Control devices, construction machinery management devices, and systems

Abstract

The present invention provides a control device capable of suppressing power consumption for human detection before starting construction machinery. [Solution] The human presence / absence determination unit determines the presence or absence of a person based on the detection results of a first detector and a second detector, which detect people within mutually different detection ranges around the construction machine. The starting unit performs starting control, which is control to start the engine or control to make the actuator operational. The first detector is activated, and if the human presence / absence determination unit determines "person present" when the first detector is activated, the starting permission determination unit prohibits the starting control by the starting unit. If the result is "no person", the second detector is activated, and if the human presence / absence determination unit determines "person present" when the second detector is activated, the starting control by the starting unit is prohibited. If the result is "no person", the starting control by the starting unit is permitted.

Description

Technical Field

[0001] The present invention relates to a control device for construction machinery, a construction machinery management device, and a system.

Background Art

[0002] There is a known start permission device that checks that no person is detected within a predetermined range around construction machinery and permits the engine to start (Patent Document 1). For example, a person is detected by analyzing an input image from cameras that monitor the sides and rear of the upper swing body of an excavator. If a person is detected, starting the engine is not permitted. This ensures the safety of the operator.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] There is room to reduce the blind spots of detectors mounted on construction machinery and improve safety. An object of the present invention is to provide a control device, a construction machinery management device, and a system capable of reducing the blind spots of detectors mounted on construction machinery and improving safety.

Means for Solving the Problems

[0005] According to one aspect of the present invention, a person presence determination unit that determines the presence or absence of a person based on the detection results of a first detector and a second detector that detect persons within mutually different detection ranges around the construction machinery; a start unit that performs start control, which is control to start the engine or control to make an actuator operable; A start-up / failure determination unit operates the first detector, and if the result of the person presence / absence determination unit when the first detector is operated is "person present", the start-up control by the start-up unit is not permitted, and if the result is "no person present", the start-up permit / failure determination unit operates the second detector, and if the result of the person presence / absence determination unit when the second detector is operated is "person present", the start-up control by the start-up unit is not permitted, and if the result is "no person present", the start-up control by the start-up unit is permitted. A control device is provided that includes the following.

[0006] According to another aspect of the present invention, A person presence / absence determination unit determines the presence or absence of a person based on the detection results of multiple detectors that detect people within mutually different detection ranges around a construction machine operated by a remote construction machine management device, A starting unit that performs starting control, which is the control to start the engine or the control to make the actuator operational, A start-up / failure determination unit transmits to the construction machinery management device information indicating that start-up control by the start-up unit is permitted when the person presence / absence determination unit determines "no person" during the operation of any of the plurality of detectors, and that start-up control by the start-up unit is denied when the person presence / absence determination unit determines "person present" during the operation of at least one of the plurality of detectors, and that start-up control is denied, as well as information identifying which of the plurality of detectors was operating when the person presence / absence determination unit determined "person present". A control device is provided that includes the following.

[0007] According to yet another aspect of the present invention, A start command unit that transmits start commands to the construction machinery under management, The output unit, upon receiving information from the aforementioned construction machine indicating whether or not it can be started in response to a start command, and information identifying the detector that detected a person, outputs information indicating whether or not it can be started, and information identifying the detector that detected a person. A construction machinery management device equipped with the following features is provided.

[0008] According to yet another aspect of the present invention, A construction machinery management system for managing construction machinery, The control device mounted on the aforementioned construction machine and Equipped with, The control device is A person presence / absence determination unit determines the presence or absence of a person based on the detection results of multiple detectors that detect people within mutually different detection ranges around the construction machine, A starting unit that performs starting control, which is the control to start the engine or the control to make the actuator operational, A start-up / failure determination unit transmits to the construction machinery management device information indicating that start-up control by the start-up unit is permitted when the person presence / absence determination unit determines "no person" during the operation of any of the plurality of detectors, and that start-up control by the start-up unit is denied when the person presence / absence determination unit determines "person present" during the operation of at least one of the plurality of detectors, and that start-up control is denied, as well as information identifying which of the plurality of detectors was operating when the person presence / absence determination unit determined "person present". Includes, The aforementioned construction machinery management device is A start command unit that transmits a start command to the aforementioned construction machine, The output unit, upon receiving information from the aforementioned construction machine indicating whether or not it can be started in response to a start command, and information identifying the detector that detected a person, outputs information indicating whether or not it can be started, and information identifying the detector that detected a person. A system including this is provided. [Effects of the Invention]

[0009] By equipping the system with multiple detectors, blind spots can be reduced, thereby enhancing safety. Power consumption can be reduced because the second detector will not activate if the first detector detects the presence of a person. Furthermore, when remotely starting construction machinery, if starting is denied, the information identifying the detector output by the construction machinery management system is useful for the remote operator to understand the reason for the denial, thus contributing to increased safety.

