Construction machine

Abstract

To provide a construction machine which makes an operator correctly recognize a factor of alarm, and can promote the operator to take an appropriate avoidance behavior according to probability of contact between a machine body and an obstacle.SOLUTION: A controller 200 causes alarm output devices 11a and 11b to output an alarm sound obtained by combining alarm by voice reporting contact of an obstacle 12, and alarm by a buzzer sound of strength set according to a distance between a machine body 100a and the obstacle 12, when the obstacle 12 is detected around the machine body 100a by obstacle detection devices 6 to 9.SELECTED DRAWING: Figure 7

Description

[Technical Field]

[0001] The present invention relates to a construction machine such as a hydraulic excavator, and more particularly to a construction machine equipped with an alarm output device for calling the attention of an operator. [Background technology]

[0002] A technology is known in which an alarm output device is attached to construction machinery such as a hydraulic excavator, and an alarm whose form (sound pressure, frequency, or intermittent period) changes depending on the distance between the machine and the detected object, allowing the operator to intuitively grasp the distance to the object (Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-149261 Summary of the Invention [Problem to be solved by the invention]

[0004] However, there are many events that can trigger an alarm other than the aircraft approaching an object (for example, a system malfunction or not wearing a seat belt), so if the type of alarm sound (sound pressure, frequency, or intermittent period) is changed depending on the distance between the aircraft and the object for the same cause, such as the aircraft approaching an object, there is a risk that the operator will misinterpret the cause of the alarm and fail to take action to avoid contact between the aircraft and the object.

[0005] The present invention has been made in consideration of the above-mentioned problems, and its purpose is to provide a construction machine that allows the operator to correctly recognize the cause of the alarm and encourages appropriate evasive action based on the probability of contact between the machine body and an obstacle. [Means for solving the problem]

[0006] In order to achieve the above object, the present invention provides a construction machine comprising a machine body, an obstacle detection device that detects obstacles present around the machine body, an alarm output device that outputs an alarm sound, and a controller that controls the alarm output device, wherein when an obstacle is detected around the machine body by the obstacle detection device, the controller causes the alarm output device to output an alarm sound that combines an audio warning that notifies of the approach of the obstacle and a buzzer sound warning of an intensity set according to the distance between the machine body and the obstacle.

[0007] According to the present invention configured as described above, when an obstacle is detected around the vehicle, an alarm output device outputs an audible alarm that combines a voice warning that notifies the approach of the obstacle and a buzzer warning with an intensity set according to the distance between the vehicle and the obstacle. This allows the operator to correctly recognize the cause of the alarm and encourages appropriate avoidance action according to the probability of contact between the vehicle and the obstacle. [Effects of the Invention]

[0008] According to the present invention, it is possible to allow the operator of a construction machine to correctly recognize the cause of the alarm and to encourage the operator to take appropriate avoidance action according to the probability of contact between the machine body and an obstacle. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a side view of a hydraulic excavator according to a first embodiment of the present invention; [Figure 2] 1 is a top view of a hydraulic excavator according to a first embodiment of the present invention; [Figure 3] FIG. 1 is a diagram showing the state inside a driver's cab in a first embodiment of the present invention. [Figure 4] FIG. 1 is a diagram showing a detection range of an obstacle detection device according to a first embodiment of the present invention. [Figure 5] FIG. 1 is a block diagram showing a process related to the output of an alarm sound by a controller according to a first embodiment of the present invention. [Figure 6] FIG. 1 is a diagram showing the vicinity of a hydraulic excavator in a first embodiment of the present invention; [Figure 7]1 is a flowchart showing a process related to the output of an alarm sound by a controller according to a first embodiment of the present invention. [Figure 8] 10 is a time chart showing an example of the operation of the first alarm output device and the second alarm output device in the second embodiment of the present invention. [Figure 9] FIG. 10 is a diagram showing the vicinity of a hydraulic excavator in a third embodiment of the present invention. [Figure 10] 10 is a flowchart showing a process related to the output of an alarm sound by a controller in a third embodiment of the present invention. [Figure 11] 10 is a flowchart showing a process related to the output of an alarm sound by a controller in a fourth embodiment of the present invention. [Figure 12] 10 is a flowchart showing a process related to the output of an alarm sound by a controller in a fifth embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In each drawing, the same elements are given the same reference numerals, and duplicate explanations will be omitted where appropriate. Below, a hydraulic excavator will be described as an example of a construction machine according to the present invention, but the present invention can also be applied to other construction machines such as cranes. [Example]

