Excavator

Abstract

To provide a shovel or the like which can further improve safety.SOLUTION: A shovel 100 includes: option equipment (a blade 90, for instance) which increases occupied volume of the shovel 100; a detection section 304 which detects a prescribed object around the shovel 100; and a safety function control section 305 which operates a safety function for securing safety of the shovel 100 when the prescribed object is detected by the detection section 304. The safety function control section 305 facilitates the operation of the safety function when the option equipment moves toward the surrounding of the shovel 100 accompanying the operation of the shovel 100.SELECTED DRAWING: Figure 6

Description

Technical Field

[0001] The present invention relates to a In the loop shovel.

Background Art

[0002] There is known a shovel that monitors the surroundings of the own machine, detects a predetermined object (for example, a person) (hereinafter, “monitoring target”), and performs control for ensuring safety such as notifying the inside or outside of the cabin or restricting the operation of the shovel (see Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in some cases, optional equipment that increases the occupied volume of the own machine is attached to the shovel. For example, a blade may be attached to the lower traveling body as optional equipment, or a type of end attachment other than a bucket, such as a large bucket or a breaker, may be attached to the tip of the arm instead of the standard bucket. Therefore, for example, even when the monitoring target and the shovel are in the same positional relationship, if optional equipment is attached, the distance between the shovel and the monitoring target may relatively decrease compared to the case where no optional equipment is attached. Therefore, it is desirable to ensure safety in accordance with the attached optional equipment.

[0005] Therefore, in view of the above problems, an object is to provide a Into the loop shovel capable of further improving safety.

Means for Solving the Problems

[0006] In order to achieve the above object, in one embodiment of the present invention, an optional equipment for increasing the occupied volume of the excavator, a detection unit for detecting a predetermined object around the excavator, a control unit that activates a safety function for ensuring the safety of the excavator when the predetermined object is detected within a predetermined range set to be adjacent to the excavator over a range of directions including the direction in which the optional equipment is attached and the direction in which the optional equipment is not attached, with reference to the center of the excavator body in a plan view by the detection unit, The control unit sets the distance between the excavator and the outer edge of the predetermined range to be the same regardless of the direction of looking at the outside of the excavator with reference to the center of the excavator body in a plan view, and sets the predetermined range so that the outer edge of the predetermined range in the direction in which the optional equipment is attached with reference to the center of the excavator body is relatively farther than the outer edge of the predetermined range in the direction in which the optional equipment is not attached with reference to the center of the excavator body, so that when the optional equipment moves in the direction in which the optional equipment is attached with reference to the center of the excavator body in a plan view as the excavator operates, the safety function is more likely to be activated. Distance An excavator is provided.

[0007] Also, in another embodiment of the present invention, An excavator to which equipment for increasing the occupied volume of the excavator can be attached, a detection unit for detecting a predetermined object around the excavator, When the predetermined object is detected by the detection unit In a predetermined range set adjacent to the excavator over a range of a direction including the direction in which the equipment is attached, with respect to the center of the body of the excavator in plan view a control unit that activates a safety function for ensuring the safety of the excavator, The control unit is Said When the equipment is attached, it is more In plan view than when the equipment is not attached Based on the center ofThe safety function is activated in such a manner that the safety of the excavator in the direction in which the equipment is attached is relatively high. An excavator is provided.

Effect of the Invention

[0009] According to the above-described embodiment, an excavator capable of further improving safety can be provided. Into the loop It can be provided.

Brief Description of the Drawings

[0010]

Figure 1A

Figure 1B

Figure 2A

Figure 2B

Figure 2C

Figure 3A

Figure 3B

Figure 4A

Figure 4B

Figure 5A

Figure 5B

Figure 5C

Figure 5D

Figure 6

Figure 7

Figure 8A

Figure 8B

Figure 9A

Figure 9B

Figure 9C

Mode for Carrying Out the Invention

[0011] Hereinafter, embodiments for carrying out the invention will be described with reference to the drawings.

[0012] [Outline of Excavator] First, with reference to FIGS. 1 (FIGS. 1A and 1B), the outline of the excavator 100 according to the present embodiment will be described.

[0013] FIGS. 1A and 1B are diagrams showing an example of the excavator 100 according to the present embodiment. Specifically, they are a side view and a top view of the excavator 100, respectively.

[0014] The excavator 100 includes a lower traveling body 1, an upper slewing body 3 mounted on the lower traveling body 1 so as to be slewed via a slewing mechanism 2, a boom 4, an arm 5, and a bucket 6 as attachments, and a cabin 10.

[0015] The lower traveling body 1 includes, for example, a pair of left and right crawlers 1C (left crawler 1CL and right crawler 1CR), and the crawlers 1CL and 1CR are hydraulically driven by corresponding traveling hydraulic motors 1M to travel by themselves.

[0016] The upper slewing body 3 slews with respect to the lower traveling body 1 by hydraulically driving the slewing mechanism 2 with a slewing hydraulic motor 2A.

[0017] On the upper revolving body 3, an imaging device 40 and a surrounding information acquisition device 45 are mounted on its upper surface.

[0018] Also, a power source of the excavator 100 is mounted on the upper revolving body 3. The power source of the excavator 100 includes, for example, an engine 11 (such as a diesel engine, etc.) that operates with a predetermined fuel (e.g., light oil). Further, the power source of the excavator 100 may include, instead of or in addition to the engine 11, an electric motor or the like that operates with electric power supplied from a power storage device (such as a capacitor or a lithium-ion battery, etc.) or an external power source connected by a cable.

[0019] Also, various hydraulic devices such as a main pump 14, a pilot pump 15, and a control valve are mounted on the upper revolving body 3.

[0020] The main pump 14 is driven by a power source such as the engine 11 or an electric motor, and supplies hydraulic oil to various hydraulic actuators under the control of the controller 30. The hydraulic actuators include, in addition to the above-described traveling hydraulic motor 1M and the slewing hydraulic motor 2A, a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9, etc., which will be described later.

[0021] The pilot pump 15 is driven by a power source such as an engine or an electric motor, and supplies hydraulic oil to various hydraulically piloted hydraulic devices (such as the operating device 26 and the control valve 17, etc.).

[0022] The control valve 17 selectively supplies hydraulic oil discharged from the main pump 14 to each hydraulic actuator according to the operation state of the driven body (i.e., the corresponding hydraulic actuator), and adjusts the flow rate and flow direction of the hydraulic oil supplied to the hydraulic actuator. For example, the control valve 17 may be composed of a plurality of control valves (directional control valves) that control the direction and flow rate of the hydraulic oil supplied to each hydraulic actuator. The control valve 17 may be, for example, hydraulically driven, and may be configured such that a pilot pressure corresponding to the operation content of each hydraulic actuator is input to drive the control valve (directional control valve) corresponding to each hydraulic actuator. The control valve 17 may also be electrically driven (for example, electromagnetic solenoid type), and may be configured such that a control valve (directional control valve) corresponding to each hydraulic actuator is driven by inputting an electric signal corresponding to the operation content of the operating device 26.

[0023] The boom 4 is pivotally attached to the front center of the upper rotating body 3 so as to be able to tilt up and down, an arm 5 is pivotally attached to the tip of the boom 4 so as to be able to rotate up and down, and a bucket 6 is pivotally attached to the tip of the arm 5 so as to be able to rotate up and down.

[0024] The bucket 6 is an example of an end attachment, and is attached to the tip of the arm 5 in a suitably replaceable manner depending on the work content of the excavator 100. In other words, instead of the bucket 6, a bucket of a different type from the bucket 6, such as a relatively large bucket, a bucket for slopes, or a dredging bucket, may be attached to the tip of the arm 5. Also, a type of end attachment other than a bucket, such as an agitator, a breaker, or a crusher, may be attached to the tip of the arm 5. Also, a spare attachment such as a quick coupling or a tiltrotator may be interposed between the arm 5 and the end attachment.

[0025] The boom 4, the arm 5, and the bucket 6 are hydraulically driven by a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9, respectively.

[0026] The cab 10 is a driver's cab for an operator to board and operate the excavator 100, and is mounted, for example, on the front left side of the upper swing body 3.

[0027] The cab 10 is provided with an operating device 26, a controller 30, a display device 50, an input device 52, a sound output device 54, etc.

[0028] The operating device 26 is used to operate a driven body driven by an actuator (specifically, a hydraulic actuator) such as the lower traveling body 1, the upper swing body 3, and an attachment (boom 4, arm 5, and bucket 6). In other words, the operating device 26 is used to operate each hydraulic actuator (traveling hydraulic motors 1M corresponding to the crawlers 1CL and 1CR respectively, swing hydraulic motor 2A, boom cylinder 7, arm cylinder 8, bucket cylinder 9, etc.) that drives the driven body. The operating device 26 includes, for example, a lever device, a pedal device, etc. corresponding to each driven body, that is, each hydraulic actuator.

[0029] The operating device 26 is, for example, of a hydraulic pilot type. In this case, the operating device 26 uses the hydraulic oil supplied from the pilot pump 15 to output a pilot pressure corresponding to the operation content (e.g., operation direction and operation amount, etc.) regarding each driven body (that is, the corresponding hydraulic actuator) to the control valve 17. Thereby, the control valve 17 can realize the operation of each driven body (that is, the corresponding hydraulic actuator) according to the operation content of the operating device 26.

[0030] Further, the operating device 26 may be, for example, electric. In this case, the operating device 26 outputs an electric signal (hereinafter, "operation signal") corresponding to the operation content of each driven body (i.e., each corresponding hydraulic actuator) to the controller 30. Then, the controller 30 outputs a control command corresponding to the operation signal to a hydraulic control valve for operation (for example, the hydraulic control valve 56 described later) provided in the oil passage (pilot line) between the pilot pump 15 and the control valve 17. Thereby, the hydraulic control valve for operation can act on the control valve 17 with a pilot pressure corresponding to the operation signal, that is, a pilot pressure corresponding to the operation content regarding each driven body (i.e., each hydraulic actuator) in the operating device 26 by using the hydraulic oil supplied from the pilot pump 15. Therefore, the control valve 17 can realize the operation of each driven body (i.e., each corresponding hydraulic actuator) according to the operation content of the operating device 26.

