Safety system for a working machine, working machine, and server

Abstract

To identify locations where there is a high possibility of contact between a work machine and a person or object, to prevent the work machine from entering a detection range, and to prevent contact with obstacles.SOLUTION: In a work machine safety system configured by wireless communication connection between a work machine (100) and a server (14), there is formed a dangerous area map by operation which demarcates dangerous areas (18) by mapping position information of the work machine at the time when an obstacle detection sensor (2) detects an obstacle for each type of operation of the work machine. An operating speed of an actuator (9) corresponding to the type of operation in which the work machine is determined to enter the dangerous area is controlled to be lower than an operating speed which is input from an operating member (5).SELECTED DRAWING: Figure 5

Description

Technical Field

[0001] The present invention relates to a safety system for a work machine, a work machine, and a server, and particularly relates to the safety of the work machine during traveling and work.

Background Art

[0002] Patent Document 1 discloses a safety device for a construction machine that can prevent a collision accident with an obstacle located behind the upper slewing body. Patent Document 2 also discloses a slewing safety device for an upper slewing type construction machine equipped with an obstacle detection sensor on the upper slewing body.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] The technologies described in the above patent documents sense people and objects with sensors when the work machine travels or slews, and stop the operation of the machine. This control is beneficial for preventing contact between people or objects that enter the detection range of the sensor and the work machine, but it cannot prevent the work machine from entering an area where the sensor is likely to detect people or objects.

[0005] An object of the present invention is to identify a place where the work machine is likely to come into contact with people or objects, and restrict the operation of the machine at that place, thereby preventing the work machine from entering an area where the sensor is likely to detect people or objects in advance, and preventing contact between the work machine and obstacles during work in an area where it is easy to detect objects and the like.

Means for Solving the Problems

[0006] In order to solve the above problems, the present invention provides a safety system for a working machine configured by wireless communication connection between a working machine and a server. The working machine includes a position detection sensor that outputs position information indicating the current position of the working machine, an obstacle detection sensor that detects obstacles existing around the working machine and outputs obstacle information, an actuator that operates the working machine and an operation member that operates the actuator, a motion detection sensor that detects an operation amount of the operation member for operating the actuator and outputs operation information, a controller that controls the operation of the actuator, and a first communication device that performs wireless communication at a predetermined time interval with the server or when the obstacle detection sensor detects the obstacle, and transmits the position information and the operation information. The server includes a second communication device that receives the position information and the operation information. The server determines an operation type of the working machine being executed based on the operation information when the obstacle detection sensor detects the obstacle, creates an operation-specific danger area map that defines a danger area by mapping the position information of the working machine when the obstacle detection sensor detects the obstacle for each type of operation of the working machine, and when it is determined that the working machine enters the danger area based on the position information indicating the current position of the working machine, transmits an operation restriction signal that restricts an operation corresponding to the determined operation type to the working machine. The working machine receives the operation restriction signal, and the controller controls the operation speed of the actuator corresponding to the determined operation type to be lower than the operation speed input from the operation member.

Effect of the Invention

[0007] According to the present invention, a place where the working machine is likely to come into contact with a person or an object is specified, and by restricting the operation of the machine at that place, it is possible to prevent the working machine from entering an area where the sensor is likely to detect a person or an object in advance, and to prevent contact between the working machine and an obstacle during operation in an area where it is easy to detect an object or the like. Other objects, configurations, and effects than those described above will be clarified by the description of the following embodiments.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

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Embodiments for Carrying Out the Invention

[0009] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In all the drawings for explaining the embodiments, members having the same function are denoted by the same or related reference numerals, and the repeated description thereof will be omitted. In the following embodiments, a hydraulic excavator will be described as an example of a working machine.

[0010] FIG. 1 is a left side view showing the configuration of a hydraulic excavator.

[0011] The hydraulic excavator 100 shown in Fig. 1 includes a left crawler 101L, a right crawler (corresponding to the traveling body), an upper revolving body 102 that is rotatably supported on the traveling body via a slewing mechanism, a cab 103 attached to the upper revolving body 102, and a front working machine that is pivotally connected to the upper revolving body 102. The working machine body 1, which is a general term for the traveling body and the upper revolving body 102, is used to represent them.