[0011] 1 and 2 are diagrams that schematically show the appearance of a hydraulic excavator according to a first embodiment of the present invention, with FIG. 1 being a side view and FIG. 2 being a top view.

[0012] 1 and 2, the hydraulic excavator 100 comprises a crawler-type undercarriage 1, an upper rotating body 2 that is rotatably mounted on the undercarriage 1 via a center joint 5, and a front working implement 3 that is rotatably mounted in front of the upper rotating body 2 in the vertical direction. Note that in Fig. 2, a portion of the front working implement 3 is omitted for simplicity of illustration. The undercarriage 1, the upper rotating body 2, and the front working implement 3 constitute a machine body 100a of the hydraulic excavator 100.

[0013] The front working implement 3 is configured by connecting multiple driven members (a boom 3a, an arm 3b, and a bucket 3c) that each rotate in the vertical direction. The base end of the boom 3a is rotatably supported at the front part of the upper rotating body 2. One end of the arm 3b is rotatably connected to the tip of the boom 3a, and the bucket 3c is rotatably connected to the other end (tip) of the arm 3b. The boom 3a, arm 3b, and bucket 3c are driven by hydraulic actuators: a boom cylinder 3d, an arm cylinder 3e, and a bucket cylinder 3f, respectively.

[0014] The upper rotating body 2 is constructed by arranging each component on a rotating frame that serves as the base, and the upper rotating body 2 rotates relative to the lower running body 1 when the rotating frame is driven to rotate relative to the lower running body 1 by a rotating hydraulic motor 10, which is a hydraulic actuator.

[0015] An operator's cab 4 is located on the front of the rotating frame of the upper rotating body 2, where an operator sits and operates the hydraulic excavator 100. Also mounted on the upper rotating body 2 are an engine serving as a prime mover, a hydraulic pump and a pilot pump driven by the engine, a control valve 20 that controls the flow (direction and volume) of hydraulic oil supplied from the hydraulic pump to each hydraulic actuator (boom cylinder 3d, arm cylinder 3e, bucket cylinder 3f, swing hydraulic motor 10, etc.), a controller 200 that controls the overall operation of the hydraulic excavator 100, and an alarm output device 11b that outputs an alarm to the outside of the machine body 100a. Obstacle detection devices 6 to 9 that detect obstacles 12 present around the machine body 100a are located on the outside of the upper rotating body 2. The obstacle detection devices 6 to 9 are composed of cameras, distance measurement sensors, etc.

[0016] 3 is a diagram showing the inside of the operator's cab 4. Inside the operator's cab 4, there are arranged a seat 4a where the operator sits, operation levers 4b to 4e for operating the front work implement 3, operating the upper rotating body 2 for swinging, and operating the lower traveling body 1 for traveling, etc., pilot valves 4i to 4l for generating pilot pressure according to the amount of operation of the operation levers 4b to 4e and outputting the pilot pressure to the control valve 20, a gate lock lever 4f for prohibiting the operation of the hydraulic excavator 100, a monitor 4g for displaying various information related to the hydraulic excavator 100, a console 4h on which switches and buttons are arranged, and an alarm output device 11a for outputting alarms into the operator's cab 4.