[0031] Further, the driven bodies of the excavator 100, that is, the corresponding actuators (hydraulic actuators) may be remotely operated. In this case, the excavator 100 is equipped with a communication device, and a signal representing the content of the remote operation (hereinafter, "remote operation signal") is transmitted to the excavator 100 from a predetermined external device, and the controller 30 receives the remote operation signal through the communication device. Then, the controller 30 outputs a control command corresponding to the content of the remote operation (for example, the driven body or hydraulic actuator to be operated, the operation direction, the operation amount, etc.) defined by the remote operation signal to the hydraulic control valve for operation. Thereby, the hydraulic control valve for operation can act on the control valve 17 with a pilot pressure corresponding to the content of the remote operation by using the hydraulic oil supplied from the pilot pump 15. Therefore, the control valve 17 can realize the operation of each driven body (i.e., each corresponding hydraulic actuator) according to the content of the remote operation.

[0032] Furthermore, in the excavator 100, some or all of various hydraulic actuators may be replaced with electric actuators. That is, the excavator 100 may be a hybrid excavator or an electric excavator. In this case, the controller 30 may output a control command corresponding to the operation content of the operation device 26 and the content of the remote operation defined by the remote operation signal to the electric actuator.

[0033] [Configuration of Peripheral Monitoring Device] Next, in addition to FIG. 1, with reference to FIGS. 2 (FIGS. 2A and 2B) and 3 (FIGS. 3A and 3B), the configuration of the peripheral monitoring device 200 mounted on the excavator 100 according to the present embodiment will be described.

[0034] FIG. 2 is a diagram for explaining the configuration of the peripheral monitoring device 200 according to the present embodiment. Specifically, FIG. 2A is a block diagram showing an example of the configuration of the peripheral monitoring device 200 according to the present embodiment. FIG. 2B is a diagram showing an example of a circuit configuration for sounding the horn 54a. FIG. 2C is a diagram showing an example of a circuit configuration for sounding the travel alarm 54b.

[0035] The peripheral monitoring device 200 monitors the entry of a predetermined object (hereinafter simply referred to as "monitoring target") that is a monitoring target within a predetermined range around the excavator 100. And when the peripheral monitoring device 200 detects the monitoring target within the predetermined range around the excavator 100, it activates a safety function for ensuring the safety around the excavator 100.

[0036] The safety function may include, for example, a notification function that outputs an alarm to at least one of the inside and outside of the cabin 10 to notify the detection of a monitoring target. Thereby, it is possible to prompt the operator inside the cabin 10, the worker around the excavator 100, etc. to pay attention to the presence of a monitoring target within a predetermined range around the excavator 100. Hereinafter, the notification function for the inside of the cabin 10, that is, for the operator, etc. may be referred to as an "inside notification function", and the notification function for the outside of the cabin 10, that is, for the worker around the excavator 100, etc. may be referred to as an "outside notification function" for distinction. Further, the safety function may include, for example, an operation restriction function that restricts the operation of the excavator 100 with respect to the operation of the operation device 26 or the remote operation.

[0037] The operation restriction function includes at least one of an operation deceleration function that slows down the operation speed of the excavator 100 with respect to the operation of the operation device 26 or the remote operation, and an operation stop function that stops the operation of the excavator 100 and maintains the stopped state regardless of the operation of the operation device 26 or the remote operation.

[0038] The monitoring target may include a person such as a worker working around the excavator 100 or a supervisor at the work site. Further, the monitoring target may include an object temporarily placed at the work site, a stationary immovable obstacle such as a temporary office at the work site, or a moving obstacle such as a vehicle including a truck, that is, any object other than a person (i.e., an obstacle). Hereinafter, in this embodiment, the description will continue mainly when the monitoring target is a person.

[0039] As shown in FIG. 2A, the peripheral monitoring device 200 includes a controller 30, an operation information output device 29, an imaging device 40, a surrounding information acquisition device 45, a display device 50, an input device 52, a sound output device 54, and a hydraulic control valve 56.

[0040] The controller 30 is a control device that controls the functions of the peripheral monitoring device 200. The controller 30 is mounted, for example, inside the cabin 10.

[0041] The controller 30 may have its functions implemented by any hardware, or any combination of hardware and software. The controller 30 is mainly composed of, for example, a computer including a CPU (Central Processing Unit), a memory device (main memory device) such as a RAM (Random Access Memory), an auxiliary storage device such as a ROM (Read Only Memory), and an interface device. The controller 30 includes, as functional parts realized by executing one or more programs installed in the auxiliary storage device on the CPU, a display processing unit 301, a setting unit 302, a detection unit 304, and a safety function control unit 305. The controller 30 also uses a storage unit 303. The storage unit 303 can be realized, for example, by an auxiliary storage device or an external storage device communicably connected to the controller 30.

[0042] In addition, some or all of the functions of the controller 30 may be realized by other controllers. That is, the functions of the peripheral monitoring device 200 may be realized by being shared among a plurality of controllers. Also, the controller 30 may perform control related to the excavator 100 other than the functions of the peripheral monitoring device 200. That is, the controller 30 may be a dedicated control device specialized for the functions of the peripheral monitoring device 200, or a general-purpose control device that performs control related to various functions of the excavator 100 including the functions of the peripheral monitoring device 200.

[0043] The operation information output device 29 outputs information regarding the operation content of the operation device 26 or the content of remote operation, that is, information regarding the operation content related to each driven body (that is, each corresponding hydraulic actuator) (hereinafter, "operation information").

[0044] The operation information output device 29 may be, for example, a sensor (hereinafter, "operation information acquisition sensor") that acquires information regarding the operation content of the operation device 26. The operation information acquisition sensor may be, for example, a linear encoder that senses the operation direction and operation amount of a lever, a pedal, or the like of the operation device 26. Further, the operation information acquisition sensor may be, for example, a pressure sensor that senses the pilot pressure on the secondary side of the hydraulically piloted operation device 26. Further, the operation information output device 29 may be, for example, an electric operation device 26. This is because the operation signal output from the electric operation device 26 corresponds to the operation information. Further, the operation information output device 29 may be, for example, a communication device that receives a remote operation signal from an external device.

[0045] The imaging device 40 is attached to the upper part of the upper swing body 3, images the periphery of the excavator 100 from a region relatively close to the excavator 100 to a region relatively far away, and outputs an imaging image. The imaging device 40 includes cameras 40B, 40L, and 40R. Hereinafter, the cameras 40B, 40L, and 40R may be collectively referred to as "camera 40X".

[0046] The cameras 40B, 40L, and 40R are respectively attached to the upper rear end, upper left end, and upper right end of the upper swing body 3, and image the rear, left side, and right side of the upper swing body 3. For example, the camera 40X is a monocular camera (i.e., a wide-angle camera) having a very wide angle of view. Also, for example, the camera 40X may be a stereo camera, a depth camera, or the like. The camera 40B images the imaging range behind the upper swing body 3, for example, the imaging range in the horizontal direction (i.e., the circumferential direction as viewed from the excavator 100) extending from the left rear to the right rear. Also, the camera 40L images, for example, the imaging range on the left side of the upper swing body 3, for example, the imaging range in the horizontal direction (circumferential direction as viewed from the excavator 100) extending from the front left to the rear left of the upper swing body 3. Also, the camera 40R images, for example, the imaging range on the right side of the upper swing body 3, for example, the imaging range in the horizontal direction (circumferential direction as viewed from the excavator 100) extending from the front right to the rear right of the upper swing body 3. Also, the camera 40X is attached to the upper part of the upper swing body 3 such that the optical axis is directed obliquely downward, and images the imaging range in the vertical direction including from the ground near the excavator 100 to the distance from the excavator 100.

[0047] The camera 40X outputs captured images at a predetermined period (e.g., 1 / 30 second) from the start (i.e., key switch ON) to the stop (i.e., key switch OFF) of the excavator 100. The captured images output from the camera 40X are captured by the controller 30.

[0048] The surrounding information acquisition device 45 is attached to the upper part of the upper swing body 3 and acquires information regarding the situation around the excavator 100. The surrounding information acquisition device 45 includes sensors 45BL, 45BR, 45L, and 45R. Hereinafter, the sensors 45BL, 45BR, 45L, and 45R may be collectively referred to as "sensor 45X".

[0049] The sensors 45BL, 45BR, 45L, and 45R are respectively attached to the upper part of the left rear end, the upper part of the right rear end, the upper part of the left end, and the upper part of the right end of the upper swing body 3, and acquire information regarding the situations on the left rear, right rear, left side, and right side of the upper swing body 3. For example, the sensor 45X is a LIDAR (Light Detection and Ranging). Also, for example, the sensor 45X may be a millimeter-wave radar, an ultrasonic sensor, or the like. Hereinafter, the case where the sensor 45X is a LIDAR will be mainly described.

[0050] The sensor 45X irradiates infrared rays in a certain direction and receives the reflected light (infrared rays) from the objects in that direction, thereby acquiring information representing the situation around the excavator 100, specifically, information regarding the received reflected light (hereinafter, "received light information"). The sensor 45X is, for example, a scanning LIDAR and is a three-dimensional laser scanner capable of scanning the irradiation direction of the infrared laser in the vertical and horizontal directions. Also, the sensor 45X may be a so-called flash-type LIDAR that irradiates infrared rays from a light-emitting module over a three-dimensional wide range and images the reflected light (infrared rays) with a three-dimensional distance image sensor.