[0012] The front working machine includes a boom 104 that is pivotally supported with respect to the upper revolving body 102, an arm 105 that is vertically swingably supported on the boom 104, and a bucket 106 that is rotatably supported on the arm 105.

[0013] Also, in order to perform forward movement, backward movement using the traveling body, slewing movement of the upper revolving body 102, and pitching movement, swinging movement, and rotating movement of the boom 104, arm 105, and bucket 106, respectively, it is equipped with hydraulic actuators 9 (see Fig. 2) such as hydraulic motors and hydraulic cylinders. The hydraulic motor is provided for slewing movement and the like, and the hydraulic cylinder is provided for pitching movement, swinging movement, and rotating movement of the boom 104 and the like. Here, a hydraulic type is assumed, but it is not limited thereto, and for example, an electric type such as an electric motor or a linear actuator may be used.

[0014] Furthermore, the hydraulic excavator 100 is equipped with an obstacle detection sensor 2 that can detect people and objects around the hydraulic excavator 100 on the upper revolving body 102, a position detection sensor 3 that detects the current position using a satellite positioning system, and a camera 4 that photographs the detection range of the obstacle detection sensor 2 and outputs video information.

[0015] Fig. 2 is a diagram showing the hydraulic circuit of the hydraulic excavator.

[0016] The hydraulic excavator 100 can operate the hydraulic oil from the main pump 31 as a hydraulic source by means of the operation lever 5. The pressure sensor 6 detects the pilot pressure (operation hydraulic pressure) of the hydraulic oil supplied from the pilot pump 31a according to the operation of the operation lever 5. The server 14 (see FIG. 3) determines from the information of the pilot pressure whether the vehicle body was traveling or turning when the obstacle detection sensor 2 detected a person or an object. Therefore, the pressure sensor 6 corresponds to an operation detection sensor that detects the operation state of the hydraulic excavator 100. From these pieces of information, data on "where" and "when what kind of operation was performed" it was dangerous are accumulated in the server 14 (see FIG. 3). The operation lever 5 is an example of an operation member, and an operation pedal may also be included as an operation member.

[0017] The hydraulic oil operated by the operation lever 5 operates the hydraulic actuator 9 by operating the spool via the solenoid valve 7.

[0018] When the solenoid valve 7 is operated according to the command of the controller 110 (see FIG. 3) mounted on the hydraulic excavator 100, the hydraulic oil from the operation lever 5 passes through the pressure reducing valve 8 and pushes the spool at a pressure lower than the operation amount of the operation lever 5, so that the operating speed of the hydraulic actuator 9 can be reduced.

[0019] These mechanisms can also reduce the operating speed of the hydraulic actuator 9 by eliminating the solenoid valve 7 and the pressure reducing valve 8 and instead changing the tilting angle of the hydraulic actuator 9, or by providing the solenoid valve 7 and the pressure reducing valve 8 immediately before the hydraulic oil flows into the hydraulic actuator 9.

[0020] Also, the operation lever 5 may be reinterpreted as an electric lever, and the value of the pressure sensor 6 may be reinterpreted as the operation amount input to the computer. Further, in addition to this, the hydraulic oil may be reinterpreted as an electric signal, the hydraulic actuator 9 may be reinterpreted as an electric actuator, and the computer may change the voltage or current to reduce the operating speed of the electric actuator.

[0021] FIG. 3 is a block diagram showing the hardware configuration of the hydraulic excavator.

[0022] The controller 110 includes a processor 111 such as a CPU (Central Processing Unit), a RAM (Random Access Memory) 112, a ROM (Read Only Memory) 113, a storage 114, an input I / F 115, and an output I / F 116, and these are connected to each other via a bus 117. The controller 110 has a general configuration of a computer, and the server 14 is configured similarly.

[0023] The storage 114 may be any device that can store data non-volatilely, regardless of the type such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive).

