port of the shuttle valve. Therefore, each of these shuttle valves can apply the higher one of the pilot pressure of the secondary pilot line of the operating device 26 and the pilot pressure of the secondary pilot line of the proportional valve 31 to the pilot port of the corresponding direction switching valve. That is, the controller 30 can control the corresponding direction switching valve without depending on the operation of the operator on the operating device 26 by outputting a pilot pressure higher than the pilot pressure on the secondary side of the operating device 26 from the proportional valve 31. Therefore, the controller 30 can control the operation of the driven elements (lower traveling body 1, upper swing body 3, boom 4, arm 5, bucket 6) without depending on the operation state of the operator on the operating device 26, and can realize the automatic operation function and the remote operation function.

[0056] Also, when the operating device 26 is a hydraulic pilot type, in addition to the shuttle valve, a pressure reducing valve may be provided in the pilot line between the operating device 26 and the shuttle valve. The pressure reducing valve operates, for example, in response to a control signal input from the controller 30 and is configured to be able to change its flow passage area. Thereby, when the operating device 26 is operated by the operator, the controller 30 can forcibly reduce the pilot pressure output from the operating device 26. Therefore, even when the operating device 26 is being operated, the controller 30 can forcibly suppress or stop the operation of the hydraulic actuator corresponding to the operation of the operating device 26. Further, the controller 30 can, for example, even when the operating device 26 is being operated, reduce the pilot pressure output from the operating device 26 with the pressure reducing valve and make it lower than the pilot pressure output from the proportional valve 31. Therefore, by controlling the proportional valve 31 and the pressure reducing valve, the controller 30 can surely act a desired pilot pressure on the pilot port of the direction switching valve in the control valve unit 17, for example, regardless of the operation content of the operating device 26. Thus, the controller 30 can more appropriately realize the automatic operation function and the remote operation function of the excavator 100, for example, by controlling the pressure reducing valve in addition to the proportional valve 31.

[0057] The communication system of the excavator 100 according to this embodiment includes a communication device T1.

[0058] The communication device T1 is connected to an external communication line and communicates with a device provided separately from the excavator 100. The device provided separately from the excavator 100 may include, in addition to the devices outside the excavator 100, a portable terminal device (mobile terminal) brought into the cab 10 by the user of the excavator 100. The communication device T1 may include, for example, a mobile communication module compliant with standards such as 4G (4th Generation) and 5G (5th Generation). Further, the communication device T1 may include, for example, a satellite communication module. Further, the communication device T1 may include, for example, a Wi-Fi communication module, a Bluetooth (registered trademark) communication module, or the like. Further, when there are a plurality of connectable communication lines, the communication device T1 may include a plurality of communication devices T1 according to the type of the communication line.

[0059] For example, the communication device T1 communicates with an external device such as a remote operation room in the work site through a local communication line constructed in the work site. The local communication line is, for example, a mobile communication line based on local 5G (so-called local 5G) constructed in the work site or a local network based on Wi-Fi.

[0060] Further, the communication device T1 is configured to transmit and receive information to and from a communication device installed in a remote operation room through a wide-area communication line including the work site, that is, a wide-area network.

[0061] In the present embodiment, a case will be described in which the engine 11 is used as a drive source and the hydraulic pump is operated by the driving force generated by the engine 11 to operate the attachment AT, swing the upper swing body 3, and travel. However, the present embodiment does not limit the drive source to the engine 11, and a motor may be used as the drive source. That is, the control described in the present embodiment may be applied to a so-called electric excavator that drives a motor as a drive source by electric power supplied from a battery, or may be applied to an excavator equipped with a plurality of drive sources.

[0062] <Outline of processing performed by the controller and the display device> The controller 30 according to this embodiment detects an object from the captured image data captured by the imaging device S6. Then, the first display device D3 displays the captured image data together with display information that instructs the detected object to be distinguishable. In this embodiment, as an example of the display information, an example of representing a frame is used.

[0063] For example, the first display device D3 can surround a person shown in the captured image data with a frame (an example of display information) or the like, so that the operator can recognize that there is a person around the excavator 100.

[0064] However, false detection may occur in the detection of an object by the controller 30. For example, it is conceivable that the controller 30 erroneously detects an object (not a person) existing around the excavator 100 as a person. In this case, the first display device D3 will surround and display a non-human object as a person with a frame or the like. When the operator refers to the non-human object surrounded by the frame, there is a possibility that the operator may consider it confusing.

[0065] Furthermore, there is a possibility that the controller 30 performs safety control according to the erroneously detected content. Examples of the safety control by the excavator 100 include, for example, restriction of the operation of the excavator 100, stop of the excavator 100, output of an alarm by sound, light, or vibration, and highlighting of the detected object on the first display device D3, and any one or more of them are included.

[0066] When the controller 30 performs, as safety control, a restriction on the operation of the excavator 100, for example, a restriction on the slewing operation of the upper slewing body 3 or a restriction on the opening and closing operation of the attachment AT, the current work by the excavator 100 may be suppressed. Furthermore, when the controller 30 stops the excavator 100 as safety control, the current work by the excavator 100 is stopped. When the controller 30 restricts the operation of the excavator 100 or stops the excavator 100 because it erroneously detects an object as a person, the work is suppressed or stopped, so the work efficiency decreases.

[0067] In addition, when the controller 30 outputs an alarm as a safety control, the operator stops the work with the excavator 100 and a surrounding check operation occurs. If there is actually a person around, the check operation is not a problem. However, in the case of false detection, even though there is no person or the like around, the surrounding check operation has to be performed. Thus, regardless of whether it is false detection or not, the operator has to stop the current work with the excavator 100 once and perform a check operation in response to the output of the alarm. When the controller 30 outputs an alarm because it misdetects an object as a person, the surrounding check operation by the operator is performed, so the work efficiency decreases.

[0068] Furthermore, when the controller 30 performs highlighted display of the detected object on the first display device D3 as a safety control, the operator has to watch the first display device D3 and determine what the highlighted object is. The operation of the operator to check the highlighted object is performed even if the highlighted object is not a person or the like as a result of false detection. When the controller 30 performs highlighted display on an object that is not a person, the operator has to recognize what kind of object the highlighted object is, so the operator feels bothered. Also, since the work is interrupted to recognize what the object is, the work efficiency decreases.

[0069] Therefore, the controller 30 according to the present embodiment has a function for correcting the detection result when false detection of an object occurs.

[0070] <Block configuration of the excavator controller> FIG. 4 is a functional block diagram showing a configuration example of the controller 30 of the excavator 100 according to the present embodiment. In the example shown in FIG. 4, the block configuration of the controller 30 of the excavator 100 is shown.