[0051] The received light information includes information regarding the time (TOF: Time Of Flight) from the irradiation of infrared rays to the reception of the reflected light for each irradiation direction of the infrared rays (hereinafter, "TOF information"), and information regarding the intensity of the received reflected light for each irradiation direction of the infrared rays (hereinafter, "received light intensity information").

[0052] The sensor 45BL is configured to irradiate infrared rays within the irradiation range at the left rear of the upper slewing body 3, for example, within the horizontal irradiation range (i.e., the circumferential direction as viewed from the excavator 100) extending from the left rear to the rear of the upper slewing body 3. Further, the sensor 45BR is configured to irradiate infrared rays within the irradiation range at the right rear of the upper slewing body 3, for example, within the horizontal irradiation range (the circumferential direction as viewed from the excavator 100) extending from the right rear to the rear of the upper slewing body 3. Further, the sensor 45L is configured to irradiate infrared rays within the irradiation range on the left side of the upper slewing body 3, for example, within the horizontal irradiation range (the circumferential direction as viewed from the excavator 100) extending from the left front to the left rear of the upper slewing body 3. Further, the sensor 45R is configured to irradiate infrared rays within the irradiation range on the right side of the upper slewing body 3, for example, within the irradiation range extending from the right front to the right rear of the upper slewing body 3. Further, the sensor 45X is attached to the upper part of the upper slewing body 3 such that the optical axis (i.e., the reference axis of the infrared ray irradiation direction) is directed obliquely downward, and has an infrared ray irradiation range in the vertical direction centered on a portion of the ground relatively close to the excavator 100.

[0053] The sensors 45X each output light reception information at a predetermined cycle from the start to the stop of the excavator 100. The light reception information output from the sensors 45X is taken into the controller 30.

[0054] The display device 50 is provided around the operator's seat within the cab 10, specifically, at a position easily visible to the operator seated on the operator's seat, and displays various image information for notifying the operator. The display device 50 is, for example, a liquid crystal display or an organic EL (Electroluminescence) display, and may be a touch panel type that also serves as the input device 52. As will be described later, the display device 50 displays an image (hereinafter, "monitoring image") representing the state around the excavator 100 (own machine) based on, for example, the captured image of the imaging device 40 under the control of the controller 30 (display processing unit 301).

[0055] The input device 52 receives operation inputs regarding various functions related to the functions of the peripheral monitoring device 200 from the operator and outputs them to the controller 30. The input device 52 includes, for example, operation means of any hardware such as a touch panel, a touch pad, buttons, toggles, rotary knobs, etc. Further, the input device 52 may include, for example, software operation means that can be operated through the operation means of hardware, such as virtual button icons on the operation screen displayed on the display device 50.

[0056] The sound output device 54 outputs sound toward at least one of the inside and outside of the cabin 10. The sound output device 54 may include, for example, speakers, buzzers, etc. provided inside the cabin 10, and may output sound toward the operator. Further, the sound output device 54 may include, for example, a horn 54a, a traveling alarm 54b, etc., and may output sound toward the outside of the cabin 10, specifically, toward the surroundings of the excavator 100.

[0057] The horn 54a is mounted, for example, on the front part of the upper swing body 3.

[0058] As shown in FIG. 2B, the horn 54a sounds when the relay 62 provided in the power path between the horn 54a and the battery 60 is closed in response to the ON operation of the knob switch 64 provided in the cabin 10. The operator etc. can notify the surroundings of the excavator 100 (lower traveling body 1) that the excavator 100 is starting to travel by operating the knob switch 64 to the ON state and sounding the horn 54a at the start of traveling.

[0059] The traveling alarm 54b is mounted, for example, on the rear part of the upper swing body 3.

[0060] As shown in FIG. 2C, the traveling alarm 54b outputs a predetermined sound (for example, a beep sound that repeatedly sounds "pee, pee, pee,...") in a predetermined pattern under the control of the controller 30 when the lower traveling body 1 is traveling, that is, when the crawler 1C is being operated.

[0061] Returning to FIG. 2A, the hydraulic control valve 56 is provided in a pilot line connecting the pilot pump 15 and the control valve 17 (specifically, the pilot ports of the control valves corresponding to the respective hydraulic actuators). The hydraulic control valve 56 is operable by a control command from the controller 30 and adjusts the pilot pressure acting on the control valve 17. The hydraulic control valve 56 may be provided, for example, in a pilot line between the pilot pump 15 and the hydraulic pilot type operating device 26, that is, in the pilot line on the primary side of the operating device 26. Further, the hydraulic control valve 56 may be provided, for example, in a pilot line between the operating device 26 and the control valve 17, that is, in the pilot line on the secondary side of the operating device 26. Also, the hydraulic control valve 56 may be, for example, the above-described hydraulic control valve for operation in the case of an electric operating device 26 or in the case of remote operation. The hydraulic control valve 56 is, for example, an electromagnetic proportional valve. Specifically, the hydraulic control valve 56 can adjust the pilot pressure acting on the control valve 17 under the control of the controller 30, regardless of the operation content of the operating device 26 or the content of the remote operation. In other words, the controller 30 can control the operation of the excavator 100 using the hydraulic control valve 56, regardless of the operation content of the operating device 26 or the content of the remote operation.

[0062] The display processing unit 301 causes the display device 50 to display a monitoring image representing the state (situation) around the excavator 100 based on the captured image of the imaging device 40.

[0063] For example, the display processing unit 301 causes the display device 50 to display, as a monitoring image, at least one captured image of the cameras 40B, 40L, 40R in response to a predetermined operation on the input device 52. That is, the display processing unit 301 may cause the display device 50 to display side by side all the captured images of the cameras 40B, 40L, 40R or the captured images of two cameras, or may cause the display device 50 to display the captured image of any one camera. Hereinafter, the captured image displayed on the display device 50 may be referred to as a "through image".

[0064] The display processing unit 301 may switch which captured image among the captured images of the cameras 40B, 40L, and 40R is to be displayed on the display device 50 according to a predetermined operation on the input device 52. Thereby, the operator can cause the display device 50 to display a through-image in the direction that the operator wants to view by operating the input device 52.

[0065] Also, for example, the display processing unit 301 generates a composite image obtained by combining the captured images of a plurality of cameras (at least two of the cameras 40B, 40L, and 40R) based on the captured images of the imaging device 40, and causes the display device 50 to display a monitoring image including the composite image.

[0066] Specifically, the display processing unit 301 generates a viewpoint-converted image viewed from a virtual viewpoint by performing known viewpoint conversion processing, composite processing, etc. based on the captured images of the cameras 40B, 40L, and 40R as a composite image, and causes the display device 50 to display it. Further, when the display processing unit 301 causes the display device 50 to display the composite image, in order to clarify the relative positional relationship between the imaging range of the imaging device 40 and the excavator 100, it also causes the display device 50 to display an excavator image schematically representing the excavator 100. That is, the display processing unit 301 generates a monitoring image including the excavator image and the viewpoint-converted image arranged around the excavator image in accordance with the relative positional relationship between the excavator 100 and the imaging range of the imaging device 40, and causes the display device 50 to display it.

[0067] Note that the function of the display processing unit 301 may be built into the display device 50.

[0068] For example, FIG. 3 (FIGS. 3A and 3B) is a diagram showing a specific example of the monitoring image displayed on the display device 50. Specifically, FIG. 3A is a diagram showing an example of the monitoring image (monitoring image MP1 including a through-image) displayed on the display device 50, and FIG. 5B is a diagram showing another example of the monitoring image (monitoring image MP2 including a viewpoint-converted image) displayed on the display device 50.

[0069] As shown in FIG. 3A, in this example, on the display device 50, the captured image (through image) of the camera 40B is displayed as the surveillance image MP1. Thereby, the operator can grasp the situation around the excavator 100 (in this example, behind the upper swing body 3) (for example, the presence or absence of a surveillance target such as a person around the excavator 100).

[0070] Further, as shown in FIG. 3B, on the display device 50, a surveillance image MP2 including the excavator image CG and the viewpoint conversion image EP arranged around the excavator image CG is displayed. Thereby, the operator can appropriately grasp the positional relationship between the excavator 100 and the surrounding objects shown in the viewpoint conversion image EP.

[0071] Further, a line LN1 at a certain distance from the excavator 100 is superimposed and displayed on the viewpoint conversion image EP of the surveillance image MP2. The line LN1 may represent, for example, the outer edge of the surveillance area of the surveillance target by the peripheral surveillance device 200 (detection unit 304). Thereby, the operator can appropriately grasp the distance relationship between the excavator 100 and the surrounding objects shown in the viewpoint conversion image EP.

[0072] In this example, the viewpoint conversion image EP is composed of a bird's-eye view image BVP of the peripheral area adjacent to the excavator 100 seen from directly above and a horizontal image HVP of the peripheral area seen horizontally from the excavator 100 arranged around the bird's-eye view image BVP. The viewpoint conversion image EP is obtained by projecting the captured images of the cameras 40B, 40L, and 40R onto a spatial model and then re-projecting the projected images projected onto the spatial model onto another two-dimensional plane. The spatial model is the projection target of the captured image in the virtual space and is composed of one or a plurality of planes or curved surfaces including a plane or a curved surface other than the plane where the captured image is located.

[0073] The setting unit 302 performs various settings related to the peripheral monitoring device 200 according to requests from an operator or the like, that is, operations by an operator or the like through the input device 52. For example, the setting unit 302 sets detection conditions related to the detection unit 304, operating conditions of safety functions related to the safety function control unit 305, and the like. The setting contents set by the setting unit 302 are stored (registered) in the storage unit 303.

[0074] The storage unit 303 stores (registers) various information related to the peripheral monitoring device 200.