[0024] An operation signal from the operation lever 5 is input to the input I / F 115. The operation signal from a potentiometer that converts it into an electric signal corresponding to the operation amount of the operation lever 5 drives the solenoid valve 7 via the controller 110, and the hydraulic actuator 9 is operated by the pilot pressure output from this solenoid valve 7.

[0025] Also, a obstacle detection sensor 2, a position detection sensor 3, a camera 4, and a first communication device 109 are connected to the input I / F 115. The hydraulic excavator 100 is communicatively connected to a second communication device 121 via a wireless communication network 120 from the first communication device 109, and is further communicatively connected to the server 14 via the second communication device 121. The first communication device 109 transmits the position information and operation information of the hydraulic excavator 100 to the server 14 at a predetermined time interval, or when the obstacle detection sensor 2 detects an obstacle.

[0026] The output I / F 116 is connected to the first display 21 and the solenoid valve 7.

[0027] The camera 4 is constantly recording, and only the portions before and after the time when an object is detected may be transmitted to the server. The recording information of the camera 4 may be a video or still images taken at a predetermined interval. Data that has elapsed for a certain period from the recording of the camera 4 is automatically deleted.

[0028] <First Embodiment> The first embodiment is an embodiment in which operation information and position information are transmitted from a hydraulic excavator to a server, the server 14 determines danger areas according to the type of operation, monitors whether the hydraulic excavator enters a danger area, and when it is determined that the hydraulic excavator enters the danger area, transmits an operation limit signal for reducing the operation speed of the actuator corresponding to the operation to the hydraulic excavator.

[0029] FIG. 4 is a functional block diagram of a hydraulic excavator and a server according to the first embodiment.

[0030] The controller 110 of the hydraulic excavator includes a data acquisition unit 201, a first display control unit 202, an operation control unit 203, and an obstacle determination unit 204.

[0031] The server 14 includes an operation type determination unit 212, a danger area determination unit 213, a danger area verification unit 214, a danger area monitoring unit 215, an operation limit signal transmission unit 216, and a second display control unit 219.

[0032] Each of the above units is realized by a processor such as a CPU loading and executing a program in a RAM. The functions of each unit will be described later.

[0033] Furthermore, the server 14 includes a second danger area map storage unit 211. These are constituted by areas in a storage that stores a danger area map according to the type of operation, which will be described later.

[0034] Hereinafter, the processing of the safety system of the working machine according to the first embodiment will be described with reference to FIGS. 5 to 8. FIG. 5 is a flowchart showing the processing flow of the safety system of the working machine according to the first embodiment. FIG. 6 is a diagram showing the obstacle detection processing of the hydraulic excavator. FIG. 7 is a diagram showing the creation processing of the danger area map for each operation. FIG. 8 is a diagram showing the display processing on the hydraulic excavator.

[0035] When the engine of the hydraulic excavator 100 is started, each sensor mounted on the hydraulic excavator 100 starts detection (S01). The data acquisition unit 201 acquires the sensor data output from each of the obstacle detection sensor 2, the position detection sensor 3, and the pressure sensor 6. The sensor data of the position detection sensor 3 corresponds to position information, and the sensor data of the pressure sensor 6 corresponds to operation information.

[0036] When the obstacle determination unit 204 determines that no obstacle has been detected based on the sensor output of the obstacle detection sensor 2 (S02: No), it transmits the position information and operation information acquired from the first communication device 109 to the server 14 (S03), and the server 14 receives it (S04).

[0037] Since no obstacle has been detected, the server 14 shifts to the danger area entry monitoring process using the position information and operation information (S09).

[0038] On the other hand, when the obstacle determination unit 204 determines that an obstacle has been detected (S02: Yes), the controller 110 acquires the video information generated by imaging with the camera 4 at the time when the obstacle was detected and the video information before and after that time, and transmits the position information, operation information, and video information from the first communication device 109 to the server 14 (S03a). The server 14 receives it (S04a). Thereafter, the danger area map creation process from step S05 to S08 is executed. The above video information may be transmitted to the server only the parts before and after the time when the object was detected in the video recorded constantly. The recording information of the camera 4 may be a moving image or a still image taken at a predetermined interval.