Brief Description of the Drawings

[0010] [Figure 1] FIG. 1 is a side view of the excavator 10 equipped with the control device 50 according to the first embodiment. [Figure 2] FIG. 2 is a plan view of the excavator 10 equipped with the control device 50 according to the first embodiment. [Figure 3] FIG. 3 is a block diagram of the excavator 10 equipped with the control device 50 according to the first embodiment. [Figure 4] FIG. 4 is a flowchart showing the procedure executed by the control device 50 when the selection position of the key switch 40 is set to "START". [Figure 5] FIG. 5 is a block diagram of the excavator 10 equipped with the control device 50 according to the second embodiment. [Figure 6] FIG. 6 is a flowchart showing the procedure executed by the control device 50 when the selection position of the key switch 40 is set to "START". [Figure 7] FIG. 7 is a schematic diagram of the construction machine management device 80 according to the third embodiment and the excavator 10 to be managed. [Figure 8] FIG. 8 is a flowchart showing the procedure executed by the control device 50 when the excavator 10 receives a start request. [Figure 9] FIGS. 9A and 9B are charts showing the determination tables referred to by the person presence / absence determination unit 53 (FIGS. 3 and 5) when the first detector 41 and the second detector 42 are operated, respectively. [Figure 10] FIG. 10 is a block diagram of the person presence / absence determination unit 53 of the construction machine management device according to the fifth embodiment.

Modes for Carrying Out the Invention

[0011] Referring to FIGS. 1 to 4, the control device for a construction machine according to the first embodiment will be described. Figures 1 and 2 are a side view and a top view, respectively, of an excavator 10 equipped with a control device 50 according to the first embodiment. The excavator 10 comprises a lower traveling body 12, an upper slewing body 11 that is rotatably mounted on the lower traveling body 12 via a slewing mechanism 13, a boom 21, an arm 22, and a bucket 23.

[0012] The lower traveling body 12 includes, for example, a pair of left and right crawlers 12A and 12B. Each crawler 12A and 12B is hydraulically driven by hydraulic motors 28A and 28B, allowing it to move under its own power.

[0013] The upper slewing body 11 rotates relative to the lower traveling body 12 when driven by a slewing hydraulic motor 30. The upper slewing body 11 is equipped with a cabin 15. Inside the cabin 15 is a driver's seat 17 where the operator sits.

[0014] The boom 21 is mounted on the front center of the upper slewing body 11 so as to be able to swing vertically. An arm 22 is mounted on the tip of the boom 21 so as to be able to swing in the front-rear direction. A bucket 23 is mounted on the tip of the arm 22 so as to be able to open and close. The boom 21, arm 22, and bucket 23 are hydraulically driven by hydraulic cylinders, namely the boom cylinder 25, arm cylinder 26, and bucket cylinder 27, respectively. The bucket 23 is an example of an end attachment, and other end attachments may be mounted on the tip of the arm 22 in place of the bucket 23, depending on the work to be done.

[0015] The shovel 10 operates its lower travel body 12, upper slewing body 11, boom 21, arm 22, and bucket 23 in response to the operation of an operator seated in the cabin 15.

[0016] Camera 41A is mounted on the wall of the cabin 15, and camera 41B is mounted on the wall facing downwards of the upper rotating body 11. The imaging range of camera 41A includes the upper surface and a portion of the area above the upper rotating body. The imaging range of camera 41B includes a portion of the area below the upper rotating body 11. Since camera 41B, mounted on the wall facing downwards of the upper rotating body 11, is prone to dirt accumulation due to the operation of the shovel 10, it is advisable to provide a shutter mechanism. For example, the shutter mechanism should be opened only when camera 41B is being operated. Alternatively, camera 41B should be retractable, and it should be moved only when in operation to expose it to the outside space.

[0017] The upper rotating body 11 is equipped with a rearward camera 42A and sideways cameras 42B and 42C, while a forward camera 42D is mounted inside the cabin 15. The imaging range of the rearward camera 42D includes a portion of the area behind the upper rotating body 11. The sideways cameras 42B and 42C cover a portion of the area to the left and a portion of the area to the right of the upper rotating body 11, respectively. The imaging range of the three cameras 42A, 42B, and 42C continuously covers the area from the left of the upper rotating body 11, through the rear, to the right in a plan view. The imaging range of the forward camera 42D includes a portion of the area in front of the upper rotating body 11 and covers the field of view of the operator in the cabin 15.