[0017] FIG. 4 is a diagram showing the detection ranges of the obstacle detection devices 6 to 9. The obstacle detection devices 6 to 9 each have a cone-shaped detection range. The obstacle detection device 6 has a detection range on the right side of the upper rotating body 2, the obstacle detection device 7 has a detection range on the rear side of the upper rotating body 2, the obstacle detection device 8 has a detection range on the left side of the upper rotating body 2, and the obstacle detection device 9 has a detection range on the front side of the upper rotating body 2. The number and arrangement of the obstacle detection devices 6 to 9 can be changed as appropriate.

[0018] 5 is a block diagram showing the processing related to the output of an alarm sound by the controller 200. The controller 200 has an obstacle position calculation unit 201, a contact probability determination unit 202, and an alarm output control unit 203. The obstacle position calculation unit 201 calculates the position of the obstacle 12 relative to the aircraft 100a based on information from the obstacle detection devices 6 to 9.

[0019] The contact probability determination unit 202 determines the probability of contact between the aircraft 100a and the obstacle 12 based on the positional relationship between the aircraft 100a and the obstacle 12. In this embodiment, as shown in Fig. 6, the vicinity area of ​​the aircraft 100a is divided into a first area 13a that is far from the aircraft 100a and a second area 13b that is close to the aircraft 100a, and determines that the probability of contact between the aircraft 100a and the obstacle 12 is low when the obstacle 12 is present in the first area 13a, and determines that the probability of contact is high when the obstacle 12 is present in the second area 13b. The division method and number of divisions into the vicinity areas 13a and 13b are determined taking into consideration the width of the detection range of the obstacle detection devices 6 to 9, the time required for detection, the braking distance of the aircraft 100a, etc. In addition, the probability of contact between the machine body 100a and the obstacle 12 may be calculated taking into consideration the traveling speed of the lower traveling body 1, the rotation speed of the upper rotating body 2, the pilot pressure output from the pilot valves 4i to 4l, the engine rotation speed, etc.

[0020] Returning to Fig. 5, the alarm output control unit 203 controls the alarm output devices 11a and 11b to output an alarm sound that combines a buzzer sound warning with an intensity set according to the probability of contact between the aircraft 100a and the obstacle 12 and a voice warning that notifies the approach of the obstacle 12. Note that events that may trigger an alarm are not limited to the approach of the aircraft 100a and the obstacle 12, but may also include, for example, a system malfunction or not wearing a seatbelt. Therefore, the alarm output control unit 203 also has a function to output an alarm sound according to each of the other factors.

[0021] 7 is a flowchart showing the processing relating to the output of an alarm sound by the controller 200 in this embodiment. The controller 200 repeatedly executes the processing shown in FIG. 7 at a predetermined control cycle. Each step will be described below in order.

[0022] First, the controller 200 determines whether or not an obstacle 12 exists in the first area 13a or the second area 13b (shown in FIG. 6) based on information from the obstacle detection devices 6 to 9 (step S1). If the determination result in step S1 is NO, the flow ends.

[0023] If the determination result in step S1 is YES, it is determined whether or not an obstacle 12 exists in the second region 13b (shown in FIG. 6) based on information from the obstacle detection devices 6 to 9 (step S2).

[0024] If the determination result in step S2 is YES, the buzzer sound with increased intensity is output from the alarm output devices 11a and 11b (step S3). If the determination result in step S2 is NO, the buzzer sound with reduced intensity is output from the alarm output devices 11a and 11b (step S4). The intensity of the buzzer sound is set by the volume, frequency, duration, intermittent cycle, duty ratio, etc. of the buzzer sound.

[0025] Following step S3 or step S4, a sound is output to notify the approach of the aircraft 100a and the obstacle 12 (step S5), and the flow ends. The sound notifying the approach is, for example, "There is a person present." As a result, if the obstacle 12 is present in the first area 13a (if the probability of contact between the aircraft 100a and the obstacle 12 is low), a low-intensity buzzer sound is output followed by a sound notifying the approach of the obstacle 12, and if the obstacle 12 is present in the second area 13b (if the probability of contact between the aircraft 100a and the obstacle 12 is high), a high-intensity buzzer sound is output followed by a sound notifying the approach of the obstacle 12. The buzzer sound may be output after the sound.