[0039] FIG. 6 shows a state in which the obstacle 10 is detected and the position information 11, the operation information 13, and the video information 12 are transmitted to and received from the server 14. The operation type determination unit 212 determines that the operation in which the operation information 13 (pressure data) transmitted from the hydraulic excavator 100 is equal to or greater than a certain numerical value is the operation type in which the hydraulic excavator 100 has performed the operation (S05). The operation types to be determined include, in addition to traveling and turning, the pitching operation of the boom 104 as the operation of the front working machine provided in the hydraulic excavator 100, the rotation operation of the arm 105, the rotation operation of the bucket 106, or any combination thereof. The hydraulic excavator 100 may perform a single operation, for example, only the rotation of the bucket 106, at a certain time, or may perform a turning operation while raising the boom 104. Therefore, by including any combination of such multiple operations as the determination target of the operation type, the operation type can be determined according to the operating state of the hydraulic excavator 100.

[0040] The danger area determination unit 213 creates a plot diagram 15 shown in FIG. 7 for each recognized operation (S06). Specifically, the danger area determination unit 213 plots a point 16 indicating the position information 11 where the obstacle 10 is detected on the plot diagram 15 created for each operation of the hydraulic excavator 100. The danger area determination unit 213 plots the point 16 every time data is transmitted from the hydraulic excavator 100.

[0041] The danger area determination unit 213 also simultaneously draws a circle 17 with a certain radius from the plotted point 16. When the circles 17 overlap by a certain amount or more, for example, the range including the circles 17 that overlap three or more times is temporarily set as the danger area 18 (S07).

[0042] The danger area verification unit 214 performs image recognition processing on the video information 12 transmitted together with the position information 11 indicated by the point 16, and verifies whether there is a false detection by the obstacle detection sensor 2 or whether the obstacle 10 is safe. If it is determined as safe as a result of the verification, an invalid command 19 is output to the danger area determination unit 213. The danger area determination unit 213 deletes the plotted point 16 and the circle 17. As a result, the danger area 18 including the deleted circle 17 is also deleted, and the danger area 18 is defined (S08). The danger area determination unit 213 stores in the second danger area map storage unit 211 an operation-specific danger area map indicating the position of the danger area 18 set according to the operation.

[0043] The danger area determination unit 213 may superimpose the determined danger area 18 on the site map 20 where the hydraulic excavator 100 performs work, and the second display control unit 219 may display it on the second display 222 connected to the server 14. Alternatively, the danger area 18 may be transmitted to the hydraulic excavator 100, and the danger area 18 may be superimposed and displayed on the site map 20 on the first display 21 provided in the cab 103 of the hydraulic excavator 100. Thereby, the operator of the hydraulic excavator 100 can visually recognize the danger area 18.

[0044] The process of step S08 may be performed by the operator who manages and operates the server 14 by displaying and checking the video information 12 on the second display 222 instead of the danger area verification unit 214.

[0045] The danger area monitoring unit 215 constantly compares the position of the danger area 18 described in the plurality of operation-specific danger area maps with the position information 11 of the hydraulic excavator 100, and monitors the entry of the hydraulic excavator 100 into the danger area 18 described in any of the operation-specific danger area maps. When the danger area monitoring unit 215 determines that the hydraulic excavator 100 has entered the danger area 18 set in any of the operation-specific danger area maps (S09: Yes), the operation restriction signal transmission unit 216 transmits to the hydraulic excavator 100 an operation restriction signal that restricts only the operation corresponding to the determined operation type (S10). When the hydraulic excavator 100 receives the operation control signal (S11), the operation control unit 203 of the hydraulic excavator 100 performs operation control according to the operation restriction signal (S12).