[0018] Cameras 41A and 41B are referred to as the first detector 41, and cameras 42A, 42B, 42C, and 42D are referred to as the second detector 42. The first detector 41 functions as a sensor that detects people within the detection range above and below the upper rotating body 11, and the second detector 42 can function as a sensor that detects people within the detection range to the side, rear, and front of the upper rotating body 11. In other words, the detection range of the first detector 41 and the detection range of the second detector 42 are different from each other.

[0019] A control device 50 is located inside the cabin 15. The control provided by the control device 50 will be explained later with reference to Figures 3 and 4.

[0020] Figure 3 is a block diagram of an excavator 10 equipped with a control device 50 according to the first embodiment. In Figure 3, mechanical power transmission lines are shown with double lines, hydraulic oil lines with thick solid lines, pilot lines with dashed lines, and electrical control lines with thin solid lines.

[0021] The drive system of the shovel 10 consists of an engine 74, an engine control unit 75, a regulator 76, a main pump 70, a pilot pump 71, a solenoid valve unit 72, and a control valve 73, etc. The shovel 10 further includes a key switch 40, an output device 60, an actuator 43, and a first detector 41, a second detector 42, a control device 50, and a battery 64, as described with reference to Figures 1 and 2. Power is supplied from the battery 64 to various electronic and electrical devices within the shovel 10. Also, when the engine 74 is driven, the battery 64 is charged according to its charge state.

[0022] The key switch 40 is positioned so that it can be operated by an operator in the cabin 15. For example, the key switch 40 allows one of three selectable positions: "start," "on," and "off." If the selected position is "start," a start signal is output to the control device 50. If the selected position is "off," the control device 50 outputs a stop command to the engine control unit 75 to stop the engine 74 and also turns off the power to the shovel 10. If the selected position is changed to "on" via "start," the engine 74 continues to run. If the selected position is changed to "on" via "off," the engine 74 remains stopped, and the power to the shovel 10 is turned on.

[0023] The control unit 43 consists of control levers, foot pedals, etc., and is operated by an operator who is seated in the cabin 15.

[0024] The output device 60 includes an image display device and a sound-producing device. The image display device is installed in a position visible to the operator in the cabin 15. The sound-producing device is installed in a position where the sound produced can be heard by the operator in the cabin 15.

[0025] The engine control unit 75 drives the engine 74 based on commands from the control device 50. The main pump 70 is driven by the engine 74 and supplies hydraulic fluid to the control valve 73 via the hydraulic fluid line 77. For example, a swashplate variable displacement hydraulic pump is used as the main pump 70. The regulator 76 controls the discharge amount of the main pump 70 based on the discharge pressure of the main pump 70 or a control signal from the control device 50.

[0026] The pilot pump 71 is driven by the engine 74 and supplies pilot pressure to the control valve 73 via the solenoid valve unit 72. The control device 50 controls the operation of the solenoid valve unit 72 in response to the operator's operation of the actuator 43.

[0027] The control valve 73 selectively supplies hydraulic fluid supplied from the main pump 70 to multiple hydraulic actuators according to the pilot pressure supplied from the solenoid valve unit 72. The hydraulic actuators include a boom cylinder 25, an arm cylinder 26, a bucket cylinder 27, travel hydraulic motors 28A and 28B, and a slewing hydraulic motor 30.

[0028] The control device 50 includes multiple functional units such as a starting unit 51, a starting feasibility determination unit 52, and a human presence / absence determination unit 53. The functions of these functional units are realized by a computer, including a microprocessor unit (MPU) and memory, executing a program.

[0029] The human presence / absence determination unit 53 operates the first detector 41 and the second detector 42 and determines the presence or absence of a person within the detection range of the first detector 41 and the second detector 42 based on their respective detection results. The start-up / failure determination unit 52 determines whether to allow or deny the starting of the engine 74 based on the determination result of the human presence / absence determination unit 53. The start-up unit 51 starts the engine 74 based on the determination result of the start-up / failure determination unit 52.

[0030] Next, we will explain the engine start control by the control device 50 with reference to Figure 4. Figure 4 is a flowchart showing the procedure that the control device 50 performs when the key switch 40 is set to the "start" position.

[0031] When the operator operates the key switch 40 to select the "start" position, a start request is sent from the key switch 40 to the control device 50, and the control device 50 receives the start request (step SA1). When the control device 50 receives the start request, the person presence / absence determination unit 53 operates the first detector 41 (step SA2). Based on the detection result of the first detector 41, the presence or absence of a person is determined within the detection range of the first detector 41 (step SA3). For example, the person presence / absence determination unit 53 determines the presence or absence of a person by analyzing the image obtained by the first detector 41. Once the detection result of the first detector 41 is obtained, the operation of the first detector 41 is stopped.