[0075] Based on the outputs of the imaging device 40 and the ambient information acquisition device 45, the detection unit 304 detects monitoring targets around the excavator 100 (upper slewing body 3). The detection unit 304 includes a detection unit 304A and a detection unit 304B.

[0076] Based on the output of the imaging device 40, that is, the captured image captured by the imaging device 40, the detection unit 304A detects monitoring targets in a predetermined monitoring area (hereinafter, for convenience, referred to as the "first monitoring area") around the excavator 100 (upper slewing body 3).

[0077] For example, the detection unit 304A extends in the first monitoring area along the horizontal direction as seen from the excavator 100 (hereinafter, simply referred to as the "horizontal direction"), that is, the direction along the plane where the excavator 100 is working (the lower traveling body 1 is in contact with the ground) (hereinafter, for convenience, referred to as the "working plane"), and detects monitoring targets. Specifically, the detection unit 304A may detect monitoring targets within the first monitoring area where the horizontal distance D from the excavator 100 (upper slewing body 3) is within a predetermined distance Dth1 (for example, 5 meters).

[0078] For example, the detection unit 304A recognizes monitoring targets in the captured image by arbitrarily applying known various image processing methods, machine learning-based discriminators including artificial intelligence (AI), and the like.

[0079] Further, the detection unit 304A can determine (estimate) the position (e.g., the foot position) where the recognized monitoring target (person) exists, which appears in the captured image of the monocular imaging device 40, by applying various known methods. (Hereinafter, referred to as the "actual position").

[0080] For example, the detection unit 304A estimates the horizontal position (hereinafter, referred to as the "horizontal position") viewed from the excavator 100 based on the size of the recognized monitoring target in the captured image (e.g., the size in the height direction in the captured image). This is because there is a correlation relationship such that the size of the recognized monitoring target in the captured image becomes smaller as the monitoring target moves away from the excavator 100. Specifically, since the monitoring target has an assumed size range (e.g., the range of the assumed height of a person), the correlation relationship between the horizontal position of the monitoring target viewed from the excavator 100 within the assumed size range and the size in the captured image can be defined in advance. Therefore, the detection unit 304A can estimate the actual position (horizontal position from the excavator 100) of the recognized monitoring target based on, for example, a map or conversion formula representing the correlation relationship between the size of the monitoring target in the captured image and the horizontal position viewed from the excavator 100, which is stored in advance in an internal memory such as the auxiliary storage device of the controller 30.

[0081] Further, for example, the detection unit 304A can estimate the actual position (e.g., the foot position) by performing projective transformation (homography) of the captured image onto the same plane as the excavator 100 (specifically, the lower traveling body 1), on the premise that the monitoring target exists on the same plane as the excavator 100. In this case, a certain part (a certain point) constituting the captured image is associated with a certain position on the same plane as the excavator 100.

[0082] The detection unit 304B detects the monitoring target in a predetermined monitoring area (hereinafter, referred to as the "second monitoring area" for convenience) around the excavator 100 (the upper slewing body 3) based on the output of the surrounding information acquisition device 45 (i.e., the received light information). Hereinafter, the first monitoring area and the second monitoring area may be collectively referred to as the "monitoring area".

[0083] The detection unit 304B detects a monitoring target, for example, within a second monitoring area extending in the horizontal direction, that is, in the direction along the work plane. Specifically, the detection unit 304B may detect the monitoring target within the second monitoring area where the horizontal distance D from the excavator 100 (upper swing body 3) is within a predetermined distance Dth2. The predetermined distances Dth1 and Dth2 may be the same or different. That is, the first monitoring area and the second monitoring area may be the same or different. For example, the detection unit 304A monitors the monitoring target in the first monitoring area including a relatively distant range from the excavator 100, and the detection unit 304B monitors the monitoring target in the second monitoring area limited to a range relatively closer to the excavator 100 than the first monitoring area.

[0084] Based on the TOF information among the received light information captured from the ambient information acquisition device 45, the detection unit 304B recognizes the presence and position of surrounding objects. Further, the detection unit 304B recognizes the type of surrounding objects by recognizing the shape, size, etc. of the object based on the received light information (TOF information) corresponding to the reflected light received from a plurality of irradiation directions, and determines whether the object corresponds to the monitoring target. Also, the detection unit 304B may recognize the retroreflectivity and reflectivity of surrounding objects based on the received light intensity information among the received light information, recognize the type of the object, and determine whether the object corresponds to the monitoring target.

[0085] In addition, the functions of the detection units 304A and 304B may be switched between ON (effective) / OFF (ineffective) in response to a predetermined operation by an operator or the like on the input device 52. In this case, when the function of either one of the detection units 304A and 304B is OFF (ineffective), an operation to turn off the other function may be disabled. That is, it may be possible to switch only the function of either one of the detection units 304A and 304B to OFF (ineffective).

[0086] Further, instead of outputting two detection results regarding the monitoring target based on the detection units 304A and 304B, the detection unit 304 may output one detection result regarding the monitoring target by integrally using the outputs of both the imaging device 40 and the ambient information acquisition device 45. Further, the detection unit 304 may detect the monitoring target based on only one of the outputs of the imaging device 40 and the ambient information acquisition device 45. Further, part or all of the functions of the detection unit 304A may be incorporated in the imaging device 40 (camera 40X). Further, the function of the detection unit 304B may be incorporated in the ambient information acquisition device 45 (sensor 45X). For example, among the functions of the detection unit 304B, the function of detecting an object based on received light information (TOF information and received light intensity information) is incorporated in the sensor 45X, and the controller 30 realizes only the function of determining whether or not the object detected by the sensor 45X corresponds to the monitoring target. To This may also be the mode in which only the function of determining whether or not there is a match is realized by the controller 30.

[0087] When the monitoring target is detected by the detection unit 304, the safety function control unit 305 performs control regarding the safety function and activates the safety function.

[0088] For example, when the monitoring target is detected by the detection unit 304 within a predetermined range (hereinafter, “notification range”) included in the monitoring area, the safety function control unit 305 activates the notification function. The notification range may be the same as the monitoring area, or may be set such that its outer edge is relatively closer to the excavator 100 than the monitoring area.

[0089] For example, the safety function control unit 305 activates the notification function by sound (i.e., an auditory method) for at least one of the inside and outside of the cabin 10 by controlling the sound output device 54. At this time, the safety function control unit 305 may vary the pitch, sound pressure, tone color of the output sound, the sounding period when the sound is periodically sounded, the content of the voice, etc. according to various conditions.

[0090] Further, the safety function control unit 305 activates a notification function by visual means for the inside of the cab 10, for example, by controlling the display device 50 through the display processing unit 301. Specifically, the safety function control unit 305 may display an image indicating that a monitoring target has been detected on the monitoring image displayed on the display device 50 (see, for example, FIGS. 9A to 9C). Further, the safety function control unit 305 may emphasize, through the display processing unit 301, the position on the monitoring image corresponding to the position of the monitoring target reflected in the monitoring image displayed on the display device 50 or the position seen from the excavator 100 of the detected monitoring target. More specifically, the safety function control unit 305 may superimpose and display a frame surrounding the monitoring target reflected in the monitoring image or superimpose and display a marker at the position on the monitoring image corresponding to the actual position of the detected monitoring target through the display processing unit 301 (see, for example, FIGS. 9B and 9C). Thereby, the display device 50 can realize a visual notification function for the operator.

[0091] Further, the safety function control unit 305 may activate a notification function by visual means for workers, supervisors, etc. around the excavator 100, for example, by controlling headlights or external display devices provided in the house part of the upper swing body 3 or the like. Further, the safety function control unit 305 may activate a notification function for the operator inside the cab 10 by tactile means, for example, by controlling a vibration generating device that vibrates the operator's seat on which the operator is seated. Thereby, the peripheral monitoring device 200 can cause the operator, workers, supervisors, etc. around the excavator 100 to recognize that there is a monitoring target (for example, a person such as a worker) around the excavator 100. Therefore, the peripheral monitoring device 200 can prompt the operator to check the safety status around the excavator 100 and prompt workers, etc. in the monitoring area to evacuate from the monitoring area.

[0092] Further, the safety function control unit 305 may vary the notification mode (that is, the way of notification) according to the positional relationship between the monitoring target detected within the notification range and the excavator 100.

[0093] For example, when the monitoring target detected within the notification range by the detection unit 304 is located at a relatively far position from the excavator 100, the safety function control unit 305 may output an alarm with a relatively low urgency level (hereinafter, "alarm of attention level") that prompts the operator or the like to pay attention to the monitoring target. Hereinafter, the range that is relatively far from the excavator 100 in the notification range, that is, the range corresponding to the alarm of attention level, may be conveniently referred to as the "attention notification range". On the other hand, when the monitoring target detected within the notification range by the detection unit 304 is located at a relatively close position from the excavator 100, the safety function control unit 305 may output an alarm with a relatively high urgency level (hereinafter, "alarm of warning level") that notifies that the monitoring target is approaching the excavator 100 and the risk level is increasing. Hereinafter, the range with a relatively short distance from the excavator 100 in the notification range, that is, the range corresponding to the alarm of warning level, may be referred to as the "warning notification range".

[0094] In this case, the safety function control unit 305 may vary the pitch, sound pressure, timbre, beeping period, etc. of the sound output from the sound output device 54 between the alarm of attention level and the alarm of warning level. Also, the safety function control unit 305 may vary the color, shape, size, presence or absence of blinking, blinking period, etc. of an image indicating that the monitoring target is detected on the monitoring image displayed on the display device 50, or an image (such as a frame or a marker) that emphasizes the monitoring target or the position of the monitoring target between the alarm of attention level and the alarm of warning level. Thereby, the peripheral monitoring device 200 can enable the operator or the like to grasp the urgency level, in other words, the proximity of the monitoring target to the excavator 100, based on the difference in the notification sound (alarm sound) output from the sound output device 54 and the notification image displayed on the display device 50.