[0071] The controller 30 receives information output by the boom angle sensor S1, arm angle sensor S2, bucket angle sensor S3, machine body inclination sensor S4, slewing angle sensor S5, imaging device S6, input device D2, communication device T1, positioning device PS, etc. Then, based on the received information and the information stored in the auxiliary storage device D4, various calculations are executed, and the calculation results are output to the first display device D3, the second display device D3S, the proportional valve 31, etc.

[0072] Note that in this embodiment, an example in which the controller 30 controls the excavator 100 will be described. However, a part of the functions of the controller 30 may be realized by another controller (control device). That is, the functions of the controller 30 may be realized in a distributed manner by a plurality of controllers mounted on the excavator 100.

[0073] The excavator 100 operates an actuator (for example, a hydraulic actuator) according to the operation of an operator boarding the cab 10, and drives operating elements (hereinafter, "driven elements") such as the lower traveling body 1, the upper slewing body 3, the boom 4, the arm 5, and the bucket 6.

[0074] In addition, instead of or in addition to being configured to be operable by the operator in the cab 10, the excavator 100 may be configured to be remotely operable from outside the excavator 100. When the excavator 100 is remotely operated, the inside of the cab 10 may be unmanned.

[0075] The auxiliary storage device D4 stores the learned model LM and the object storage database D4A.

[0076] When the captured image data captured by the imaging device S6 is input from the input layer, the learned model LM outputs, from the output layer, the coordinate area where the person represented in the captured image data exists and the frame size for surrounding the person.

[0077] Furthermore, the learned model LM according to this embodiment may detect objects other than humans. For example, the learned model LM may detect a working machine. Specifically, when the imaging image data captured by the imaging device S6 is input from the input layer, the learned model LM outputs, from the output layer, the coordinate region where the working machine represented in the imaging image data exists and the frame size for surrounding the working machine.

[0078] Note that this embodiment does not limit the method in which the learned model LM according to this embodiment outputs the coordinate region where a working machine or a person exists and the frame size for surrounding the working machine or the person, and any output of information capable of recognizing the region where a working machine or a person exists is sufficient.

[0079] As the machine learning used for generating the learned model LM, for example, a neural network may be applied, and specifically, it is machine learning using a deep neural network (DNN), and deep learning (deep neural network) may be applied. As deep learning, for example, a convolutional neural network, RNN (Recurrent Neural Networks), or LSTM (Long Short Term Memory) may be applied.

[0080] The learned model LM is generated by performing machine learning based on a teacher data set generated in advance in an information processing device (not shown).

[0081] Specifically, the learned model LM is generated by machine learning based on the imaging image data in which a person or a working machine appears, which is included in the teacher data set, and the coordinate region and the frame size where the person or the working machine appears in the imaging image data.

[0082] Note that the learned model LM may be updated by additionally training an existing learned model LM with a new teacher data set.

[0083] The object storage database D4A is a database for storing objects to be suppressed from detection among the objects detected as a person or a working machine by the learned model LM.

[0084] The object storage database D4A according to the present embodiment stores image data representing an object to be suppressed from detection. Note that the present embodiment is not limited to the mode of storing image data representing an object to be suppressed from detection, and feature information extracted from the image data representing the object may be stored.

[0085] The number of image data that can be stored in the object storage database D4A may be arbitrary. For example, it may be several tens, or it may be several hundreds or more. The image data stored in the object storage database D4A may be initialized at an arbitrary timing. For example, it may be initialized every time the work site is changed, or it may be initialized on a daily basis.

[0086] The controller 30 includes an acquisition unit 301, a detection unit 302, an output control unit 303, an operation reception unit 304, a setting unit 305, and a determination unit 306.

[0087] The acquisition unit 301 acquires various information from various sensors. For example, the acquisition unit 301 acquires captured image data captured by the imaging devices S6 (left camera S6L, right camera S6R, and rear camera S6B).

[0088] The acquisition unit 301 acquires detection information detected by each of the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, the body tilt sensor S4, and the turning angle sensor S5. The acquisition unit 301 acquires the position and orientation of the excavator 100 from the positioning device PS.

[0089] The detection unit 302 performs detection processing of people and construction machines existing around the excavator 100 from the captured image data acquired by the acquisition unit 301. The detection unit 302 according to the present embodiment inputs the captured image data into the learned model LM, and receives from the learned model LM the coordinate region where the construction machine or a person exists, and the frame size for surrounding the construction machine or the person. In the present embodiment, a method for detecting one or more of people and construction machines using the learned model LM will be described. However, the present embodiment does not limit the method for detecting one or more of people and construction machines, and any well-known method may be used without limitation. For example, it may be determined whether or not the feature amount extracted from the captured image data approximates a predetermined feature amount indicating a person by a predetermined value or more. Further, the detection target is not limited to a person or a construction machine, and may be other objects.

[0090] The output control unit 303 outputs the turning angle, the coordinate region and the frame size of one or more of people and construction machines, and the detection results of various sensors to the control unit D3a of the first display device D3. As a result, the first display device D3 displays a screen showing the surroundings of the excavator 100.

[0091] Next, with reference to FIG. 5, an example of the display screen displayed on the first display device D3 will be described. FIG. 5 is a diagram showing an example of the display screen 41 displayed by the first display device D3 according to the present embodiment and the input device D2.

[0092] The control unit D3a according to the present embodiment generates a display screen based on the image data input from the imaging device S6 and various information received from the controller 30. The information received from the controller 30 includes the turning angle, the coordinate region where the construction machine or a person exists, the frame size for surrounding the construction machine or the person, and the detection results of various sensors.

[0093] As shown in FIG. 5, the display screen 41 includes a date and time display area 41a, a travel mode display area 41b, an attachment display area 41c, a fuel consumption display area 41d, an engine control state display area 41e, an engine operation time display area 41f, a coolant water temperature display area 41g, a fuel remaining amount display area 41h, a rotation speed mode display area 41i, a urea water remaining amount display area 41j, an operating oil temperature display area 41k, an air conditioner operation state display area 41m, an image display area 41n, and a menu display area 41p.

[0094] Specifically, the travel mode display area 41b, the attachment display area 41c, the engine control state display area 41e, the rotation speed mode display area 41i, and the air conditioner operation state display area 41m are areas for displaying setting state information, which is information regarding the setting state of the excavator 100. The fuel consumption display area 41d, the engine operation time display area 41f, the coolant water temperature display area 41g, the fuel remaining amount display area 41h, the urea water remaining amount display area 41j, and the operating oil temperature display area 41k are areas for displaying operation state information, which is information regarding the operation state of the excavator 100.

[0095] Specifically, the date and time display area 41a is an area for displaying the current date and time. The travel mode display area 41b is an area for displaying the current travel mode. The attachment display area 41c is an area for displaying an image representing the currently attached attachment. The fuel consumption display area 41d is an area for displaying fuel consumption information calculated by the controller 30. The fuel consumption display area 41d includes an average fuel consumption display area 41d1 for displaying the lifetime average fuel consumption or the interval average fuel consumption, and an instantaneous fuel consumption display area 41d2 for displaying the instantaneous fuel consumption.