[0026] (summary) In this embodiment, in a hydraulic excavator 100 equipped with a machine body 100a, obstacle detection devices 6 to 9 that detect obstacles present around the machine body 100a, alarm output devices 11a, 11b that output alarm sounds, and a controller 200 that controls the alarm output devices 11a, 11b, when an obstacle 12 is detected around the machine body 100a by the obstacle detection devices 6 to 9, the controller 200 causes the alarm output devices 11a, 11b to output an alarm sound that combines an audio warning notifying of the approach of the obstacle 12 and a buzzer sound warning with an intensity set according to the distance between the machine body 100a and the obstacle 12.

[0027] According to the present embodiment configured as described above, when an obstacle 12 is detected around the machine body 100a (within the nearby areas 13a, 13b), an alarm sound is output from the alarm output devices 11a, 11b, which is a combination of an audio warning notifying the approach of the obstacle 12 and a buzzer sound with an intensity set according to the distance between the machine body 100a and the obstacle 12. This allows the operator to correctly recognize the cause of the alarm and encourages the operator to take appropriate avoidance action according to the distance between the machine body 100a and the obstacle 12 (the probability of contact between the machine body 100a and the obstacle 12). [Example]

[0028] A second embodiment of the present invention will be described, focusing on differences from the first embodiment. The alarm sound from the alarm output device 11a (hereinafter referred to as the first alarm output device) is directed to the operator in the cab 4, while the alarm sound from the alarm output device 11b (hereinafter referred to as the second alarm output device) is directed to an external worker. Therefore, the voice included in the alarm sound from the first alarm output device 11a (hereinafter referred to as the first voice) and the voice included in the alarm sound from the second alarm output device 11b (hereinafter referred to as the second voice) do not necessarily match. For example, when the machine 100a approaches a worker, it is conceivable to output a first voice to the operator in the cab 4 urging him to stop the machine 100a, and a second voice to urge the external worker to leave the machine 100a. On the other hand, the volume of the second alarm output device 11b that outputs an alarm sound to the outside is louder than that of the first alarm output device 11a that outputs an alarm sound into the cab 4. Therefore, when the first sound and the second sound are output simultaneously, there is a risk that the operator in the cab 4 will not be able to clearly hear the first sound output from the first alarm output device 11a. This embodiment is intended to solve this problem.

[0029] Figure 8 is a time chart showing an example of the operation of the first alarm output device 11a and the second alarm output device 11b. In the example at the top of Figure 8, from time t0 to time t1, the first alarm output device 11a and the second alarm output device 11b output a buzzer sound. From time t1 to time t2, the first alarm output device 11a outputs the first sound, and the first alarm output device 11a stops outputting the alarm sound. From time t2 to time t3, the first alarm output device 11a stops outputting the alarm sound, and the second alarm output device 11b outputs the second sound. Thereafter, the first alarm output device 11a and the second alarm output device 11b repeat the same operation.

[0030] In the example at the bottom of Fig. 8, from time t0 to time t1, the first alarm output device 11a and the second alarm output device 11b output a buzzer sound. From time t1 to time t2, the first alarm output device 11a outputs a first sound, and the first alarm output device 11a continues to output a buzzer sound. From time t2 to time t3, the first alarm output device 11a outputs a buzzer sound, and the second alarm output device 11b outputs a second sound. Thereafter, the first alarm output device 11a and the second alarm output device 11b repeat the same operation.

[0031] (summary) The alarm output devices 11a, 11b in this embodiment include a first alarm output device that outputs a first alarm sound toward the inside of the cab 4 of the aircraft 100a, and a second alarm output device 11b that outputs a second alarm sound toward the outside of the aircraft 100a, the first alarm sound includes a buzzer sound warning and a first voice warning, and the second alarm sound includes the buzzer sound warning and a second voice warning, and when the first voice warning and the second voice warning are different, the controller 200 shifts the output timing of the first voice warning and the second voice warning and outputs them from the first alarm output device 11a and the second alarm output device 11b.