[0046] The "operation restriction signal that restricts only the operations corresponding to the determined operation type" transmitted in step S09 above is, for example, if the turning operation is mentioned, when entering the danger area described in the map for the turning operation, only the turning operation is restricted, and other operations are not restricted signals. When the hydraulic excavator 100 receives an operation restriction signal that restricts only the turning operation, only the turning operation is restricted, and other operations, for example, the pitching operation of the boom 104, the rotating operation of the arm 105, and the rotating operation of the bucket 106 can be performed as normal.

[0047] Also, in the "operation control" executed in step S12 above, for example, when receiving an operation restriction signal that restricts only the turning operation, the operation control unit 203 outputs a control signal to the solenoid valve 7 for operating the pressure reducing valve 8 related to the turning operation of the upper swing body 102. Thereby, the operating speed of the hydraulic actuator 9 corresponding to the determined operation type is controlled to be lower than the operating speed input from the operation lever 5. At this time, a warning display may also be performed.

[0048] When the server 14 determines in step S09 that the hydraulic excavator 100 has not entered the danger area 18 (S09: No), and determines in step S09 that the hydraulic excavator 100 has entered the danger area 18 (S09: Yes) and transmits an operation restriction signal (S10), it waits for the reception of new position information, operation information, etc.

[0049] On the other hand, the hydraulic excavator 100 returns to step S01 and repeats the processing of the work machine safety system until the engine stops (S13: No). When the engine of the hydraulic excavator 100 stops (S13: Yes), the processing of the work machine safety system ends.

[0050] According to the present embodiment, it is possible to visualize by determining and displaying the place where the detection of the obstacle detection sensor 2 occurs frequently as the danger area 18, and it is possible to remove the obstacle 10 and the cause of the detection.

[0051] Also, even when obstacles cannot be removed, the operation of the hydraulic excavator 100 will slow down. Therefore, it is possible to restrict the operation of the hydraulic excavator 100 in places where there is a high possibility of contact between the work machine and people or objects, or to prevent the hydraulic excavator 100 from entering the detection range in advance.

[0052] Furthermore, for example, when the hydraulic excavator 100 passes by the side of an obstacle, it does not hinder the running and thus does not cause an obstacle to the operation. However, when performing a turning operation, even for the same obstacle at the same position that would hinder the turning, there are cases where it is better to determine the obstacle and its adjacent area as the danger area 18 based on the operation of the hydraulic excavator 100, and cases where it is not. In this embodiment, since it is determined whether it is the danger area 18 according to the operation of the hydraulic excavator 100, it is possible to ensure the safety of the work while suppressing a decrease in work efficiency due to an object that does not hinder the operation.

[0053] <Second Embodiment> The second embodiment is an embodiment in which the hydraulic excavator 100 determines the danger area 18, monitors whether to enter the danger area, and transmits an operation limit signal for reducing the operation speed of the hydraulic excavator 100 to the hydraulic excavator 100 when entering.

[0054] FIG. 9 is a functional block diagram of the controller 110a according to the second embodiment. The difference from the controller 110 according to the first embodiment is that the controller 110a includes the obstacle determination unit 204, the operation type determination unit 212, the danger area determination unit 213, the danger area verification unit 214, and the danger area monitoring unit 215 that the server 14 had. Furthermore, the controller 110a also includes the first danger area map storage unit 220.

[0055] FIG. 10 is a flowchart showing the processing flow of the work machine safety system according to the second embodiment. In FIG. 10, for the processing similar to that of the first embodiment, the step numbers in FIG. 5 are used.

[0056] When the engine of the hydraulic excavator 100 starts, the detection of each sensor mounted on the hydraulic excavator 100 starts (S01).

[0057] The obstacle determination unit 204 executes obstacle detection processing based on the sensor output from the obstacle detection sensor 2. If the obstacle determination unit 204 does not detect an obstacle (S02: No), the process proceeds to step S09 and the danger area entry monitoring process is entered.

[0058] When the obstacle determination unit 204 detects an obstacle 10 around the hydraulic excavator 100 (S02: Yes), the operation type determination unit 212 executes operation recognition processing based on the pressure data 22 (S05), and the danger area determination unit 213 creates the plot diagram 15 (S06) and temporarily sets the danger area 18 (S07).