[0096] The engine control state display area 41e is an area for displaying the control state of the engine 11. The engine operation time display area 41f is an area for displaying the cumulative operation time of the engine 11. The coolant water temperature display area 41g is an area for displaying the current temperature state of the engine coolant water. The fuel remaining amount display area 41h is an area for displaying the remaining amount state of the fuel stored in the fuel tank. The rotation speed mode display area 41i is an area for displaying, in an image, the current rotation speed mode set by the engine rotation speed adjustment dial 75. The urea water remaining amount display area 41j is an area for displaying, in an image, the remaining amount state of the urea water stored in the urea water tank. The operating oil temperature display area 41k is an area for displaying the temperature state of the operating oil in the operating oil tank.

[0097] The air conditioner operation state display area 41m includes an air outlet display area 41m1 for displaying the current position of the air outlet, an operation mode display area 41m2 for displaying the current operation mode, a temperature display area 41m3 for displaying the current set temperature, and an air volume display area 41m4 for displaying the current set air volume.

[0098] The image display area 41n is an area for displaying the image captured by the imaging device S6. In the example of FIG. 5, the image display area 41n is displaying an overhead image FV and a rear image CBT. The overhead image FV is a virtual viewpoint image generated by the control unit D3a and is generated based on the images acquired by the rear camera S6B, the left camera S6L, and the right camera S6R, respectively. Also, in the central portion of the overhead image FV, a shovel figure GE corresponding to the shovel 100 is arranged. This is to allow the operator to intuitively grasp the positional relationship between the shovel 100 and the objects existing around the shovel 100. The rear image CBT is an image showing the space behind the shovel 100 and includes an image GC of the counterweight. The rear image CBT is a real viewpoint image generated by the control unit D3a and is generated based on the image acquired by the rear camera S6B.

[0099] In addition, the image display area 41n has a first image display area 41n1 located above and a second image display area 41n2 located below. In the example of FIG. 5, the bird's-eye view image FV is arranged in the first image display area 41n1, and the rear image CBT is arranged in the second image display area 41n2. However, in the image display area 41n, the bird's-eye view image FV may be arranged in the second image display area 41n2, and the rear image CBT may be arranged in the first image display area 41n1. Also, in the example of FIG. 5, the bird's-eye view image FV and the rear image CBT are arranged adjacent to each other vertically, but they may be arranged with a gap. Further, in the example of FIG. 5, the image display area 41n is a vertically long area, but the image display area 41n may be a horizontally long area. When the image display area 41n is a horizontally long area, the bird's-eye view image FV may be arranged as the first image display area 41n1 on the left side, and the rear image CBT may be arranged as the second image display area 41n2 on the right side. In this case, they may be arranged with a gap on the left and right, or the positions of the bird's-eye view image FV and the rear image CBT may be swapped. Furthermore, when a front camera is provided on the upper revolving body 3, a front image showing the space in front of the shovel 100 by the front camera may be arranged in the image display area included in the image display area 41n.

[0100] When the controller 30 detects a work machine or a person from the rear image (an example of imaging image data) CBT arranged in the second image display area 41n2, a frame (an example of display information) is displayed in the second image display area 41n2 so as to surround the work machine or the person. Specifically, a frame 1501b for indicating the detected person 1501a is displayed in the second image display area 41n2. Further, a frame 1502b for indicating the detected dump truck 1502a is displayed in the second image display area 41n2. The frame is an example of display information arranged based on the coordinate area and the frame size received from the controller 30. In this embodiment, an example using a frame as display information for indicating a work machine or a person has been described. However, this embodiment does not limit the display information for indicating a work machine or a person to a frame, and for example, it may be an icon (a mark representing an exclamation mark, a face icon, or an icon prompting a sense of crisis, etc.).

[0101] Also, the color of the frame may be changed according to the type of the object surrounded by the frame. For example, the color of the frame surrounding a person and the color of the frame surrounding a work machine may be made different.

[0102] Note that in this embodiment, as an example of a work machine, an example in which a dump truck is surrounded by a frame has been described, but the work machine to be surrounded by the frame is not limited to a dump truck. For example, it may be a shovel, a crawler crane, a jib crane, an asphalt finisher, or a road roller, etc.

[0103] The menu display area 41p has tabs 41p1 to 41p7. In the example of FIG. 5, the tabs 41p1 to 41p7 are arranged at intervals from each other horizontally at the lowermost part of the display screen 41. Icons for displaying various information are displayed on the tabs 41p1 to 41p7.

[0104] A menu detail item icon for displaying menu detail items is displayed on the tab 41p1. When the tab 41p1 is selected by the operator, the icons displayed on the tabs 41p2 to 41p7 are switched to the icons associated with the menu detail items.

[0105] An icon for displaying information related to the digital level is displayed on the tab 41p4. When the tab 41p4 is selected by the operator, the rear image CBT is switched to a screen showing information related to the digital level. However, a screen showing information related to the digital level may be displayed by superimposing it on the rear image CBT or reducing the rear image CBT. Also, the bird's-eye view image FV may be switched to a screen showing information related to the digital level, and a screen showing information related to the digital level may be displayed by superimposing it on the bird's-eye view image FV or reducing the bird's-eye view image FV.

[0106] On tab 41p6, an icon for displaying information related to informatized construction is displayed. When tab 41p6 is selected by the operator, the rear image CBT switches to a screen showing information related to informatized construction. However, a screen showing information related to informatized construction may also be displayed by superimposing it on the rear image CBT or reducing the rear image CBT. Also, the bird's-eye view image FV may switch to a screen showing information related to informatized construction, or a screen showing information related to informatized construction may be displayed by superimposing it on the bird's-eye view image FV or reducing the bird's-eye view image FV.

[0107] On tab 41p7, an icon for displaying information related to crane mode is displayed. When tab 41p7 is selected by the operator, the rear image CBT switches to a screen showing information related to crane mode. However, a screen showing information related to crane mode may also be displayed by superimposing it on the rear image CBT or reducing the rear image CBT. Also, the bird's-eye view image FV may switch to a screen showing information related to crane mode, or a screen showing information related to crane mode may be displayed by superimposing it on the bird's-eye view image FV or reducing the bird's-eye view image FV.

[0108] No icons are displayed on tabs 41p2, 41p3, and 41p5. Therefore, even if tabs 41p2, 41p3, and 41p5 are operated by the operator, there is no change in the image displayed on the display screen 41.

[0109] Note that the icons displayed on tabs 41p1 to 41p7 are not limited to the above examples, and icons for displaying other information may also be displayed.