[0032] In this embodiment configured as described above, the same effects as in the first embodiment can be obtained. Furthermore, when the first and second audio warnings are different, the output timings of the first and second audio warnings are shifted, so that the operator in the cab 4 can clearly hear the first audio warning.

[0033] Furthermore, in the present embodiment, when the first audio warning and the second audio warning are different, the controller 200 causes the second alarm output device 11b to output the buzzer sound warning when the first audio warning is being output from the first alarm output device 11a, and causes the first alarm output device 11a to output the buzzer sound warning when the second audio warning is being output from the second alarm output device 11b. This makes it possible to continue issuing an alarm to the outside even while the first alarm output device 11a is outputting the first audio warning, and to continue issuing an alarm inside the driver's cab 4 even while the second alarm output device 11b is outputting the second audio warning.

[0034] Furthermore, in the present embodiment, when the first audio warning and the second audio warning are different, the controller 200 stops the output of the second audio warning from the second alarm output device 11b when the first audio warning is being output from the first alarm output device 11a, and stops the output of the first audio warning from the first alarm output device 11a when the second audio warning is being output from the second alarm output device 11b. As a result, when the first audio warning is being output from the first alarm output device 11a, no audio warning is output from the second alarm output device 11b, so that the operator in the cab 4 can hear the first audio warning more clearly. [Example]

[0035] A third embodiment of the present invention will be described, focusing on differences from the first embodiment. In the first embodiment, the intensity of the buzzer sound was adjusted depending on the distance between the aircraft 100a and the obstacle 12 (whether the obstacle 12 is in the first area 13a or the second area 13b), but in this embodiment, the intensity of the buzzer sound is adjusted depending on the direction of movement of the obstacle 12, which is in the area near the aircraft 100a (first area 13a or second area 13b), relative to the aircraft 100a (whether the obstacle is approaching the aircraft 100a).

[0036] Fig. 9 is a diagram showing the vicinity area of ​​the machine body 100a in this embodiment. In Fig. 9, when the direction of movement of the obstacle 12 present in the vicinity areas 13a, 13b of the machine body 100a is the direction 14a toward the hydraulic excavator 100, the probability of contact between the machine body 100a and the obstacle 12 increases, so the intensity of the buzzer sound is increased. Conversely, when the direction of movement of the obstacle 12 is the direction 14b away from the hydraulic excavator 100, the probability of contact decreases, so the intensity of the buzzer sound is decreased.

[0037] Fig. 10 is a flowchart showing the processing related to the output of an alarm sound by the controller 200 in this embodiment. Fig. 10 differs from the first embodiment (shown in Fig. 7) in that step S2A is executed instead of step S2. In step S2A, it is determined whether or not the obstacle 12 is approaching the airframe 100a. Whether or not the obstacle 12 is approaching the airframe 100a can be determined, for example, by whether or not the distance calculated in step S1 is less than the distance calculated in the previous control cycle.

[0038] (summary) In this embodiment, when an obstacle is detected around the aircraft 100a by the obstacle detection devices 6 to 9, the controller 200 calculates the moving direction of the obstacle 12 based on information from the obstacle detection devices 6 to 9, and increases the intensity of the buzzer warning when the moving direction of the obstacle 12 is in the direction 14a approaching the aircraft 100a compared to the intensity of the buzzer warning when the moving direction of the obstacle 12 is in the direction away from the aircraft 100a.