[0032] If the person presence / absence determination unit 53 determines that "a person is present", the start-up / failure determination unit 52 prohibits the start-up unit 51 from starting the engine 74 (step SA7). If the person presence / absence determination unit 53 determines that "a person is absent", the person presence / absence determination unit 53 activates the second detector 42 (step SA4). Once the detection result from the second detector 42 is obtained, the operation of the second detector 42 is stopped. Based on the detection result from the second detector 42, it is determined whether or not there is a person within the detection range of the second detector 42 (step SA5). If the person presence / absence determination unit 53 determines that "a person is present" when the second detector 42 is activated, the start-up / failure determination unit 52 prohibits the start-up unit 51 from starting the engine 74 (step SA7), and if "a person is absent", it permits the start-up unit 51 to start the engine 74 (step SA6).

[0033] After steps SA6 and SA7, the control device 50 outputs the start-up / failure determination result to the output device 60 (step SA8). If starting the engine 74 is not permitted, for example, the image display device of the output device 60 displays a message such as "Starting has been denied because a person has been detected in the vicinity," or the sounding device outputs an alarm sound. Alternatively, both display on the image display device and output of an alarm sound to the sounding device may be performed. The display on the image display device may be in a wipe format, for example.

[0034] Next, we will describe the excellent effects of the first embodiment. In the first embodiment, if a person is detected in at least one of the areas above, below, in front of, to the side of, and behind the upper rotating body 11 (Figures 1 and 2), the engine 74 will not be allowed to start, thereby ensuring the safety of surrounding workers. In particular, an excellent effect is obtained in that a person can be detected even when a person is below the upper rotating body 11, which is difficult for the operator to notice. When the operator recognizes from the information output to the output device 60 (Figure 3) that starting is not permitted, they can call out to surrounding workers to move away from the shovel 10, and after confirming that the workers have moved away from the shovel 10, they can restart the engine.

[0035] When the first detector 41 is activated (step SA2), if it is determined that "a person is present", the engine start is not permitted without activating the second detector 42 (step SA7). As a result, the power consumption before starting the engine 74 is reduced compared to when all detectors are activated.

[0036] Next, a modified example of the first embodiment will be described. In the first embodiment, cameras, i.e., image sensors, were used for the first detector 41 and the second detector 42, but other sensors may be used. For example, spatial recognition sensors other than cameras may be used. Lidar is an example of a spatial recognition sensor. Alternatively, a sound source localization method using a microphone array may be used.

[0037] In the first embodiment, the detection range of the first detector 41 is the area above and below the upper rotating body 11 (Figure 1), but the detection range may be limited to the area below the upper rotating body 11 only. If a person is above the upper rotating body 11, the operator can easily notice the person's presence, so even if the detection range is limited to the area below the upper rotating body 11, a certain level of safety can be ensured.

[0038] In the first embodiment, the detection range of the second detector 42 is the area in front of, behind, and to the side of the upper rotating body 11, but the detection range may be limited to only a part of these areas. In particular, if a person is in front of the upper rotating body 11, the operator can easily notice the person's presence. Therefore, even if the detection range of the second detector 42 is limited to the area to the side and behind the upper rotating body 11, a certain level of safety can be ensured.

[0039] In the first embodiment, it is determined whether or not there is a person within the detection range of the first detector 41 and the second detector 42. However, the distance from each detector to the person may be calculated, and if the distance to the person exceeds a predetermined upper limit, the detection range may be determined to be "no person".

[0040] In the first embodiment, once a detection result is obtained from the first detector 41, the operation of the first detector 41 is stopped. However, the operation of the first detector 41 may be stopped in conjunction with the start of operation of the second detector 42 (step SA4). Alternatively, the operation of both the first detector 41 and the second detector 42 may be stopped after the control flow shown in Figure 4 is completed. Even in this case, since the second detector 42 is started (step SA4) after the detection result of the first detector 41 is obtained, power consumption can be reduced compared to the case where the operation of both detectors is started simultaneously.

[0041] In the first embodiment, a shovel 10 equipped with the control device 50 was used as an example for explanation, but the control device 50 can also be mounted on other mobile construction machinery such as cranes and forklifts.

[0042] Next, the control device according to the second embodiment will be described with reference to Figures 5 and 6. Hereinafter, the configuration common to the control device 50 according to the first embodiment, as described with reference to Figures 1 to 4, will be omitted from the explanation.

[0043] Figure 5 is a block diagram of the excavator 10 equipped with the control device 50 according to the second embodiment. In the second embodiment, in addition to the configuration of the excavator 10 (Figure 3) described with reference to Figure 3 in the first embodiment, a hydraulic lock lever 44 is provided. The hydraulic lock lever 44 is operated by an operator sitting in the cabin 15.