[0059] Thereafter, video information 12 is acquired from the camera 4 and the danger area 18 is verified (S08), and the danger area 18 is defined.

[0060] The danger area monitoring unit 215 compares the position of the danger area 18 described in the operation-specific danger area map with the position information 11 of the hydraulic excavator 100 and monitors entry into the danger area 18. When it is determined that entry is made (S09: Yes), the operation control unit 203 outputs a control signal to the electromagnetic valve 7 for operating the pressure reducing valve 8. As a result, the operating speed of the hydraulic actuator 9 corresponding to the determined operation type is controlled to be lower than the operating speed input from the operation lever 5 (S13). A warning display may also be performed at this time. This process is continued until the engine stops (S14: No).

[0061] When the engine stops (S14: Yes), the process ends.

[0062] According to the present embodiment, the hydraulic excavator 100 alone determines the danger area 18, monitors entry, and limits operations. Therefore, even if the communication environment at the work site of the hydraulic excavator 100 is poor, the safety system of the work machine can be operated, and the same operational effects as those of the first embodiment can be achieved.

[0063] <Third Embodiment> The third embodiment is an embodiment in which the server 14 determines a danger area, and the hydraulic excavator 100 receives danger area map information from the server and monitors entry into the danger area.

[0064] FIG. 11 is a functional block diagram of a hydraulic excavator and a server according to the third embodiment. The difference from the controller 110 according to the first embodiment is that in addition to the danger area monitoring unit 215 provided in the server 14, it further includes a first danger area map storage unit 220. The first danger area map storage unit 220 is constituted by an area of the storage 114 that stores the danger area map according to the operation.

[0065] Another difference between the server 14a according to the present embodiment and the server 14 according to the first embodiment is that it does not include the danger area monitoring unit 215 and the operation restriction signal transmission unit 216.

[0066] FIG. 12 is a flowchart showing the processing flow of the safety system of the work machine according to the third embodiment. In FIG. 12, for the processing similar to that of the first embodiment, the step numbers in FIG. 5 are used.

[0067] When the engine of the hydraulic excavator 100 starts, the detection of each sensor mounted on the hydraulic excavator 100 starts (S01).

[0068] The obstacle determination unit 204 executes obstacle detection processing based on the sensor output from the obstacle detection sensor 2. If the obstacle determination unit 204 does not detect an obstacle (S02: No), it proceeds to step S09 and proceeds to the danger area entry monitoring process.

[0069] When the obstacle determination unit 204 detects an obstacle 10 around the hydraulic excavator 100 (S02: Yes), it acquires video information 12 from the camera 4, and transmits the video information together with the position information and the operation information to the server 14a (S03a), and the server 14a receives it (S04a).

[0070] In server 14a, the operation type determination unit 212 executes operation recognition processing based on the pressure data 22 (S05), and the danger area determination unit 213 creates the plot diagram 15 (S06), temporarily sets the danger area 18 (S07), and verifies and demarcates the danger area (S08).

[0071] Server 14a transmits the danger area map information to the hydraulic excavator 100 (S31). When the hydraulic excavator 100 receives it, it updates the danger area map information in the first danger area map storage unit 220 (S32).

[0072] The hydraulic excavator 100 monitors entry into the danger area 18. When it determines that entry has occurred (S09: Yes), it reduces the operating speed together with a warning display (S12). This process continues until the engine stops (S13).

[0073] According to this embodiment, the server 14 creates a danger area map for each operation type and sends it to the hydraulic excavator 100. The hydraulic excavator 100 compares it with the danger area map corresponding to the current position and current operation of the hydraulic excavator 100 to perform operation restriction. As a result, without causing a time lag until the position information and operation information are transmitted from the hydraulic excavator 100 to the server 14 and the operation control signal is received, the hydraulic excavator 100 itself can identify a place where there is a high possibility of contact with people or objects, and by restricting the operation of the machine at that place, the hydraulic excavator can prevent itself from entering an area where the sensor has a high possibility of detecting people or objects in advance, and can also prevent contact between the hydraulic excavator and obstacles during work in an area where it is easy to detect objects and the like.