[0039] According to the present embodiment configured as described above, when an obstacle 12 is detected around the machine body 100a (within the nearby areas 13a, 13b), an alarm sound is output from the alarm output devices 11a, 11b, which is a combination of an audio warning notifying the approach of the obstacle 12 and a buzzer sound with an intensity set according to the moving direction of the obstacle 12 relative to the machine body 100a. This allows the operator to correctly recognize the cause of the alarm and encourages the operator to take appropriate avoidance action according to the moving direction of the obstacle 12 relative to the machine body 100a (the probability of contact between the machine body 100a and the obstacle 12). [Example]

[0040] A fourth embodiment of the present invention will be described, focusing on differences from the first embodiment. In the first embodiment, when the aircraft 100a approaches the obstacle 12 (when the obstacle 12 is present in the first area 13a or the second area 13b), an alarm sound is output that combines a buzzer sound warning with an intensity set according to the distance between the aircraft 100a and the obstacle 12 and a voice warning notifying the aircraft 100a of the approach of the obstacle 12. In this embodiment, instead of a buzzer sound, a voice warning with an intensity set according to the distance between the aircraft 100a and the obstacle 12 is output.

[0041] The sound notifying the approach is, for example, "There is someone there," the sound with increased intensity is, for example, "It is dangerous," and the sound with decreased intensity is, for example, "Be careful." Therefore, the alarm sound output when there is a person in the first area 13a is, "It is dangerous. There is someone there," and the alarm sound output when there is a person in the second area 13b is, "Be careful. There is someone there."

[0042] Fig. 11 is a flowchart showing the processing related to the output of an alarm sound by the controller 200 in this embodiment. Fig. 11 differs from the first embodiment (shown in Fig. 7) in that steps S3A and S4A are executed instead of steps S3 and S4. In step S3A, a sound with increased intensity is output, and in step S4A, a sound with decreased intensity is output. The sound with adjusted intensity may be output after the sound notifying the approach.

[0043] According to the present embodiment configured as described above, when an obstacle 12 is detected around the machine body 100a (within the nearby areas 13a, 13b), an alarm sound is output from the alarm output devices 11a, 11b, which is a combination of a first audio warning informing of the approach of the obstacle 12 and a second audio warning with an intensity set according to the distance between the machine body 100a and the obstacle 12. This allows the operator to correctly recognize the cause of the alarm and encourages the operator to take appropriate avoidance action according to the distance between the machine body 100a and the obstacle 12 (the probability of contact between the machine body 100a and the obstacle 12). [Example]

[0044] A fifth embodiment of the present invention will be described, focusing on differences from the third embodiment. In the third embodiment, when the aircraft 100a approaches the obstacle 12 (when the obstacle 12 is present in the first area 13a or the second area 13b), an alarm sound is output that combines a buzzer warning with an intensity set according to the moving direction of the obstacle 12 relative to the aircraft 100a and a voice warning that notifies the aircraft 100a of the approach of the obstacle 12. In this embodiment, instead of a buzzer warning, a voice warning with an intensity adjusted according to the moving direction of the obstacle 12 relative to the aircraft 100a is output.

[0045] The sound notifying the approach is, for example, "There is someone there," the sound with increased intensity is, for example, "It is dangerous," and the sound with decreased intensity is, for example, "Be careful." Therefore, when a person in the first area 13a or the second area 13b is moving in the direction 14a toward the aircraft 100a, the warning sound output is, "It is dangerous. There is someone there," and when a person in the first area 13a or the second area 13b is moving in the direction 14b away from the aircraft 100a, the warning sound output is, "Be careful. There is someone there."

[0046] Fig. 12 is a flowchart showing the processing related to the output of an alarm sound by the controller 200 in this embodiment. Fig. 12 differs from the third embodiment (shown in Fig. 10) in that steps S3A and S4A are executed instead of steps S3 and S4. In step S3A, a second sound with increased intensity is output, and in step S4A, a second sound with decreased intensity is output. The second sound may be output after the first sound.

[0047] According to the present embodiment configured as described above, when an obstacle 12 is detected around the machine body 100a (within the nearby areas 13a, 13b), an alarm sound is output from the alarm output devices 11a, 11b, which is a combination of a first audio warning notifying the approach of the obstacle 12 and a second audio warning with an intensity set according to the moving direction of the obstacle 12. This allows the operator to correctly recognize the cause of the alarm and encourages the operator to take appropriate avoidance action according to the moving direction of the obstacle 12 relative to the machine body 100a (the probability of contact between the machine body 100a and the obstacle 12).