[0110] Next, the input device D2 will be described. As shown in FIG. 5, the input device D2 is composed of one or more button-type switches for the operator to select and set inputs for tabs 41p1 to 41p7. In the example of FIG. 5, the input device D2 includes seven switches 42a1 to 42a7 arranged in the upper row and seven switches 42b1 to 42b7 arranged in the lower row. The switches 42b1 to 42b7 are arranged below the respective switches 42a1 to 42a7. However, the number, form, and arrangement of the switches of the input device D2 are not limited to the above example. For example, it may be in a form where a jog wheel, a jog switch, etc. combine the functions of a plurality of button-type switches into one, or the input device D2 may be separate from the first display device D3.

[0111] The switches 42a1 to 42a7 are arranged below the tabs 41p1 to 41p7, corresponding to the tabs 41p1 to 41p7 respectively, and function as switches for selecting the tabs 41p1 to 41p7 respectively. Since the switches 42a1 to 42a7 are arranged below the tabs 41p1 to 41p7, corresponding to the tabs 41p1 to 41p7 respectively, the operator can intuitively select the tabs 41p1 to 41p7.

[0112] Switch 42b1 is a switch for switching the captured image displayed in the image display area 41n. Each time switch 42b1 is operated, the captured image displayed in the first image display area 41n1 of the image display area 41n is configured to switch, for example, among a rear image, a left image, a right image, and an overhead image. Also, each time switch 42b1 is operated, the captured image displayed in the second image display area 41n2 of the image display area 41n may be configured to switch, for example, among a rear image, a left image, a right image, and an overhead image. Further, each time switch 42b1 is operated, the captured image displayed in the first image display area 41n1 of the image display area 41n and the captured image displayed in the second image display area 41n2 may be configured to be exchanged. Thus, switch 42b as the input device D2 may switch the screen displayed in the first image display area 41n1 or the second image display area 41n2, or may switch the screens displayed in the first image display area 41n1 and the second image display area 41n2. Also, a separate switch for switching the screen displayed in the second image display area 41n2 may be provided.

[0113] Switches 42b2 and 42b3 are switches for adjusting the air volume of the air conditioner. In the example of FIG. 5, when switch 42b2 is operated, the air volume of the air conditioner becomes smaller, and when switch 42b3 is operated, the air volume of the air conditioner becomes larger.

[0114] Switch 42b4 is a switch for switching the ON / OFF of the cooling / heating function. In the example of FIG. 5, each time switch 42b4 is operated, the ON / OFF of the cooling / heating function is configured to switch.

[0115] Switches 42b5 and 42b6 are switches for adjusting the set temperature of the air conditioner. In the example of FIG. 5, when switch 42b5 is operated, the set temperature becomes lower, and when switch 42b6 is operated, the set temperature becomes higher.

[0116] Switch 42b7 is a switch for switching the display in the engine operation time display area 41f.

[0117] Also, switches 42a2 to 42a6 and 42b2 to 42b6 are configured to be able to input the numbers displayed near each switch or the switch. Further, switches 42a3, 42a4, 42a5, and 42b4 are configured to be able to move the cursor left, up, right, and down, respectively, when the cursor is displayed on the menu screen.

[0118] Note that the functions given to switches 42a1 to 42a7 and 42b1 to 42b7 are examples, and they may be configured to be able to execute other functions.

[0119] Furthermore, the input device D2 according to the present embodiment includes a touch panel capable of receiving an operation indicating arbitrary position coordinates of the display screen 41 displayed on the first display device D3. Thereby, the input device D2 can directly operate tabs 41p1 to 41p7. Furthermore, the input device D2 can directly operate on the bird's-eye view image FV and the rear image CBT in the image display area 41n. The direct operation on the rear image CBT will be described later.

[0120] Returning to FIG. 4, the operation reception unit 304 receives information input to the operation device 26 from the operation sensor 29. Further, the operation reception unit 304 receives information input to the input device D2 from the input device D2.

[0121] For example, the operation reception unit 304 receives an operation of designating an object surrounded by a frame in the captured image data displayed in the first image display area 41n1 or the second image display area 41n2 via the touch panel of the input device D2. In the present embodiment, since an intuitive operation is realized by designating an object via the touch panel, the operability can be improved. Note that, in the present embodiment, as an example of the operation of designating an object, an example via the touch panel is described, but the operation is not limited to the operation via the touch panel, and other operations may be used. For example, an object may be selected by pressing a button of the input device D2.

[0122] For example, when the controller 30 misdetects an object, the first display device D3 displays a frame indicating the misdetected object for the misdetected object. In the present embodiment, in order to make the frame invisible for the misdetected object, the operation reception unit 304 receives an operation of designating an object surrounded by the frame.

[0123] When the setting unit 305 receives an operation of designating an object represented in the captured image data, the setting unit 305 performs a setting for suppressing the detection of the object on the image data representing the object (an example of information indicating the object). Specifically, the setting unit 305 registers the image data representing the designated object in the object storage database D4A for storing objects for which detection is to be suppressed. In other words, the image data registered in the object storage database D4A is regarded as having been set to suppress detection. Note that in the present embodiment, as an example of the setting for suppressing detection, an example of registration in the object storage database D4A will be described, but any process capable of suppressing detection may be used, and other methods may also be employed.

[0124] The determination unit 306 determines whether a partial region indicated by the coordinate region and the frame size detected by the detection unit 302 in the captured image data is similar to the image data registered in the object storage database D4A by a predetermined threshold or more. The predetermined threshold may be, for example, 80%, or may be determined according to the embodiment.

[0125] When the determination unit 306 determines that they are similar by a predetermined threshold or more, the object is regarded as an object to be suppressed from detection, and output of the coordinate region and the frame size related to the object to the first display device D3 is suppressed. Thereby, the first display device D3 suppresses the display of the frame indicating the object.

[0126] In this way, when an object indicated by the image data registered in the object storage database D4A is detected from the captured image data, the first display device D3 suppresses the display of a frame (an example of display information) indicating the object. In the present embodiment, since it is possible to suppress the display of an erroneously detected person or the like surrounded by a frame, when the operator refers to the display screen, there is no need to confirm that the object surrounded by the frame is not a person, so that the annoyance can be suppressed. Therefore, the convenience can be improved.

[0127] FIG. 6 is a diagram showing the transition of the rear image CBT arranged in the second image display area 41n2 under the control of the controller 30 and the first display device D3.

[0128] In the rear image CBT arranged in the second image display area 41n2 shown in FIG. 6(a), an example is shown in which a person depicted on the signboard 1602a is detected together with the person 1601a. For this reason, the first display device D3 displays a frame 1601b surrounding the person 1601a and a frame 1602b surrounding the person depicted on the signboard 1602a.

[0129] Note that the example shown in FIG. 6 shows an example of erroneous detection, and the detection of a person is not limited to a person depicted on a signboard or the like. For example, a work machine or the like coated with a reflector existing far away may be erroneously detected as a person wearing work clothes made of a fluorescent material, or a road cone or the like existing at the work site may be erroneously detected as a person.