[0044] The hydraulic lock lever 44 selects either the "hydraulic lock state" or the "hydraulic lock release state". In the "hydraulic lock state", the hydraulic circuit is shut off by a shut valve provided in the hydraulic circuit within the shovel 10. Therefore, even if the operator operates the control device 43, the corresponding hydraulic actuator does not operate. In the "hydraulic lock release state", the shut valve opens and the hydraulic circuit operates. In the second embodiment, the starting unit 51 starts the engine and releases the hydraulic lock. By releasing the hydraulic lock, the actuator becomes operational. In this specification, the control that starts the engine or the control that makes the actuator operational is referred to as "starting control". The starting unit 51 performs starting control.

[0045] Next, with reference to Figure 6, the engine 74 starting control performed by the control device 50 according to the second embodiment will be described. Figure 6 is a flowchart showing the procedure performed by the control device 50 when the key switch 40 is set to the "start" position.

[0046] The steps from step SA1 to step SA5 are the same as the steps performed by the control device 50 according to the first embodiment shown in Figure 4. If both step SA3 and step SA5 determine that there is "no one present", the start-up determination unit 52 (Figure 5) permits the start-up unit 51 to start the engine and permits the release of the hydraulic lock (step SB6).

[0047] If either step SA3 or step SA5 determines that "person present", the start-up / failure determination unit 52 checks the current hydraulic lock state (step SB7). If the hydraulic lock state is "locked", the start-up / failure determination unit 52 (Figure 5) permits the start-up unit 51 to start the engine and denies the release of the hydraulic lock (step SB8). If the hydraulic lock state is "unlocked", the start-up unit 51 denies starting the engine (step SB9).

[0048] After steps SB6, SB8, and SB9, the control device 50 outputs the start-up feasibility determination result to the output device 60 (step SA8), similar to step SA8 performed by the control device 50 according to the first embodiment shown in Figure 4.

[0049] Next, we will describe the excellent effects of the second embodiment. In the second embodiment, even if it is determined that "people are present" based on the detection result of either the first detector 41 or the second detector 42, the start-up / failure determination unit 52 permits the engine 74 to start (steps SB6, SB8). However, even if the engine 74 is started, the hydraulic lock release is not permitted, so the travel hydraulic motors 28A, 28B, the slewing hydraulic motor 30, the boom cylinder 25, the arm cylinder 26, and the bucket cylinder 27 do not operate. This ensures the safety of surrounding workers.

[0050] Furthermore, workers near the shovel 10 will notice that the engine 74 has started and will move away from the shovel 10. Therefore, in many cases, the operator can restart the engine without having to call out to the surrounding workers to move away from the shovel 10. Additionally, starting the engine 74 allows the battery 64 to be charged. This is therefore particularly effective when the battery 64's charge level is low.

[0051] Next, a modified example of the second embodiment will be described. In the second embodiment, step SB8 (Figure 6) does not permit the release of the hydraulic lock. However, instead of prohibiting it, the procedure for releasing the hydraulic lock may be made more complex than the normal release procedure. This would incentivize the operator to ensure that there are no people around before releasing the hydraulic lock.

[0052] When the engine 74 is stopped, the control device 50 checks the charge status of the battery 64 (Figure 5), and if the charge status is below the value required to operate the first detector 41 and the second detector 42 at the next start, it is preferable to notify the operator accordingly. In this case, it is preferable to forcibly start the engine 74 after receiving the start request (step SA1). At this time, it is preferable to keep the hydraulic lock state locked.

[0053] Next, a construction machinery management device and system according to the third embodiment will be described with reference to Figures 7 and 8. Hereinafter, the configurations common to the control device 50 according to the first embodiment, described with reference to Figures 1 to 4, and the control device 50 according to the second embodiment, described with reference to Figures 5 and 6, will be omitted from the description.

[0054] Figure 7 is a schematic diagram of the construction machinery management device 80 and the excavator 10 to be managed according to the third embodiment.

[0055] The construction machinery management device 80 includes an operator's seat 81, multiple operating levers 82, a changeover switch 83, a display device 84, a processing device 85, and a communication device 88. The processing device 85 includes functional units such as a start command unit 86 and an output unit 87. The functions of these functional units are realized by a computer, including a microprocessor unit (MPU) and memory, executing a program.

[0056] The shovel 10 is equipped with a control device 50 (Figures 3 and 5) according to the first or second embodiment, and a communication device 61. Data communication takes place between the communication device 61 of the shovel 10 and the communication device 88 of the construction machinery management device 80.