[0048] Although the embodiments of the present invention have been described in detail above, the present invention is not limited to the above-described embodiments and includes various modifications. For example, the above-described embodiments have been described in detail to clearly explain the present invention, and the present invention is not necessarily limited to those including all of the described configurations. Furthermore, it is possible to add part of the configuration of one embodiment to the configuration of another embodiment, or to delete part of the configuration of one embodiment or replace it with part of another embodiment. [Explanation of symbols]

[0049] 1...lower running body, 2...upper rotating body, 3...front working machine, 3a...boom, 3b...arm, 3c...bucket, 3d...boom cylinder, 3e...arm cylinder, 3f...bucket cylinder, 4...operator's cab, 4a...seat, 4b to 4e...operating lever, 4f...gate lock lever, 4g...monitor, 4h...console, 4i to 4l...pilot valve, 5...center joint, 6 to 9...obstacle detection device, 10...swing hydraulic motor, 11a...alarm output device (first alarm output device), 11b...alarm output device (second alarm output device), 12...obstacle, 13a...first area (nearby area), 13b...second area (nearby area), 14a...approach direction, 14b...leaving direction, 20...control valve, 100...hydraulic excavator (construction machinery), 100a...machine body, 200...controller, 201...obstacle position calculation unit, 202...contact probability determination unit, 203...alarm output control unit.

Claims

1. The aircraft and an obstacle detection device that detects obstacles present around the aircraft; an alarm output device that outputs an alarm sound; In a construction machine equipped with a controller that controls the alarm output device, The controller When the obstacle detection device detects an obstacle around the aircraft, the warning output device outputs an alarm sound that combines a voice warning informing of the approach of the obstacle and a buzzer sound of an intensity set according to the distance between the aircraft and the obstacle. Construction machinery characterized by:

2. The construction machine according to claim 1, The intensity of the buzzer sound is set by volume, frequency, duration, intermittent cycle, or duty ratio according to the distance between the aircraft and an obstacle. Construction machinery characterized by:

3. The construction machine according to claim 1, The intensity of the warning buzzer sound is set to be higher as the distance between the aircraft and the obstacle becomes smaller. Construction machinery characterized by:

4. The construction machine according to claim 1, The controller When the obstacle detection device detects an obstacle around the aircraft, the obstacle detection device calculates the direction of movement of the obstacle based on information from the obstacle detection device; The intensity of the warning by the buzzer sound when the moving direction of the obstacle is a direction approaching the aircraft is set to be higher than the intensity of the warning by the buzzer sound when the moving direction of the obstacle is a direction away from the aircraft. Construction machinery characterized by:

5. The construction machine according to claim 1, the alarm output device includes a first alarm output device that outputs a first alarm sound toward a cab of the aircraft, and a second alarm output device that outputs a second alarm sound toward an outside of the aircraft, the first alarm sound includes a warning by the buzzer sound and a warning by a first voice, the second alarm sound includes a warning by the buzzer sound and a warning by a second voice, When the first audio warning and the second audio warning are different, the controller outputs the first audio warning and the second audio warning from the first alarm output device and the second alarm output device at different output timings. Construction machinery characterized by:

6. The construction machine according to claim 5, When the first audio warning and the second audio warning are different, the controller causes the second audio warning device to output the buzzer sound warning when the first audio warning is being output from the first audio warning output device, and causes the first audio warning device to output the buzzer sound warning when the second audio warning is being output from the second audio warning output device. Construction machinery characterized by:

7. The construction machine according to claim 5, When the first sound warning and the second sound warning are different, the controller causes the second alarm output device to stop outputting the second sound warning when the first sound warning is being output from the first alarm output device, and causes the first alarm output device to stop outputting the first sound warning when the second sound warning is being output from the second alarm output device. Construction machinery characterized by:

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