[0130] That is, since there are various objects at the work site, there is a possibility that the controller 30 misdetects various objects as humans. When these objects are misdetected as humans, the first display device D3 displays a frame (indicating a human) around the misdetected object. In this case, when the operator refers to the screen displayed on the first display device D3, the operator may feel annoyed because they need to recognize that they are misdetecting. Furthermore, there is a possibility that the controller 30 performs safety control based on the misdetection result. In the example shown in FIG. 6(a), since the signboard 1602a is misdetected as a human, the controller 30 may operate a function that restricts traveling or turning so as not to contact the signboard 1602a. Furthermore, the controller 30 may output an alarm sound because a human is approaching. In such a situation, the operator may not be able to perform efficient work.

[0131] Therefore, the operation reception unit 304 receives, via the touch panel, a depression of the frame 1602b or inside the frame 1602b by the finger 1611 of the operator. This depression means selection of the object represented inside the frame 1602b.

[0132] Then, as shown in FIG. 6(b), when the operation reception unit 304 receives a depression of the frame 1602b or inside the frame 1602b, the first display device D3 displays a pop-up window 1620. The pop-up window 1620 displays a message "Do you want to stop detecting this object in the future?", an OK button 1621, and a cancel button 1622. When the operation reception unit 304 receives a depression of the cancel button 1622, the first display device D3 closes the pop-up window 1620.

[0133] When the operation reception unit 304 receives a depression of the OK button 1621, the setting unit 305 registers the image data of the object corresponding to the frame 1602b (in other words, the image data indicated by the coordinate area and the frame size) in the object storage database D4A. Then, the first display device D3 closes the pop-up window 1620.

[0134] When the pressing of the OK button 1621 is received, since the image data of the object corresponding to the frame 1602b is registered in the object storage database D4A, the determination unit 306 determines that the person depicted on the signboard 1602a is a detection suppression target.

[0135] Therefore, as shown in FIG. 6(c), the first display device D3 suppresses the display of the frame 1602b surrounding the person depicted on the signboard 1602a.

[0136] In the present embodiment, by performing the above-described control, it is possible to make the frame displayed based on the false detection non-displayed.

[0137] As described above, in the present embodiment, the setting for suppressing the detection of the object by the setting unit 305 is performed based on the operation received from the input device D2 while the excavator 100 is working. That is, when a false detection occurs for an object existing at the work site while the excavator 100 is working, the detection for the object can be immediately suppressed. Therefore, after the setting is made, the operator does not need to check whether there is a false detection while working with the excavator 100, so that the work can be performed comfortably. Furthermore, since the safety control based on the falsely detected result by the controller 30 can be suppressed, an improvement in work efficiency can be realized. Note that the present embodiment is not limited to the method of setting for suppressing the detection of the object while operating, and for example, the setting for suppressing the detection of the object may be performed before the excavator 100 starts operating.

[0138] While the excavator 100 is performing work, it means at least while the power of the excavator 100 is on and while the excavator 100 can operate according to the operation by the operator. As a specific example, it is while the excavator 100 is performing excavation, land leveling, loading, turning, or moving. Even if false detection occurs during such work of the excavator 100, the operator can suppress false detection in subsequent work by performing an operation for suppressing false detection. That is, this embodiment enables suppression of false detection without waiting for the end of work.

[0139] In the example shown in FIG. 6, this embodiment has described an example in which the person depicted on the signboard 1602a is the target for suppression of detection. However, the target for suppression of detection may be any object, and any object can be registered in the target object storage database D4A as long as it is an object pointed to by the frame.

[0140] The controller 30 according to this embodiment determines whether there is a similarity between a partial region of the captured image data and the image data registered in the target object storage database D4A. That is, when the object appearing in a partial region of the captured image data is a stationary object, it can be determined that there is a higher-precision similarity.

[0141] If the image data of a person is erroneously registered in the target object storage database D4A, since the person is moving, in the similarity determination between the partial region of the captured image data in which the person appears and the image data of the person registered in the target object storage database D4A by the determination unit 306, it is highly likely that it will be determined that they are not similar. That is, it is difficult to make a person the target for suppression of detection, so safety can be maintained.

[0142] Conventionally, every time the upper rotating body rotated and an object in the vicinity was misdetected as a person, safety control such as the output of an alarm sound was activated. As a result, it was a troublesome situation for the operator. In contrast, in the present embodiment, every time the upper rotating body 3 rotates, the image of the object is registered several times in the object storage database D4A, thereby suppressing the false detection of the object that occurred every time the upper rotating body 3 rotates. Therefore, since the operation of the safety control can be suppressed, an improvement in work efficiency can be realized.

[0143] The first display device D3 according to the present embodiment is not limited to only the method of restricting the non-display of the frame for an object for which the setting for suppressing detection is made. For example, the first display device D3 may make the frame of the object for which the setting for suppressing detection is made non-displayed and display information indicating that the detection has been suppressed in the vicinity of the object. As the information indicating that the detection has been suppressed, for example, a small icon representing an exclamation mark is used. The information indicating that the detection has been suppressed is displayed to such an extent that it does not hinder the operation by the operator. Then, by displaying such an icon in the vicinity of the object, the first display device D3 can make the operator recognize that the detection of the object is suppressed.

[0144] Next, the processing procedure executed by the controller 30 and the first display device D3 according to the present embodiment will be described. FIG. 7 is a flowchart showing a setting procedure for suppressing the detection of an object in the controller 30 and the first display device D3 according to the present embodiment. Note that the flowchart shown in FIG. 7 assumes that the image data is not registered in the object storage database D4A. The processing procedure shown in the flowchart according to the present embodiment is assumed to be repeatedly performed at a predetermined cycle.

[0145] First, the acquisition unit 301 acquires the captured image data captured by the imaging device S6 (S1701).

[0146] The detection unit 302 receives the coordinate region and the frame size of a person or a work machine existing around the excavator 100 by inputting the captured image data acquired by the acquisition unit 301 into the learned model LM (S1702).

[0147] The first display device D3 displays, together with the captured image data, the detected person or work machine surrounded by a frame based on the coordinate region and the frame size (S1703).

[0148] The operation reception unit 304 determines whether or not an operation for designating an object surrounded by a frame in the first image display area 41n1 or the second image display area 41n2 is received via the touch panel of the input device D2 (S1704). If it is determined that the operation for designation is not received (S1704: NO), the process ends.

[0149] On the other hand, when the operation reception unit 304 determines that an operation for designating an object surrounded by a frame is received (S1704: YES), the first display device D3 displays a pop-up window for confirming suppression of detection of the object (S1705).

[0150] On the other hand, the operation reception unit 304 determines whether or not a depression of the OK button 1621 is received (S1706). If the operation reception unit 304 determines that the depression of the OK button 1621 is not received, in other words, if it is determined that a depression of the cancel button is received (S1706: NO), the process ends.