[0057] The operator remotely controls the shovel 10 by sitting in the control seat 81 and operating the control lever 82. The operator also notifies the control device 50 of the shovel 10 of their intention to perform "remote control" or "autonomous operation" by operating the changeover switch 83. When the operator is in the cabin 15 (Figure 1) of the shovel 10 and operates the key switch 40 (Figures 3 and 5), the control device 50 determines that the shovel 10 is being directly operated.

[0058] When "remote control" is selected by the changeover switch 83, the processing unit 85 transmits an operation command to the shovel 10 according to the operation of the operating lever 82. The control device 50 of the shovel 10 operates the engine 74 and each actuator in response to the operation command from the construction machinery management device 80.

[0059] When "autonomous operation" is selected by the changeover switch 83, the shovel 10 autonomously performs a series of tasks under the control of the control device 50. Examples of tasks performed autonomously include excavating and removing soil above the target construction surface in a specific area, acquiring terrain data using a spatial recognition device and leveling the soil piled up at the removal site to match the amount of ground elevation while recognizing the difference between the actual terrain shape and the target shape, and loading the removed soil onto a dump truck. These series of work procedures are stored in the control device 50 in advance.

[0060] The display device 84 is positioned directly in front of the operator seated in the operator's seat 81. For example, a multi-display consisting of nine monitors arranged in a 3x3 configuration is used as the display device 84. The display device 84 displays images captured by the forward-facing camera 42D (Figures 1 and 2) mounted on the shovel 10, such as images viewed from the operator's perspective while seated in the shovel 10, via the processing device 85. Additionally, a portion of the display device 84 may display an overhead view of the area around the shovel 10, information indicating the operating status of the shovel 10, etc.

[0061] When the operator switches the changeover switch 83 to "remote control," the start command unit 86 sends a start request to the shovel 10. In response to the start request, the shovel 10 replies with information indicating whether it can be started and information identifying the detector that detected the person. When the output unit 87 of the construction machinery management device 80 receives this information from the shovel 10, it outputs information indicating whether it can be started and information identifying the detector that detected the person. For example, this information is displayed on the display device 84.

[0062] Next, with reference to Figure 8, the engine start control performed by the control device 50 of the system according to the third embodiment will be described. Figure 8 is a flowchart showing the procedure performed by the control device 50 when the excavator 10 receives a start request.

[0063] The control device 50 of the shovel 10 receives a start request (step SC1). The control device 50 determines whether the start request was received by an operator in the cabin 15 operating the key switch 40 (Figures 3 and 5) or by the construction machinery management device 80 (step SC2). If the start request was received by an operator in the cabin 15, the procedure from steps SA2 to SA8 shown in Figure 4 is executed.

[0064] If the start request is received from the construction machinery management device 80, the person presence / absence determination unit 53 (Figures 3 and 5) activates multiple detectors, namely the first detector 41 and the second detector 42 (step SC3). Furthermore, it determines the presence or absence of a person based on the detection results of each of the multiple detectors (step SC4).

[0065] When the presence / absence determination unit 53 determines "no person" during the operation of any of the multiple detectors, the start-up / failure determination unit 52 permits the start-up unit 51 (Figures 3 and 5) to start the engine 74 (step SC5). Furthermore, the start-up / failure result is transmitted to the construction machinery management device 80 (step SC8).

[0066] When the presence / absence determination unit 53 determines that "a person is present" during the operation of at least one of the multiple detectors, the start-up / failure determination unit 52 prohibits the start-up unit 51 from starting the engine 74 (step SC6). Furthermore, the start-up / failure determination unit 52 transmits information to the construction machinery management device 80 indicating that the start-up of the engine 74 is prohibited, and information identifying the detector that was operating when the presence / absence determination unit 53 determined that "a person is present" (step SC7).

[0067] Next, we will describe the excellent effects of the third embodiment. When the operator is in the cabin 15 and operates the shovel 10, the safety of surrounding workers can be ensured and power consumption reduced, similar to the first embodiment (Figures 1-4) or the second embodiment (Figures 5 and 6).

[0068] When the shovel 10 is operated remotely or autonomously, the construction machinery management device 80 receives information from the shovel 10 indicating the start-up / failure determination result, as well as information identifying the detector that was determined to be "person present," and this information is displayed on the display device 84. Therefore, the remote operator can find out the reason why the start-up was deemed not permitted.

[0069] When an operator is on board the cabin 15 to operate the machine, the manual often stipulates that the operator should confirm that there are no people around the shovel 10, above or below the upper rotating body 11, before starting the engine 74. However, when starting the engine 74 remotely, the operator cannot perform such checks.