[0095] After the operation start of the notification function, when the monitoring target detected by the detection unit 304 is no longer detected within the monitoring area, or when a predetermined operation for canceling the operation of the notification function is received through the input device 52, the safety function control unit 305 may stop the notification function.

[0096] Further, when a monitoring target is detected within a predetermined range (hereinafter referred to as the "operation restriction range") included in the monitoring area by the detection unit 304, for example, the safety function control unit 305 activates the operation restriction function. The operation restriction range may be the same as the monitoring area, or may be set such that its outer edge is relatively closer to the excavator 100 than the monitoring area. Further, the operation restriction range includes at least one of an operation deceleration range that slows down the operation speed of the excavator 100 with respect to the operation of the operation device 26 or remote operation, and an operation stop range that stops the operation of the excavator 100 and maintains the stopped state regardless of the operation of the operation device 26 or remote operation. For example, when both the operation deceleration range and the operation stop range are included in the operation restriction range, the operation stop range is, for example, a range close to the excavator 100 within the operation restriction range, and the operation deceleration range is a range set outside the operation stop range within the operation restriction range.

[0097] The safety function control unit 305 activates an operation restriction function that restricts the operation of the excavator 100 by controlling the hydraulic control valve 56. In this case, the safety function control unit 305 may restrict the operation of all driven bodies (i.e., corresponding hydraulic actuators), or may restrict the operation of some driven bodies (hydraulic actuators). Thereby, when a monitoring target exists around the excavator 100, the peripheral monitoring device 200 can decelerate or stop the operation of the excavator 100. Therefore, the peripheral monitoring device 200 can suppress contact between the monitoring target around the excavator 100 and the excavator 100.

[0098] Further, when the monitoring target detected by the detection unit 304 disappears after the activation of the operation restriction function, or when a predetermined operation for canceling the activation of the operation restriction function is received through the input device 52, the safety function control unit 305 stops the notification function. The operation for canceling the activation of the notification function for the input device 52 and the operation for canceling the activation of the operation restriction function may be the same or different.

[0099] [Detectable Area of Monitoring Target] Next, with reference to FIG. 4 (FIGS. 4A and 4B), a specific example of the detectable area of the monitoring target regarding the detection unit 304 will be described.

[0100] FIGS. 4A and 4B are diagrams for explaining specific examples of the detectable area of the detection unit 304. Specifically, FIGS. 4A and 4B are diagrams showing a first example and a second example of the detectable area of the detection unit 304A using the imaging device 40 and the detectable area of the detection unit 304B using the surrounding information acquisition device 45 when the excavator 100 is viewed from above.

[0101] Hereinafter, in this example, the description will be centered on the detectable range of the monitoring target in the circumferential direction as viewed from the excavator 100 (specifically, the upper swing body 3). Therefore, when comparing the detectable ranges of the detection unit 304A and the detection unit 304B, the detectable range of the monitoring target in the circumferential direction as viewed from the excavator 100 is used as the comparison target, and the detectable ranges of the monitoring target in the radial direction (distance direction) and the vertical direction may be excluded from the comparison target.

[0102] <First Example of the Detectable Area of the Monitoring Target> As shown in FIG. 4A, the detectable area of the detection unit 304A corresponds to the matte part in the figure. Specifically, the detectable area of the detection unit 304A is the range excluding the range close to the excavator among the ranges defined by the circumferential viewing angles of the cameras 40B, 40L, and 40R as viewed from the excavator 100. This is because the upper surface of the upper swing body 3 where the cameras 40B, 40L, and 40R are installed is at a relatively high position from the ground, so that only a part of the monitoring target near the ground in the range close to the upper swing body 3 may be reflected in the image, or the vehicle body of the upper swing body 3 may be reflected in the image and the ground in the range close to the upper swing body 3 may become a blind spot of the vehicle body.

[0103] In addition, the circumferential viewing angles of cameras 40B, 40L, and 40R corresponding to the detectable areas of detection unit 304A, as viewed from each of the shovels 100, are narrower than the actual viewing angles corresponding to the imaging ranges of cameras 40B, 40L, and 40R. This is because at the ends of the imaging ranges (viewing angles) of cameras 40B, 40L, and 40R in the circumferential direction as viewed from the shovel 100 (upper swing body 3), only a part of the monitoring target is shown, and there may be cases where detection unit 304A cannot recognize (detect) the monitoring target from the captured image.

[0104] For example, assume that the swing angle of the upper swing body 3 with respect to the straight-ahead direction (extending direction) of the lower traveling body 1 is approximately 90 degrees (the crawlers 1CL and 1CR shown by the dotted lines in the figure). In this case, workers 401 and 402 located at positions facing the front crawler 1C (crawler 1CL) as viewed from the upper swing body 3 may be included in the imaging ranges of cameras 40L and 40R, and a part of them may be reflected in the left and right ends of the captured image. However, detection unit 304A cannot recognize (detect) workers 401 and 402 as monitoring targets that are only partially shown in the captured image.

[0105] On the other hand, as shown in FIG. 4, the detectable area of detection unit 304B is defined by the infrared irradiation ranges (thick lines in the figure) in the circumferential direction as viewed from each of the shovels 100 of sensors 45BL, 45BR, 45L, and 45R. Different from the case of image recognition, even when only the reflected light from a part of the monitoring target can be received, as described above, it is possible to recognize (detect) the monitoring target from the shape and size of the object based on the received light information and the received light intensity of the reflected light.

[0106] Specifically, the detectable area of the detection unit 304B includes all of the detectable area of the detection unit 304A. Also, in the detectable area of the detection unit 304B corresponding to the sensor 45L, when the turning angle of the upper swing body 3 with respect to the straight-ahead direction of the lower traveling body 1 is approximately 90 degrees, the left end of the front crawler 1C (crawler 1CL) as seen from the upper swing body 3 and the operator 401 located at a position facing the straight-ahead direction on the left side are included. Further, in the detectable area of the detection unit 304B corresponding to the sensor 45R, when the turning angle of the upper swing body 3 with respect to the straight-ahead direction of the lower traveling body 1 is approximately 90 degrees, the right end of the front crawler 1C (crawler 1CL) as seen from the upper swing body 3 and the operator 402 located at a position facing the straight-ahead direction on the right side are included. As a result, the detectable area of the detection unit 304B includes the entire circumferential range around the excavator 100 that is reflected in the monitoring image (through image or viewpoint-converted image) displayed on the display device 50. Therefore, the detection unit 304B can detect all monitoring targets included in the imaging ranges of the cameras 40B, 40L, and 40R in the circumferential direction as seen from the excavator 100, that is, all monitoring targets reflected in the monitoring image displayed on the display device 50. For example, even when only a part of the monitoring target is reflected at the left and right ends of the imaging image of the imaging device 40, the detection unit 304B can detect that monitoring target. Thus, it is possible to suppress a situation that gives the user a sense of discomfort due to the discrepancy between the display content (monitoring target is reflected) of the display device 50 and the detection result (non-detection of the monitoring target).

[0107] Also, for example, when the lower traveling body 1 starts to travel with the upper swing body 3 at a swing angle of approximately 90 degrees with respect to the straight-ahead direction of the lower traveling body 1, there is a possibility of contact with the operators 401 and 402. Also, in this state, it may be difficult to visually observe the operators 401 and 402 from the cab 10. In contrast, in this example, as described above, the detection unit 304B can detect a monitoring target in the space facing the straight-ahead direction of the front crawler 1C as viewed from the upper swing body 3 when the swing angle of the upper swing body 3 with respect to the straight-ahead direction of the lower traveling body 1 is approximately 90 degrees. Therefore, the peripheral monitoring device 200 can activate safety functions such as a notification function and an operation restriction function based on the detection of the operators 401 and 402. Thus, the safety of the excavator 100 can be further improved.

[0108] Note that in this example, the number of sensors 45X included in the surrounding information acquisition device 45 may be arbitrary as long as the entire circumferential range of the surroundings of the excavator 100 shown in the monitoring image that can be displayed on the display device 50 is included in the detectable area of the detection unit 304B in the circumferential direction as viewed from the excavator 100. The same applies to the arrangement of the sensors 45X included in the surrounding information acquisition device 45. Also, in this example, instead of redundantly outputting two detection results regarding the monitoring target using the detection units 304A and 304B, a configuration may be adopted in which the outputs of both the imaging device 40 and the surrounding information acquisition device 45 are integrally used to output one detection result regarding the monitoring target. In this case as well, the same operations and effects are achieved.

[0109] <Second Example of Detectable Area of Monitoring Target> As shown in FIG. 4B, in this example, on the upper surface of the upper swing body 3, sensors 45LF and 45LR are provided instead of the sensor 45L, and sensors 45RF and 45RR are provided instead of the sensor 45R, which is different. That is, in this example, the surrounding information acquisition device 45 includes sensors 45BL, 45BR, 45LF, 45LR, 45RF, and 45RR. Hereinafter, in this example, the description will be centered on the parts different from the first example above, and the description of the same parts and corresponding parts may be omitted. Also, in this example, the sensors 45BL, 45BR, 45LF, 45LR, 45RF, and 45RR may be collectively referred to as "sensor 45X".

[0110] In this example, it is assumed that the upper swing body 3 is in a state where it rotates relatively largely within a range where the swing angle with respect to the straight-ahead direction (the front-rear axis of the crawler 1C) of the crawler 1C is less than 90 degrees (the dotted crawlers 1CL and 1CR in the figure). Specifically, a state where the upper swing body 3 rotates 75 degrees to the right with respect to the straight-ahead direction of the crawler 1C is shown in the figure.