[0151] On the other hand, when the operation reception unit 304 determines that a depression of the OK button 1621 is received (S1706: YES), the setting unit 305 registers, as a setting for suppressing detection of the object, the image data indicated by the coordinate region and the frame size of the object in the object storage database D4A (S1707).

[0152] The controller 30 and the first display device D3 according to the present embodiment enable setting for suppressing detection by performing the above-described control.

[0153] In the present embodiment, when image data related to the object is registered in the object storage database D4A according to the processing procedure shown in FIG. 7, the controller 30 determines whether to suppress the detection of the object when displaying the captured image data on the first display device D3.

[0154] FIG. 8 is a flowchart showing a processing procedure when performing determination using the object storage database D4A when displaying captured image data in the controller 30 and the first display device D3 according to the present embodiment.

[0155] First, the acquisition unit 301 acquires the captured image data captured by the imaging device S6 (S1801).

[0156] The detection unit 302 inputs the captured image data acquired by the acquisition unit 301 into the learned model LM, and receives the coordinate region and frame size of a person or a working machine existing around the excavator 100 (S1802).

[0157] The determination unit 306 determines whether a partial region specified based on the received coordinate region and frame size in the captured image data matches the image data registered in the object storage database D4A by a predetermined threshold or more (S1803). If it is determined that they do not match by a predetermined threshold or more (S1803: NO), the received coordinate region and frame size are output to the first display device D3 (S1804).

[0158] On the other hand, when the determination unit 306 determines that a partial region specified based on the received coordinate region and frame size in the captured image data matches the image data registered in the object storage database D4A by a predetermined threshold or more (S1803: YES), the determination unit 306 suppresses the output of the received coordinate region and frame size to the first display device D3 (S1805).

[0159] Then, the determination unit 306 determines whether the determination for all the coordinate regions and frame sizes received from the learned model LM has been completed (S1806). If it is determined that the determination has not been completed (S1806: NO), the process is performed again from S1803.

[0160] When it is determined that the determination unit 306 has completed (S1806: YES), the first display device D3 displays, together with the captured image data, a person or a work machine surrounded by a frame based on the input coordinate region and frame size (S1807).

[0161] In the present embodiment, the above-described processing procedure can suppress the display of surrounding an object excluded from the detection target with a frame.

[0162] Furthermore, when the controller 30 has a function of performing safety control based on the detected object, the safety control based on the excluded object is suppressed. That is, the controller 30 can suppress the safety control based on the erroneously detected object while enabling the safety control by the appropriately detected object. Therefore, the present embodiment can improve the work efficiency and the safety.

[0163] (Modification of the First Embodiment) In the above-described embodiment, an example of suppressing detection using the image data stored in the object storage database D4A has been described. However, the above-described embodiment is not limited to a method of using the image data stored in the object storage database D4A only for suppressing detection.

[0164] Therefore, in the modification of the first embodiment, the image data stored in the object storage database D4A may be used as teacher data to retrain the learned model LM. For example, retraining may be performed at the timing when a predetermined number of image data are stored in the object storage database D4A.

[0165] To perform re-learning, the controller 30 may generate teacher data from the image data stored in the object storage database D4A, or an information processing device provided separately may generate teacher data from the image data.

[0166] Also, the controller 30 may perform re-learning of the learned model LM using the generated teacher data, or it may be performed by an information processing device provided separately. The re-learned learned model LM is stored in the auxiliary storage device D4. Thereafter, the same processing as in the above-described embodiment is performed. In this modified example, it is possible to improve the detection accuracy by performing re-learning using the image data related to the erroneously detected object.

[0167] (Second Embodiment) In the above-described embodiment, an example of detecting a person from the captured image data captured by the imaging device S6 has been described. However, the above-described embodiment is not limited to the method of detecting a person from the captured image data captured by the imaging device S6. Therefore, in the second embodiment, a case where a space recognition device S7 is provided in addition to the imaging device S6 will be described.

[0168] FIG. 9 is a side view of the excavator 100A according to the second embodiment. In this embodiment, the same components as those in the first embodiment are assigned the same reference numerals and the description thereof is omitted.

[0169] The space recognition device S7 detects the presence or absence of an object existing in the space around the excavator 100A, the distance to the object, and the like. The space recognition device S7 outputs the result of measuring the space as measurement information to the controller 30A.

[0170] The space recognition device S7 includes a rear space recognition device S7B that detects the space behind the excavator 100A, a left space recognition device S7L that detects the space to the left of the excavator 100A, and a right space recognition device S7R that detects the space to the right of the excavator 100A.

[0171] The space recognition device S7 may use LIDAR to detect objects existing around the excavator 100A. LIDAR measures, for example, the distances between more than one million points within the monitoring range and the LIDAR. Note that this embodiment is not limited to the method using LIDAR, and any space recognition device capable of measuring the distance to an object may be used. For example, a stereo camera may be used, or a ranging device such as a distance image camera or a millimeter-wave radar may be used. When a millimeter-wave radar or the like is used as the space recognition device S7, a large number of signals (such as laser light) may be transmitted from the space recognition device S7 toward the object, and the distance and direction of the object may be derived from the reflected signal by receiving the reflected signal.

[0172] The rear space recognition device S7B is attached to the rear end of the upper revolving body 3 on its upper surface. The left space recognition device S7L is attached to the left end of the upper surface of the upper revolving body 3. The right space recognition device S7R is attached to the right end of the upper surface of the upper revolving body 3.

[0173] The rear space recognition device S7B, the left space recognition device S7L, and the right space recognition device S7R are all attached to the upper revolving body 3 such that the optical axis faces obliquely downward and a part of the upper revolving body 3 is included in the detection range. Therefore, each detection range of the rear space recognition device S7B, the left space recognition device S7L, and the right space recognition device S7R has, for example, a viewing angle of about 180 degrees in a top view.

[0174] In addition, the controller 30 maintains the correspondence between the detection ranges of the rear space recognition device S7B, the left space recognition device S7L, and the right space recognition device S7R and the imaging ranges of the rear camera S6B, the left camera S6L, and the right camera S6R. That is, when an object is detected by the rear space recognition device S7B, the left space recognition device S7L, or the right space recognition device S7R, the area where the object exists can be recognized from the captured image data captured by the rear camera S6B, the left camera S6L, and the right camera S6R.

[0175] The controller 30A according to this embodiment is different from the controller 30 of the above-described embodiment in that it uses the detection result of the space recognition device S7 to identify the coordinate area and the frame size where a person or a work machine exists.

[0176] In the controller 30A according to this embodiment, based on the detection result of the space recognition device S7, the position and size of a person or a work machine in the real space are estimated. As a method for estimating the position and size where a person or a work machine exists from the detection result, a well-known method may be used. For example, a learned model may be used. For example, the controller 30A may receive the position and size where a person or a work machine exists by inputting the detection result of the space recognition device S7 into the learned model.