[0074] Also according to this embodiment, since new danger area map information is sent from the server 14 to the hydraulic excavator 100 only when the danger area is updated, communication volume can be saved.

[0075] Also in this embodiment, since the hydraulic excavator 100 monitors entry into the danger area, it is not affected by the time lag caused by the reduction in communication speed that occurs when the server executes entry monitoring and performs operation restriction, so operation restriction can be performed closer to real time.

[0076] In addition, since the server 14a determines the danger area, it is also possible to determine the danger area based on the sensor data and video data received from a plurality of hydraulic excavators 100. As a result, since the operation can be restricted based on the danger information determined based on the obstacle information detected by other construction machines (construction machines that perform the same operation when determining the danger area for each operation), the safety of the work can be improved even at a place where the hydraulic excavator 100 goes for the first time.

[0077] The above embodiment is not intended to limit the present invention, and various modified forms are also included in the present invention. For example, the mounting positions and numbers of the cameras and obstacle detection sensors are not limited to the above. Further, the construction machine is not limited to a hydraulic excavator, and may be a wheel loader or a dump truck, and the danger area corresponding to the operation of the construction machine may be determined.

[0078] Furthermore, in the above, the plot diagram 15 is divided for each operation, but all the operations may be plotted on one plot diagram 15.

Explanation of reference numerals

[0079] 1: Construction machine body 2: Obstacle detection sensor 3: Position detection sensor 4: Camera 5: Operation lever 6: Pressure sensor 7: Solenoid valve 8: Pressure reducing valve 9: Hydraulic actuator 10: Obstacle 11: Position information 12: Video information 13: Operation information 14: Server 14a: Server 15: Plot diagram 17: Circle 18: Danger area 19: Invalid command 20: Site map 21: First display 22: Pressure data 31: Main pump 31a: Pilot pump 100: Hydraulic excavator 101L: Left crawler 102: Upper slewing body 103: Cab 104: Boom 105: Arm 106: Bucket 109: First communication device 110: Controller 110a: Controller 111: Processor 114: Storage 115: Input I / F 116: Output I / F 117: Bus 120: Wireless communication network 121: Second communication device 201: Data acquisition unit 202: First display control unit 203: Operation control unit 204: Obstacle determination unit 211: Second danger area map storage unit 212: Operation type determination unit 213: Danger area determination unit 214: Danger area verification unit 215: Danger area monitoring unit 216: Operation restriction signal transmission unit 219: Second display control unit 220: First danger area map storage unit 222: Second display

Claims

1. In a safety system for a working machine configured by wireless communication connection between the working machine and a server, the working machine includes: a position detection sensor that outputs position information indicating the current position of the working machine; an obstacle detection sensor that detects obstacles existing around the working machine and outputs obstacle information; an actuator that operates the working machine and an operating member that operates the actuator; an operation detection sensor that detects the operation amount of the operating member for operating the actuator and outputs operation information; a controller that controls the operation of the actuator; a first communication device that performs wireless communication at a predetermined time interval with the server or when the obstacle detection sensor detects the obstacle, and transmits the position information and the operation information; and is provided with; the server includes: a second communication device that receives the position information and the operation information; determines the type of operation in progress of the working machine based on the operation information when the obstacle detection sensor detects the obstacle; creates an operation-specific danger area map that defines a danger area by mapping the position information of the working machine when the obstacle detection sensor detects the obstacle for each type of operation of the working machine; when it is determined that the working machine enters the danger area based on the position information indicating the current position of the working machine, transmits an operation restriction signal that restricts an operation corresponding to the determined operation type to the working machine; the working machine includes: receives the operation restriction signal, and the controller controls the operation speed of the actuator corresponding to the determined operation type to be lower than the operation speed input from the operation member; A safety system for a working machine, characterized by the above.