[0111] In this state, the operator 403 is located at a position facing the straight-ahead direction at the front end of the front crawler 1C (crawler 1CR) as seen from the upper swing body 3. In this case, since the operator 403 is located at a position outside the front of the cabin 10, it may be difficult for the operator in the cabin 10 to visually observe the operator 403. Also, the space facing the straight-ahead direction at the front end of the crawler 1CR is largely outside the detectable area of the detection unit 304A and is not included in the imaging range of the camera 40L.

[0112] In contrast, in this example, two sensors 45X (sensors 45LF and 45LR) are provided to be responsible for the range on the left side of the upper swing body 3. Specifically, the sensor 45LF is installed at the front of the left end of the upper surface of the upper swing body 3 such that the optical axis is slightly directed to the left front in a top view. Further, the sensor 45LR is installed at the rear of the left end of the upper surface of the upper swing body 3 such that the optical axis is slightly directed to the left rear in a top view. Thereby, while using the sensor 45LR to hold the left side from the left front to the left rear of the upper swing body 3 as the infrared irradiation range, the front end portion of the crawler 1CR and the space facing the straight-ahead direction can be included in the irradiation range by using the sensor 45LF. Therefore, the detection unit 304B can detect the operator 403B present at the position facing the straight-ahead direction at the front end portion of the crawler 1CR in a state where the upper swing body 3 turns relatively largely within a range where the turning angle of the upper swing body 3 with respect to the straight-ahead direction of the crawler 1C is less than 90 degrees.

[0113] Also, in this example, two sensors 45X (sensors 45RF and 45RR) are provided to be responsible for the range on the right side of the upper swing body 3. Specifically, the sensor 45RF is installed at the front of the right end of the upper surface of the upper swing body 3 such that the optical axis is slightly directed to the right front in a top view. Further, the sensor 45RR is installed at the rear of the right end of the upper surface of the upper swing body 3 such that the optical axis is slightly directed to the right rear in a top view. Thereby, contrary to the case of FIG. 4B (where the longitudinal axis of the crawler 1C slopes upward to the left), in a state where the longitudinal axis of the crawler 1C slopes upward to the right, while using the upper-right sensor 45RR to hold the right side from the right front to the right rear of the upper swing body 3 as the infrared irradiation range, the rear end portion of the crawler 1CR and the space facing the straight-ahead direction can be included in the irradiation range by using the sensor 45RF. Therefore, in this state, the detection unit 304B can detect the operator present at the position facing the straight-ahead direction at the rear end portion of the crawler 1CR.

[0114] In this way, by appropriately devising the number and arrangement of the sensors 45X, the detection unit 304B can detect a monitoring target (for example, the worker 403) that exists at a position facing the straight-ahead direction of the front crawler 1C as seen from the upper swing body 3 when the upper swing body 3 is in a state of relatively large turning within a range where the turning angle of the upper swing body 3 with respect to the straight-ahead direction of the crawler 1C is less than 90 degrees. That is, in a state where the upper swing body 3 is turning relatively largely with respect to the straight-ahead direction of the crawler 1C, the space facing the straight-ahead direction of the crawler 1C is included in the range (detectable area) where the detection unit 304 can detect the monitoring target. Thereby, the safety of the excavator 100 can be improved.

[0115] In addition, instead of or in addition to including the space facing the straight-ahead direction of the crawler 1C in the detectable area of the detection unit 304 in a state where the upper swing body 3 is turning relatively largely with respect to the straight-ahead direction of the crawler 1C, the number and arrangement of the cameras 40X may be appropriately devised so as to be included in the range that can be displayed on the display device 50 as a monitoring image. Thereby, an operator or the like can grasp the state of the space facing the straight-ahead direction of the crawler 1C through the monitoring image of the display device 50.

[0116] [Method for Detecting Monitoring Target] Next, with reference to FIG. 5 (FIGS. 5A to 5D), a specific example of the method for detecting a monitoring target by the detection unit 304 will be described.

[0117] [Specific Example of Method for Recognizing Monitoring Target] FIGS. 5A to 5D are diagrams showing specific examples of people at the work site as monitoring targets, that is, workers. Specifically, FIG. 5A is a diagram showing a first example of a worker (worker W1). FIG. 5B is a diagram showing a second example of a worker (worker W2). FIG. 5C is a diagram showing a third example of a worker (worker W3). FIG. 5D is a diagram showing a fourth example of a worker (worker W4).

[0118] As shown in Fig. 5A, an operator W1 (an example of a first person) is wearing a helmet HMT and a vest with a reflective material (hereinafter, "reflective vest") RV (an example of clothing with a reflective material). The reflective material is a member with very high retroreflectivity (the performance of reflecting irradiated light toward the light source).

[0119] As shown in Fig. 5B, an operator W2 (an example of a second person) is wearing a helmet HMT while not wearing the reflective vest RV.

[0120] As shown in Fig. 5C, an operator W3 (an example of a second person) is wearing the reflective vest RV while not wearing a helmet HMT.

[0121] As shown in Fig. 5D, an operator W4 (an example of a third person) is not wearing either the helmet HMT or the reflective vest RV.

[0122] When the detection unit 304A (an example of a first detection unit) detects a person (operator) as a monitoring target, it attempts to recognize both the whole person (operator) and the helmet from the captured image of the imaging device 40. Thereby, even when the detection unit 304A cannot recognize the whole person with a certainty exceeding a predetermined standard due to the orientation, posture, etc. of the person, if it can recognize the helmet with a certainty exceeding the predetermined standard, it can detect the operator. That is, the detection unit 304A can detect W1 and W2 wearing the helmet HMT among the operators W1 to W4 with a relatively higher probability than the other operators W3 and W4.

[0123] On the other hand, when the detection unit 304B (an example of the second detection unit) detects a person (worker) as a monitoring target, based on the received light information, it attempts to recognize (detect) an object with a relatively high received light intensity of the reflected light (infrared light) received (specifically, higher than a predetermined standard). The received light intensity of the reflected light is obtained based on the received light intensity information. Also, the received light intensity of the reflected light from an object increases as the retroreflectivity of the object's surface increases, while it decreases as the distance from the object to the sensor 45X increases. Therefore, the detection unit 304B may correct the received light intensity based on the received light intensity information, taking into account the distance to the object based on the TOF information, for example, to the received light intensity when the object is assumed to be at a predetermined distance. At this time, the predetermined standard is set in advance in a manner that can distinguish between a reflective material and other objects. Thereby, when an object with a relatively high received light intensity of the reflected light is recognized, the detection unit 304B determines that it is a worker wearing clothing with a reflective material such as a reflective vest, and can detect the worker. Clothing with a reflective material includes any clothing to which a reflective material can be attached, such as a reflective vest, a jacket with a reflective material, and pants with a reflective material. That is, the detection unit 304B can detect W1 and W3 wearing the reflective vest RV with a relatively higher probability than the other workers W2 and W4 among the workers W1 to W4.

[0124] In addition, the detection unit 304B can recognize the shape and size of an object from the received light information corresponding to the reflected light received from a plurality of irradiation directions. Therefore, when the detection unit 304B detects a person (worker) as a monitoring target, it may recognize the person (worker) using the shape, size, etc. of the object based on the received light information.

[0125] As described above, the detection unit 304 detects the monitoring target using both of the detection units 304A and 304B. As a result, the detection unit 304 detects an operator (for example, operator W1) wearing both a helmet and clothing with a reflective material with the highest probability. In addition, the detection unit 304 can detect an operator wearing either one of the helmet and the clothing with a reflective material (for example, operators W2 and W3) with a certain probability lower than that in the case of an operator wearing both the helmet and the clothing with a reflective material. Further, the detection unit 304 detects an operator not wearing both the helmet and the clothing with a reflective material (for example, operator W4) with the lowest probability. In other words, the detection unit 304 is configured in such a manner that a person wearing both a helmet and clothing with a reflective material is most easily detected, a person wearing either one of the helmet and the clothing with a reflective material is next most easily detected, and a person not wearing both the helmet and the clothing with a reflective material is most difficult to detect.

[0126] For example, when a person as a monitoring target is recognized (detected) using only the captured image of the imaging device 40, there is a possibility that the person may not be recognized as a person depending on the orientation and posture of the person, or an object other than a person may be recognized as a person.

[0127] In contrast, in this example, in addition to the detection unit 304A that uses the output (captured image) of the imaging device 40 (camera 40X), a detection unit 304B that uses the output (light reception information) of the surrounding information acquisition device 45 (sensor 45X) is provided. As a result, the peripheral monitoring device 200 can use not only the detection result of the detection unit 304A but also the detection result of the detection unit 304B. Therefore, even when a person who should be detected by the detection unit 304A is not detected or an object that is not a person is detected as a person, the peripheral monitoring device 200 can use the detection result of the detection unit 304B to suppress non-detection and false detection. Thus, the safety of the excavator 100 can be further improved. Also, in this example, the detection unit 304 can detect an operator wearing a helmet and clothing with a reflective material as safety equipment with relatively high accuracy. Therefore, the peripheral monitoring device 200 can encourage the operator to wear a helmet and clothing with a reflective material from the perspective of ensuring the safety of the operator himself / herself and thus ensuring the safety of the work site.

[0128] Note that in this example, the detection unit 304 is configured to be able to identify the helmet and clothing with a reflective material worn by the operator, but may detect (recognize) a person (operator) as the monitoring target in a manner of identifying other safety equipment. The safety equipment to be identified may include, for example, safety belts, earplugs at noisy sites, safety shoes, gloves for arc welding or vibration prevention, masks for dust prevention or gas prevention, glasses for dust prevention or light shielding, welding masks, ID (Identifier) tags that output an alarm when a work machine approaches, and the like. Thereby, the peripheral monitoring device 200 can encourage the operator to wear more safety equipment.