[0177] Then, the controller 30A converts the received position and size in the real space into the coordinate area and the frame size in the captured image data. The description of this conversion is omitted on the assumption that it is performed based on the above-described correspondence relationship.

[0178] After the controller 30A acquires the coordinate area and the frame size where a person or a work machine exists, it performs the same control as in the above-described embodiment. That is, the first display device D3 superimposes and displays a frame indicating the object detected by the space recognition device S7 on the captured image data.

[0179] When the operation reception unit 304 receives an operation from the operator to suppress the detection of the object, the setting unit 305 registers the detection data (for example, the position and size in the real space) indicating the result of the object being detected by the space recognition device S7 in the object storage database D4A as a setting for suppressing the detection of the object.

[0180] Thereafter, when the controller 30A estimates the position and size of a person or a work machine in the real space based on the detection data of the space recognition device S7, the determination unit 306 determines whether the position and size of the person or the work machine are similar to the detection data registered in the object storage database D4A by a predetermined threshold or more.

[0181] And when the controller 30A determines that the position and size of a person or a work machine estimated based on the detection data of the space recognition device S7 are similar to the detection data registered in the object storage database D4A by a predetermined threshold value or more, the first display device D3 suppresses the display of a frame indicating the person or the work machine. Further, the controller 30A may suppress the safety control based on the person or the work machine.

[0182] In the present embodiment, even when the space recognition device S7 is used, the same effects as those of the above-described embodiment can be obtained. That is, even when the detection result of the space recognition device S7 is used, the annoyance to the operator can be suppressed and the convenience can be improved. Further, when the space recognition device S7 misdetects an object, the misdetection can be corrected, so that the detection accuracy can be improved.

[0183] This embodiment shows the case where detection data is used as an example of information indicating an object, and the first embodiment shows the case where image data is used as an example of information indicating an object. However, the above-described embodiment does not limit the information indicating the object to detection data or image data, and any information that can identify the object may be used. For example, the feature information of the object or the like may be used as the information indicating the object.

[0184] (Third Embodiment) In the above-described embodiment, an example in which the processing is performed by the single excavator 100 on which the operator is riding has been described. However, the above-described embodiment does not limit the processing method to the single excavator 100. For example, the management server connected to the excavator 100 may perform the processing. Therefore, in the third embodiment, a case where the processing is performed in a system including the excavator 100 and a management server that manages the excavator 100 will be described.

[0185] Therefore, referring to FIG. 10, the outline of the control system SYS of the excavator according to the third embodiment will be described. FIG. 10 is a schematic diagram showing an example of the control system SYS according to the third embodiment.

[0186] As shown in FIG. 10, the control system SYS according to the third embodiment includes an excavator 100, a management server 2000, and a remote operation cab RC.

[0187] The excavator 100 according to the present embodiment may be operated by an operator sitting in the cab 10 or may be operated by an operator OP present in the remote operation cab RC.

[0188] <Configuration example of remote operation cab> The remote operation cab RC is provided with a communication device T2, a remote controller R30, an operation device R26, an operation sensor R29, and a display device DR. Further, an operation seat DS on which an operator OP who remotely operates the excavator 100 sits is installed in the remote operation cab RC.

[0189] The communication device T2 is configured to control communication with the communication device T1 attached to the excavator 100.

[0190] The remote controller (an example of a remote operation device) R30 is an arithmetic device that executes various operations. In the present embodiment, the remote controller R30 is composed of a microcomputer including a CPU and a memory. And various functions of the remote controller R30 are realized by the CPU executing a program stored in the memory.

[0191] The display device DR displays a screen based on the information transmitted from the excavator 100 so that the operator OP in the remote operation cab RC can visually recognize the surroundings of the excavator 100. The display device DR enables the operator to confirm the situation of the work site including the surroundings of the excavator 100 despite being in the remote operation cab RC.

[0192] Furthermore, the display device DR displays captured image data in which a person or a work machine is surrounded by a frame, similar to the display screen 41 shown in FIG. 5 of the first embodiment.

[0193] The operating device R26 is provided with an operation sensor R29 for detecting the operation content of the operating device R26. The operation sensor R29 is, for example, an inclination sensor that detects the inclination angle of an operation lever, or an angle sensor that detects the swing angle around the swing axis of the operation lever. The operation sensor R29 may be composed of other sensors such as a pressure sensor, a current sensor, a voltage sensor, or a distance sensor. The operation sensor R29 outputs information regarding the detected operation content of the operating device R26 to the remote controller R30. The remote controller R30 generates an operation signal based on the received information and transmits the generated operation signal toward the excavator 100. The operation sensor R29 may be configured to generate an operation signal. In this case, the operation sensor R29 may output the operation signal to the communication device T2 without going through the remote controller R30. Thereby, remote operation of the excavator 100 can be realized from the remote operation cab RC.

[0194] Then, the communication device T1 of the excavator 100 receives an operation signal from the communication device T2 of the remote controller R30. The controller 30 of the excavator 100 performs various operations at the work site based on the received operation signal.

[0195] <Control Regarding the Management Server> The excavator 100 transmits the detection results from various sensors provided in the excavator 100 to the management server 2000 using the communication device T1 provided in the excavator 100. For example, the excavator 100 transmits the captured image data captured by the imaging device S6 to the management server 2000. Also, when a space recognition device S7 is provided in the excavator 100, the detection result of the space recognition device S7 is transmitted to the management server 2000.

[0196] The management server 2000 according to this embodiment has the same configuration as the controller 30 of the above-described embodiment, and stores the learned model LM and the object storage database D4A.

[0197] Therefore, when the management server 2000 receives the captured image data from the excavator 100, it inputs the received captured image data into the learned model LM, and receives the coordinate area and frame size of a person or a working machine existing around the excavator 100.

[0198] When the excavator 100 is being operated by an operator, the management server 2000 transmits the coordinate area and frame size of the person or the working machine to the communication device T1 of the excavator 100.

[0199] When the excavator 100 is being operated from the remote control room RC, the management server 2000 transmits the coordinate area and frame size of the person or the working machine to the communication device T2 of the remote control room RC.

[0200] As a result, the first display device D3 of the excavator 100 or the display device DR of the remote control room RC can display the person or the working machine appearing in the captured image data surrounded by a frame.

[0201] Furthermore, the management server 2000 also performs control for correcting the detection result in the same manner as in the above-described embodiment.

[0202] FIG. 11 is a sequence diagram showing a setting procedure for suppressing the detection of an object in the control system SYS according to this embodiment. The example shown in FIG. 11 will be described for the case where an operator riding in the cabin 10 performs an operation. When the operator OP in the remote control room RC performs an operation, the description will be omitted assuming that the same control is performed except that the transmission destination of the information from the management server 2000 is different. The sequence diagram shown in FIG. 11 assumes that no image data is registered in the object storage database D4A.

[0203] First, the controller 30 of the excavator 100 acquires the captured image data captured by the imaging device S6 (S2101).