[0070] When operating remotely, for example, if the second detector 42 is not activated when the detection result of the first detector 41 determines that a person is present, as in the first embodiment, the remote operator cannot determine whether or not a person is present within the detection range of the second detector 42. In the third embodiment, the second detector 42 is activated regardless of the detection result of the first detector 41, so the remote operator can obtain information on the presence or absence of people within the detection range of all detectors.

[0071] Next, a modified example of the third embodiment will be described. In the third embodiment, information identifying the detector that has been determined to have a "person present" is displayed on the display device 84 (Figure 7). Alternatively, the control device 50 of the shovel 10 may capture images obtained from each detector and transmit the image data to the construction machinery management device 80. The construction machinery management device 80 may then display the image data sent from the shovel 10 as an image on the display device 84.

[0072] The control device 50 may repeatedly execute the procedure from step SC3 to step SC8 (Figure 8) at a fixed interval. The remote operator can know in real time whether there are people around the shovel 10.

[0073] The control device 50 is configured to execute steps SC3 to SC8 (Figure 8) if the shovel 10 remains idling for a predetermined period of time. If a person is detected within the detection range of any detector while idling, the starting of the engine 74 is prohibited and the engine 74 is stopped. This function ensures safety even if a person approaches the vicinity of the shovel 10 while it is idling.

[0074] In the third embodiment, all of the multiple detectors are activated during remote operation. However, as in the first embodiment, if the first detector 41 determines that a person is present, the second detector 42 may not be activated. This helps to reduce the consumption of the battery 64.

[0075] Next, the construction machinery management device and system according to the fourth embodiment will be described with reference to Figures 9A and 9B. The following description will omit details of components common to the control device 50 according to the third embodiment, which was described with reference to Figures 7 and 8.

[0076] Figures 9A and 9B are diagrams showing the determination tables referenced by the human presence / absence determination unit 53 (Figures 3 and 5) when the first detector 41 and the second detector 42 are activated, respectively. The first and second rows of the determination tables in Figures 9A and 9B represent the cases where an operator is on board the cabin 15 and when it is being remotely controlled, respectively, and the first and second columns represent the cases where "human presence" is determined and "human absence" is determined, respectively. Based on the determination tables shown in Figures 9A and 9B, the human presence / absence determination unit 53 determines whether to allow or deny starting, or whether to stop or continue the detection procedure.

[0077] If the determination table in Figure 9A determines that starting is permitted, and the determination table in Figure 9B also determines that starting is permitted, then ultimately, starting of engine 74 is permitted. This procedure corresponds to step SA6 or step SC5 in Figure 8. If the determination table in Figure 9A and at least one of the determination tables in Figure 9B determines that starting is not permitted, then ultimately, starting of engine 74 is not permitted. This corresponds to step SA7 or step SC6 in Figure 8.

[0078] In the decision table in Figure 9A, "Stop detection" means to stop detecting people without activating the second detector 42, and "Continue detection" means to continue detecting people using the second detector 42 following the first detector 41.

[0079] Next, we will describe the excellent effects of the fourth embodiment. In the fourth embodiment as well, the determination result for whether or not the engine 74 can be started is the same as in the third embodiment shown in Figure 8. Therefore, the same excellent effects as in the third embodiment can be obtained.

[0080] Next, with reference to Figure 10, a construction machinery management device and system according to the fifth embodiment will be described. Hereinafter, the configuration common to the control device 50 according to the fourth embodiment, as described with reference to Figures 9A and 9B, will be omitted from the explanation.

[0081] Figure 10 is a block diagram of the human presence / absence determination unit 53 of the construction machinery management device according to the fifth embodiment. In the fourth embodiment, the contents of the determination table shown in Figures 9A and 9B are fixed. In contrast, in the fifth embodiment, the human presence / absence determination unit 53 has a table rewriting unit 53A, and the contents of the determination table 53B when the first detector 41 is operating can be rewritten by a rewriting command from the input device 62. The input device 62 is operated, for example, by an operator or manager. The contents of the determination table 53C when the second detector 42 is operating are fixed.

[0082] For example, it is possible to independently set whether to continue or stop detection by the second detector 42 for each case: when an operator is on board cabin 15 and when it is being remotely controlled, and for each case where the detection result by the first detector 41 is "person present" and "no person present".

[0083] For example, if an operator is on board and the detection result from the first detector 41 is "person present," setting the contents of the judgment table 53B to "continue detection" allows for increased power consumption while an operator is on board, thus fulfilling the need to know the detailed reason for the failure to start. Conversely, if remote operation is being performed and the detection result from the first detector 41 is "person present," setting the contents of the judgment table 53B to "stop detection" means that information on the presence or absence of a person within the detection range of the second detector 42 is unavailable, but power consumption can be suppressed.