[0129] <Method for specifying the position of the monitoring target> The detection unit 304A specifies the position of the operator as seen from the excavator 100 (for example, the foot position) based on the size, position, etc. of the entire recognized person (operator) or the partial image corresponding to the helmet in the captured image. This is because the size of the operator on the captured image changes depending on the distance from the camera 40X to the operator. Also, the position shown on the captured image changes depending on the distance and direction from the camera 40X to the operator.

[0130] On the other hand, the detection unit 304B specifies the position of the operator as seen from the excavator 100 based on the TOF information among the received light information. The TOF information includes the irradiation direction of light as seen from the sensor 45X and the time from the irradiation of light in the irradiation direction until the reflected light is received. Based on the former, the direction of the object from the sensor 45X can be specified, and based on the latter, the distance between the sensor 45X and the object can be specified.

[0131] For example, as described above, the received light intensity of the reflected light (infrared light) from the object decreases as the distance between the object and the sensor 45X increases. Therefore, by utilizing this property, it is also possible to specify the position (distance) of the monitoring target from the received light intensity information. However, the received light intensity of the reflected light from the object also varies depending on the nature of the surface of the object, specifically, the retroreflectivity, reflectivity, etc. Therefore, when the position of the monitoring target is specified using only the received light intensity information, the accuracy of the specified position relatively decreases, and there is a possibility that the peripheral monitoring device 200 cannot accurately grasp the positions of the surrounding monitoring targets. For example, when there is a large variation in the retroreflectivity of the clothing with a reflective material worn by the operator, the range of the received light intensity of the reflected light becomes relatively wide, and the accuracy of the distance information based on the received light intensity information may decrease. Therefore, when operating safety functions such as a notification function and an operation restriction function according to the position of the monitoring target, variations may occur in the operating conditions of the notification function and the operation restriction function.

[0132] In contrast, the detection unit 304B recognizes (detects) the monitoring target based on the received light intensity information and the TOF information, and specifies the position of the monitoring target. Then, when the safety function control unit 305 detects a monitoring target with a relatively high intensity of the reflected light received by the detection unit 304B and a relatively short distance from the excavator 100 (i.e., within the notification range or the operation restriction range), the safety function control unit 305 activates at least one of the notification function and the operation restriction function. That is, the safety function control unit 305 outputs an alarm and restricts the operation of the excavator 100 based on the output (received light intensity information and TOF information) of the sensor 45X. As a result, since the peripheral monitoring device 200 can use the TOF information, it can specify the position of the monitoring target around the excavator 100 with relatively higher accuracy than when using only the received light intensity information. Therefore, when the peripheral monitoring device 200 activates safety functions such as the notification function and the operation restriction function according to the position of the monitoring target, it can suppress variations in the activation conditions of the notification function and the operation restriction function. Thus, the peripheral monitoring device 200 can improve the safety of the excavator 100.

[0133] Note that in this example, the detection unit 304B may specify the position of the monitoring target by using other information regarding the distance to an object around the excavator 100 instead of or in addition to the TOF information. For example, the detection unit 304B may specify the position of the monitoring target by using information regarding the distance to an object around, which is obtained based on the captured image of a stereo camera as the imaging device 40 (camera 40X).

[0134] [Method for Controlling Activation of Safety Function] Next, a specific example of the method for controlling the activation of the safety functions (notification function and operation restriction function) by the safety function control unit 305 will be described.

[0135] In this example, the safety function control unit 305 varies the activation mode of the safety function depending on whether the monitoring target is detected by the detection unit 304A or by the detection unit 304B.

[0136] [First Example of Method for Controlling Activation of Safety Function] When the monitoring target is detected by the detection unit 304A, the safety function control unit 305 activates only the notification function among the safety functions. That is, when the monitoring target is detected by the detection unit 304A, the safety function control unit 305 does not activate the operation restriction function regardless of the distance between the monitoring target and the excavator 100. Specifically, when the monitoring target is detected within the notification range (hereinafter, for convenience, referred to as the "first notification range") by the detection unit 304A, the safety function control unit 305 activates the notification function, and the operation restriction range (hereinafter, for convenience, referred to as the "first operation restriction range") corresponding to the detection of the monitoring target by the detection unit 304A is not set.

[0137] On the other hand, when the monitoring target is detected within the operation restriction range (hereinafter, for convenience, referred to as the "second operation restriction range") by the detection unit 304B, the safety function control unit 305 activates the operation restriction function. Further, when the monitoring target is detected within the notification range (hereinafter, for convenience, referred to as the "second notification range") by the detection unit 304B, the safety function control unit 305 may activate the notification function. The first notification range and the second notification range may be the same or different.

[0138] For example, even though the detection accuracy regarding the monitoring target is relatively low, if the operation restriction function is activated based on the detection result, it is more likely to give the operator a sense of discomfort or reduce the working efficiency of the excavator 100 than when the notification function is activated.

[0139] In contrast, in this example, the peripheral monitoring device 200 allows the activation of the operation restriction function only when the monitoring target is detected by the detection unit 304B among the detection units 304A and 304B. This is because the detection accuracy is relatively higher when the monitoring target is detected based on the received light information of the ambient information acquisition device 45 than when the monitoring target is detected by image recognition of the captured image of the imaging device 40. That is, the detection unit 304B has a tendency to have a higher detection accuracy regarding the monitoring target than the detection unit 304A. Thereby, the peripheral monitoring device 200 can improve the safety of the excavator 100 while suppressing the sense of discomfort given to the operator and the reduction of the working efficiency of the excavator 100.

[0140] <Second Example of Actuation Control Method for Safety Function> When the monitoring target is detected within the first notification range by the detection unit 304A and when the monitoring target is detected within the second notification range by the detection unit 304B, the safety function control unit 305 varies the notification mode (i.e., the way of notification) when activating the notification function. As a result, it is possible to easily determine whether the monitoring target is detected using the imaging device 40 (camera 40X) or using the ambient information acquisition device 45 (sensor 45X).

[0141] For example, when the monitoring target is detected by the detection unit 304A and when the monitoring target is detected by the detection unit 304B, the safety function control unit 305 may vary the tone color, volume, pattern, beeping period, voice content, etc. of the sound output from the sound output device 54. Specifically, when the monitoring target is detected by the detection unit 304B, the safety function control unit 305 may adopt a tone color, volume, pattern, beeping period, voice content, etc. that indicate a higher degree of urgency (risk degree) than when the monitoring target is detected by the detection unit 304A. This is because, as described above, the detection unit 304B tends to have a higher detection accuracy regarding the monitoring target than the detection unit 304A.

[0142] Also, for example, when the monitoring target is detected by the detection unit 304A and when the monitoring target is detected by the detection unit 304B, the safety function control unit 305 may vary the display mode regarding the notification function displayed on the display device 50 (see, for example, FIG. 9A).

[0143] [Actuation Control Method for Safety Function When Option Equipment is Installed] Next, with reference to FIG. 6, a specific example of the actuation control method for the safety function by the safety function control unit 305 when option equipment (hereinafter simply referred to as "option equipment") that increases the occupied volume of the excavator 100 is installed will be described.

[0144] FIG. 6 is a diagram for explaining the operation restriction range when the option equipment is installed.

[0145] As shown in FIG. 6, in this example, a blade 90 as an optional equipment is attached to the front side of the lower traveling body 1 of the excavator 100. Specifically, the blade 90 is attached in a manner that protrudes forward in the straight-ahead direction of the lower traveling body 1 (crawlers 1CL and 1CR) (white arrow in the figure). Therefore, when the lower traveling body 1 travels in the direction in which the blade 90 is attached (right direction in the figure) (for example, straight-ahead traveling or gentle turning), the distance between the surrounding operator 610 and the excavator 100 (blade 90) becomes closer than in the state where the blade 90 is not attached. Also, when the lower traveling body 1 performs a pivot turn, a spin turn, or the like, the blade 90 also performs a turning operation toward the periphery of the excavator 100 along with the operation of the lower traveling body 1. Therefore, the turning radius becomes wider by the amount that the blade 90 protrudes forward of the lower traveling body 1. Thus, there is a possibility that the distance between the surrounding operator 610 and the excavator 100 (blade) becomes closer than in the state where the blade 90 is not attached to the excavator 100.

[0146] In contrast, when the blade 90 moves toward the periphery of the excavator 100 along with the operation of the excavator 100 (i.e., the traveling operation of the lower traveling body 1), the safety function control unit 305 makes it easier to activate the safety function than in other cases. Other cases include, for example, when the lower traveling body 1 travels backward where the blade 90 is not mounted and the blade 90 moves away from the periphery of the excavator 100. In this example, the direction in which the blade 90 moves toward the periphery of the excavator 100, that is, the outer edge of the operation restriction range in front of the lower traveling body 1, is set to be farther from the excavator 100 than when the blade 90 is not mounted on the lower traveling body 1 (for example, the dotted line 620 in the figure) (for example, the dotted line 630 in the figure). This setting (change) is executed by the setting unit 302, and the setting content may be registered in the storage unit 303. The same may apply to the outer edge of the notification range corresponding to the notification function. Thereby, when the excavator 100 travels toward the front side (the right side in the figure) of the lower traveling body 1 on which the blade 90 is mounted, the safety function control unit 305 can activate the safety function (alarm function or operation restriction function) earlier in response to the detection of the operator 610 by the detection unit 304. Therefore, the safety function control unit 305 can activate the safety function more appropriately according to the installation of the optional equipment. Thus, the peripheral monitoring device 200 can further improve the safety of the excavator 100. In other words, when the optional equipment (blade 90) is mounted, the safety function control unit 305 can activate the safety function in a manner that the safety of the excavator 100 is relatively higher than when the optional equipment is not mounted.