[0204] Then, the controller 30 transmits the acquired captured image data to the management server 2000 via the communication device T1 (S2102).

[0205] The management server 2000 inputs the received captured image data into the learned model LM to receive the coordinate area and frame size of the people or work machines existing around the excavator 100 (S2103).

[0206] The management server 2000 transmits the received coordinate area and frame size to the communication device T1 of the excavator 100 (S2104).

[0207] The first display device D3 of the excavator 100 displays the detected person or work machine surrounded by a frame based on the received coordinate area and frame size together with the captured image data (S2105).

[0208] The controller 30 of the excavator 100 receives an operation for designating an object surrounded by a frame in the first image display area 41n1 or the second image display area 41n2 via the touch panel of the input device D2 (S2106).

[0209] When the first display device D3 receives an operation for designating an object, it displays a pop-up window for confirming suppression of detection of the object. The description of the pop-up window is omitted as it is the same as in FIG. 6.

[0210] The controller 30 of the excavator 100 receives the pressing of the OK button of the pop-up window via the touch panel of the input device D2 (S2108).

[0211] When the controller 30 receives the pressing of the OK button, it transmits the image data indicated by the coordinate area and the frame size of the object to the management server 2000 (S2109).

[0212] The management server 2000 registers the received image data in the object storage database D4A (S2110).

[0213] When the image data is registered in the object storage database D4A by the above-described processing, a determination using the object storage database D4A is performed.

[0214] FIG. 12 is a sequence diagram showing a processing procedure when a determination using the object storage database D4A is performed when displaying captured image data in the control system SYS according to the present embodiment.

[0215] First, the controller 30 of the excavator 100 acquires the captured image data captured by the imaging device S6 (S2201).

[0216] Then, the controller 30 transmits the acquired captured image data to the management server 2000 via the communication device T1 (S2202).

[0217] The management server 2000 inputs the received captured image data into the learned model LM to receive the coordinate area and the frame size of a person or a work machine existing around the excavator 100 (S2203).

[0218] The management server 2000 calculates the similarity between a partial area specified based on the received coordinate area and frame size in the captured image data and the image data registered in the object storage database D4A (S2204).

[0219] When the management server 2000 determines that the similarity is lower than a predetermined threshold value, it transmits the received coordinate area and frame size to the communication device T1 of the excavator 100 (S2205).

[0220] On the other hand, when it is determined that the similarity is equal to or greater than a predetermined threshold, the management server 2000 suppresses transmitting the received coordinate area and frame size to the communication device T1 of the excavator 100 (S2206).

[0221] In the present embodiment, when there are a plurality of coordinate areas and frame sizes received from the learned model LM, the management server 2000 repeats the processes of S2204 to S2206 for the number of the coordinate areas and frame sizes.

[0222] Then, the first display device D3 of the excavator 100 displays a person or a work machine surrounded by a frame based on the received coordinate area and frame size together with the captured image data (S2207).

[0223] In the present embodiment, the excavator 100 included in the control system SYS may be one or a plurality. As a result, when image data for suppressing false detection is registered by an operation from one excavator 100, false detection is also suppressed in other excavators 100. That is, in other excavators 100, false detection is suppressed without any operation, so that improvement in detection accuracy and improvement in work efficiency can be realized.

[0224] <Function> In the above-described embodiment, the controller 30, 30A, the first display device D3, or the management server 2000 can improve detection accuracy by suppressing false detection of an object by the above-described control. In addition, since it is not necessary to provide a new sensor to suppress false detection, an increase in cost can be suppressed.

[0225] Furthermore, in the above-described embodiment, since the display of the frame due to false detection is suppressed, the annoyance when the operator refers to the display screen can be suppressed, and thus improvement in convenience can be realized.

[0226] As described above, embodiments of the excavator and the control system of the excavator according to the present invention have been described, but the present invention is not limited to the above embodiments. Within the scope described in the claims, various changes, modifications, substitutions, additions, deletions, and combinations are possible. Naturally, they also belong to the technical scope of the present invention.

Explanation of Signs

[0227] 100, 100A Excavator 1 Lower Travel Body 2 Swing Mechanism 3 Upper Swing Body 4 Boom 5 Arm 6 Bucket S1 Boom Angle Sensor S2 Arm Angle Sensor S3 Bucket Angle Sensor S4 Machine Body Tilt Sensor S5 Swing Angle Sensor S6 Imaging Device S7 Spatial Recognition Device PS Positioning Device T1 Communication Device D3 First Display Device D3a Control Unit D4 Auxiliary Storage Device D4A Object Storage Database LM Learned Model 30, 30A Controller 301 Acquisition Unit 302 Detection Unit 303 Output Control Unit 304 Operation Reception Unit 305 Setting Unit 306 Judgment Unit RC Remote Operation Room R30 Remote Controller T2 Communication Device 2000 Management Server

Claims

1. A lower traveling body, an upper slewing body that is rotatably mounted on the lower traveling body, an imaging device attached to the upper slewing body, a display device that displays imaging image data captured by the imaging device, and a control device configured to perform a setting for suppressing detection of the object in the information indicating the object when an operation for designating the object represented in the imaging image data is received. An excavator comprising the above.

2. The setting for suppressing detection of the object is performed based on the operation received while the excavator is working. The excavator according to Claim 1.

3. The display device displays display information indicating the detected object in the imaging image data, and the control device performs a setting for suppressing detection of the object in the information indicating the object when an operation for designating the object indicated by the display information is received. The excavator according to Claim 1.

4. When the object indicated by the information for which detection suppression is set is detected, the display device suppresses display of the display information indicating the object. The excavator according to Claim 3.

5. The control device performs a setting for suppressing detection of the object in the image data representing the object, and when a partial region of the imaging image data captured by the imaging device is similar to the set image data by a predetermined threshold value or more, suppresses display of the display information indicating the object. The excavator according to Claim 4.

6. Further comprising a space recognition device attached to the upper slewing body, the display device displays the display information indicating the object detected by the space recognition device in the imaging image data, the control device performs a setting for suppressing detection of the object in the detection data indicating the result of detection of the object by the space recognition device, and the control device suppresses display of the display information indicating the object when the detection result by the space recognition device is similar to the set detection data by a predetermined threshold value or more. The excavator according to Claim 4.

7. Further comprising a touch panel capable of receiving an operation indicating arbitrary position coordinates of the imaging image data displayed on the display device, and the control device receives an operation for designating the object represented in the imaging image data via the touch panel. The excavator according to Claim 1. Claim 8 An excavator comprising a lower traveling body, an upper revolving body rotatably mounted on the lower traveling body, and an imaging device attached to the upper revolving body, a display device for displaying an imaging image captured by the imaging device, a control device configured to perform a setting for suppressing detection of the object in the information indicating the object when an operation for designating an object represented in the imaging image is received, a control system for an excavator comprising the same.

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