2. In the safety system for a working machine according to claim 1, the working machine includes: a hydraulic circuit; a pressure reducing valve that reduces the pressure of the hydraulic oil for operation in which the operation member operates the actuator; and further includes; the pressure reducing valve is provided on the hydraulic circuit; when the working machine receives the operation restriction signal, the controller operates the pressure reducing valve to reduce the pressure of the hydraulic oil for operation input by the operation member; A safety system for a working machine, characterized by the above.

3. In the safety system for a working machine according to claim 1, the working machine is provided with a display; the controller controls the display; The server transmits danger area map information indicating the operation-specific danger area map to the work machine, The controller superimposes the current position of the work machine on the operation-specific danger area map and displays it on the display, A safety system for a work machine, characterized in that.

4. In the safety system for a work machine according to claim 1, The work machine, Further includes a camera that images the detection range of the obstacle detection sensor and outputs video information, The video information is further transmitted to the server, If an obstacle is imaged in the video information, the server updates the operation-specific danger area map based on the operation information and the position information received together with the video information, If no obstacle is imaged in the video information, the operation-specific danger area map is not updated, A safety system for a work machine, characterized in that.

5. In the safety system for a work machine according to claim 1, The types of operations are traveling, turning, the operations of the front work machine provided on the work machine, or a combination thereof, A safety system for a work machine, characterized in that.

6. In a work machine, A position detection sensor that outputs position information indicating the current position of the work machine, An obstacle detection sensor that detects obstacles existing around the work machine and outputs obstacle information, An actuator that operates the work machine and an operation member that operates the actuator, An operation detection sensor that detects the operation amount of the operation member for operating the actuator and outputs operation information, A controller that controls the operation of the actuator, Comprising, The controller, When the obstacle detection sensor detects the obstacle, determines the type of the operation being executed by the work machine based on the operation information, Creates an operation-specific danger area map that maps the positions where the work machine detects obstacles for each type of operation of the work machine and defines a danger area, When it is determined that the work machine enters the danger area as a result of comparing the danger area described in the operation-specific danger area map corresponding to the operation being executed with the position information, controls the operation speed of the actuator corresponding to the determined operation type to be lower than the operation speed input from the operation member, A work machine, characterized in that.

7. In a server communicatively connected to a work machine, Comprises a communication device for performing wireless communication with the work machine, The communication device receives the operation information and position information of the work machine when an obstacle detection sensor mounted on the work machine detects an obstacle, determines the type of operation in progress of the work machine based on the received operation information, creates an operation-specific danger area map that defines a danger area by mapping the position information of the work machine when the obstacle detection sensor detects the obstacle for each type of operation of the work machine, and transmits danger area map information indicating the operation-specific danger area map to the work machine. A server characterized by the above.

8. In a safety system for a work machine configured by wireless communication connection between a work machine and a server, the work machine includes: a position detection sensor that outputs position information indicating the current position of the work machine; an obstacle detection sensor that detects an obstacle existing around the work machine and outputs obstacle information; an actuator that operates the work machine and an operation member that operates the actuator; a motion detection sensor that detects the operation amount of the operation member for operating the actuator and outputs operation information; a controller that controls the operation of the actuator; a first communication device that performs wireless communication at a predetermined time interval with the server or when the obstacle detection sensor detects the obstacle, and transmits the position information and the operation information; and is provided with the server includes: a second communication device that receives the position information and the operation information; determines the type of operation in progress of the work machine based on the operation information when the obstacle detection sensor detects the obstacle; creates an operation-specific danger area map that defines a danger area by mapping the position information of the work machine when the obstacle detection sensor detects the obstacle for each type of operation of the work machine; transmits danger area map information indicating the operation-specific danger area map to the work machine; the controller includes: a danger area map storage unit that stores the operation-specific danger area map based on the received danger area map information; reads out danger area map information corresponding to the type of operation in progress from the danger area map storage unit; and when it is determined that the work machine enters the danger area based on the position information indicating the current position of the work machine, controls the operation speed of the actuator corresponding to the determined type of operation to be lower than the operation speed input from the operation member. A safety system for a work machine characterized by the above.

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