[0084] The embodiments described above are illustrative, and it goes without saying that partial substitution or combination of the configurations shown in different embodiments is possible. Similar effects and benefits from similar configurations in multiple embodiments will not be mentioned sequentially for each embodiment. Furthermore, the present invention is not limited to the embodiments described above. For example, it will be obvious to those skilled in the art that various modifications, improvements, and combinations are possible. [Explanation of symbols]

[0085] 10: Shovel 11: Upper rotating body 12: Lower running body 12A, 12B: Crawler 13: Swivel mechanism 15: Cabin 17: Driver's seat 21: Boom 22: Arm 23: Bucket 25: Boom Cylinder 26: Arm Cylinder 27: Bucket Cylinder 28A, 28B: Hydraulic motor for traction 30: Hydraulic motor for slewing 40: Key switch 41: First detector 41A, 41B: Camera 42: Second detector 42A, 42B, 42C, 42D: Camera 43:Operator 44: Hydraulic lock lever 50: Control device 51: Starting Unit 52: Startup feasibility determination unit 53: Person presence / absence determination unit 53A: Table rewriting section 53B, 53C: Decision Table 60: Output device 61: Communication equipment 62: Input device 64: Battery 70: Main pump 71: Pilot pump 72: Solenoid valve unit 73: Control valve 74: Engine 75: Engine control unit 76: Regulator 77: Hydraulic fluid line 80:Construction machinery management device 81:Operation seat 82: Operating lever 83: Changeover switch 84:Display device 85: Processing equipment 86: Startup Command Unit 87: Output section 88: Communication device

Claims

1. A person presence / absence determination unit determines the presence or absence of a person based on the detection results of a first detector and a second detector, which detect people within mutually different detection ranges around the construction machine. A starting unit that performs starting control, which is the control to start the engine or the control to make the actuator operational, A start-up / failure determination unit operates the first detector, and when the first detector is operated, if the result of the person presence determination unit is "person present", the start-up control by the start-up unit is not permitted, and when the result is "no person", the second detector is operated, and when the second detector is operated, if the result of the person presence determination unit is "person present", the start-up control by the start-up unit is not permitted, and when the result is "no person", the start-up control by the start-up unit is permitted. A control device equipped with the following features.

2. The control device according to claim 1, wherein the construction machine is an excavator including a lower traveling body and an upper rotating body, the detection range of the first detector is above and below the upper rotating body, and the detection range of the second detector is at least a portion of the front, rear, and side of the upper rotating body.

3. A person presence / absence determination unit determines the presence or absence of a person based on the detection results of multiple detectors that detect people within mutually different detection ranges around a construction machine operated by a remote construction machine management device, A starting unit that performs starting control, which is the control to start the engine or the control to make the actuator operational, A start-up / failure determination unit transmits to the construction machinery management device information indicating that start-up control by the start-up unit is permitted when the person presence / absence determination unit determines "no person" during the operation of any of the plurality of detectors, and that start-up control by the start-up unit is denied when the person presence / absence determination unit determines "person present" during the operation of at least one of the plurality of detectors, and that start-up control is denied, as well as information identifying which of the plurality of detectors was operating when the person presence / absence determination unit determined "person present". A control device equipped with the following features.

4. A start command unit that transmits start commands to the construction machinery under management, The output unit, upon receiving information from the aforementioned construction machine indicating whether or not it can be started in response to a start command, and information identifying the detector that detected a person, outputs information indicating whether or not it can be started, and information identifying the detector that detected a person. A construction machinery management device equipped with a construction machinery management system.

5. A construction machinery management system for managing construction machinery, The control device mounted on the aforementioned construction machine and Equipped with, The control device is A person presence / absence determination unit determines the presence or absence of a person based on the detection results of multiple detectors that detect people within mutually different detection ranges around the construction machine, A starting unit that performs starting control, which is the control to start the engine or the control to make the actuator operational, A start-up / failure determination unit transmits to the construction machinery management device information indicating that start-up control by the start-up unit is permitted when the person presence / absence determination unit determines "no person" during the operation of any of the plurality of detectors, and that start-up control by the start-up unit is denied when the person presence / absence determination unit determines "person present" during the operation of at least one of the plurality of detectors, and that start-up control is denied, as well as information identifying which of the plurality of detectors was operating when the person presence / absence determination unit determined "person present". Includes, The aforementioned construction machinery management device is A start command unit that transmits a start command to the aforementioned construction machine, The output unit, upon receiving information from the aforementioned construction machine indicating whether or not it can be started in response to a start command, and information identifying the detector that detected a person, outputs information indicating whether or not it can be started, and information identifying the detector that detected a person. A system that includes this.

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