[0147] Alternatively, instead of setting the outer edges of the notification range and the operation restriction range to move away from the excavator 100, the safety function may be set to be more likely to be activated by relaxing other conditions for activating the safety function. For example, the operating conditions of the safety function include conditions regarding the degree of certainty of the monitoring target detected by the detection unit 304 (hereinafter, “certainty of the monitoring target”). ItIn such a case, the condition may be relaxed. Information regarding the accuracy of the monitoring target is output from the detection unit 304. Specifically, when the blade 90 moves toward the periphery of the excavator 100 as the excavator 100 operates, the setting unit 302 may relatively lower the threshold value corresponding to the condition of the accuracy of the monitoring target compared to other cases. Further, when the blade 90 is attached, the setting unit 302 may relatively lower the threshold value corresponding to the condition of the accuracy of the monitoring target compared to the case where the blade 90 is not attached. Thereby, the safety function control unit 305 can more appropriately operate the safety function in accordance with the attachment of the optional equipment.

[0148] Alternatively, instead of relaxing the operating conditions of the safety function, the operating safety function may be switched to a relatively safer specification. For example, when the blade 90 moves toward the periphery of the excavator 100 as the excavator 100 operates, the setting unit 302 may set the notification function and the operation restriction function to be operable as safety functions, and in other cases, may set only the notification function to be operable. Further, when the blade 90 is attached, the setting unit 302 may set the notification function and the operation restriction function to be operable as safety functions, and when the blade 90 is not attached, may set only the notification function to be operable as a safety function. The operation restriction function can forcibly restrict the operation of the excavator 100 regardless of the intention of the operator or the like, and thus is relatively safer than the notification function. Further, when the blade 90 moves toward the periphery of the excavator 100 as the excavator 100 operates, the setting unit 302 may set the operation restriction function to be operable with a relatively high degree of restriction, and in other cases, may set the operation restriction function to be operable with a relatively low degree of restriction. Further, when the blade 90 is attached, the setting unit 302 may set the operation restriction function to be operable with a relatively high degree of restriction, and when the blade 90 is not attached, may set the operation restriction function to be operable with a relatively low degree of restriction. Further, when the blade 90 moves toward the periphery of the excavator 100 as the excavator 100 operates, the setting unit 302 may set the notification function to be operable in a manner indicating a relatively high level of urgency (risk), and in other cases, may set the notification function to be operable in a manner indicating a relatively low level of urgency (risk). Further, when the blade 90 is attached, the setting unit 302 may set the notification function to be operable in a manner indicating a relatively high level of urgency (risk), and when the blade 90 is not attached, may set the notification function to be operable in a manner indicating a relatively low level of urgency (risk). Thereby, the safety function control unit 305 can operate the safety function more appropriately according to the attachment of the optional equipment.

[0149] Also, when other types of optional equipment are attached instead of or in addition to the blade 90, the safety function may similarly be activated in a relatively safer manner. Other types of optional equipment may include, for example, an additional counterweight attached to the rear of the upper swing body 3 or a large counterweight heavier than the standard counterweight. Also, other types of optional equipment may include a relatively long long arm attached instead of the arm 5. Also, other types of optional equipment may include, for example, a spare attachment (such as a breaker or a stirrer, etc.) as an end attachment attached instead of the bucket 6 or a spare attachment (such as a quick coupler or a tilt rotator, etc.) attached between the end attachment and the arm 5.

[0150] Further, when the optional equipment is detachable, the safety function control unit 305 may determine the presence or absence of the optional equipment for each type of optional equipment and change the activation mode of the safety function as described above according to the determination result. For example, the setting unit 302 makes a setting regarding the attachment state of the optional equipment (such as the presence or absence of attachment for each type of optional equipment, etc.) according to an operation of an operator or the like through the input device 52. Then, the safety function control unit 305 may determine the presence or absence of the optional equipment based on the setting content registered in the storage unit 303. Also, for example, the safety function control unit 305 may automatically determine whether or not the optional equipment is attached for each type of optional equipment based on the output of a sensor (such as the imaging device 40 or a switch provided at the attachment portion of the optional equipment) capable of acquiring information regarding the attachment situation of the optional equipment.

[0151] In addition, when transitioning from a state where no optional equipment is installed to a state where optional equipment is installed, the display processing unit 301 may cause the display device 50 to display a notification regarding a change in the operation mode of the safety function (hereinafter simply referred to as a "change notification"). The change notification includes a notification that the operation target of the safety function is automatically changed. As a result, the peripheral monitoring device 200 can enable the operator to recognize that the operation mode of the safety function is automatically changed due to the installation of the optional equipment. Further, the change notification may be a notification prompting whether to permit the change in the operation mode of the safety function. In this case, when the change notification is displayed on the display device 50, a user such as an operator can permit or reject the change in the operation mode of the safety function through the input device 52. Therefore, the intention of the user such as the operator can be reflected in the change in the operation mode of the safety function according to the installation status of the optional equipment. Further, the change notification may be a notification prompting a manual change in the operation mode of the safety function. In this case, the user can manually change the operation mode of the safety function in response to the change notification. That is, the setting unit 302 can change the operation mode of the safety function according to a manual setting operation by an operator or the like through the input device 52. Therefore, the intention of the user such as the operator can be reflected in the change in the operation mode of the safety function according to the installation status of the optional equipment.

[0152] [Operation control method of external notification function] Next, a specific example of the operation control method of the external notification function by the safety function control unit 305 will be described.

[0153] As described above, the safety function control unit 305 is configured to enable the external notification function when the monitoring target is detected by the detection unit 304. In this example, the safety function control unit 305 may operate the external notification function or may not operate the external notification function when the monitoring target is detected by the detection unit 304.

[0154] For example, the safety function control unit 305 may switch between activating and not activating the external notification function according to which of the detection unit 304A and the detection unit 304B has detected the monitoring target. Specifically, the safety function control unit 305 may be configured such that the external notification function is deactivated when the monitoring target is detected by the detection unit 304A, while the external notification function is activated when the monitoring target is detected by the detection unit 304B. For example, when the external notification function is activated, the work of workers around the excavator 100 may stop. If it is a false alarm, there is a possibility that the work efficiency will decrease due to the activation of the unnecessary external notification function. On the other hand, as described above, by making the external notification function activatable only when the monitoring target is detected by the detection unit 304B, which has a relatively high detection accuracy among the detection units 304A and 304B, it is possible to achieve a balance between the safety and work efficiency around the excavator 100.

[0155] Also, for example, when a monitoring target is detected by the detection unit 304, the safety function control unit 305 may switch between activating and not activating the external notification function by linking it with the operating status of the operation restriction function. Specifically, even when a monitoring target is detected within the notification range by the detection unit 304, if the operation restriction function (for example, the operation deceleration function) is not operating (for example, as described later, when there is no possibility of contact between the monitoring target and the excavator 100, etc.), the external notification function may not be activated. On the other hand, the safety function control unit 305 may activate the external notification function when a monitoring target is detected within the notification range by the detection unit 304 and the operation restriction function (for example, the operation deceleration function) is operating. Thereby, while ensuring the safety of the excavator 100, the peripheral monitoring device 200 can suppress the occurrence of a situation where the external notification function is activated in a situation where the possibility of contact between the surrounding monitoring target and the excavator 100 is low, and the work of workers, etc. around the excavator 100 stops, that is, a decrease in work efficiency. When the operation restriction function of the excavator 100 operates, it will attract the attention of workers, etc. around the excavator 100. Therefore, in the first place, there is a high possibility that the work around the excavator 100 will stop or be delayed. Therefore, even if the external notification function operating in such a situation is a false alarm, since the work around the excavator 100 has stopped or been delayed in the first place, the problem of a decrease in work efficiency is also less likely to occur.

[0156] Further, for example, when a monitoring target is detected within the notification range by the detection unit 304, the safety function control unit 305 may switch between activating and not activating the external notification function according to whether the monitoring target exists in the direction in which the excavator 100 operates. Specifically, based on the operation information of the excavator 100, the safety function control unit 305 determines the direction in which the excavator 100 operates in accordance with the operation of the driven body (for example, the lower traveling body 1, the upper slewing body 3, the attachment, etc.). When the monitoring target does not exist in the direction in which the excavator 100 operates, the external notification function may not be activated. On the other hand, based on the operation information of the excavator 100, the safety function control unit 305 determines the direction in which the excavator 100 operates in accordance with the operation of the driven body. When the monitoring target exists in the direction in which the excavator 100 operates, the external notification function may be activated. Thereby, while ensuring the safety of the excavator 100, the peripheral monitoring device 200 can suppress the occurrence of a situation where the external notification function is activated in a situation where the possibility of contact between the surrounding monitoring target and the excavator 100 is low, that is, a situation where the work of workers around the excavator 100 stops, namely, a decrease in work efficiency.

[0157] Further, for example, when a monitoring target is detected within the notification range by the detection unit 304, the safety function control unit 305 may switch between activating and not activating the external notification function according to the level of risk based on the positional relationship between the excavator 100 and the monitoring target. Specifically, when the risk level (e.g., the possibility of contact, etc.) based on the positional relationship between the excavator 100 and the monitoring target is relatively high, the safety function control unit 305 activates the external notification function. On the other hand, when the risk level based on the positional relationship between the excavator 100 and the monitoring target is relatively low, the external notification function may not be activated. The risk level may be obtained (calculated) based on, for example, the distance between the monitoring target and the excavator 100. Also, the risk level may be obtained (calculated) based on, for example, the operating direction of the driven body corresponding to the operation of the excavator 100 (e.g., the traveling direction of the lower traveling body 1, the turning direction of the upper slewing body 3, the moving direction of the attachment, etc.) and the monitoring target. Thereby, while ensuring the safety of the excavator 100, the peripheral monitoring device 200 can suppress the occurrence of a situation where the external notification function is activated and the work of workers around the excavator 100 stops, that is, the reduction of work efficiency, in a situation where the possibility of contact between the surrounding monitoring target and the excavator 100 is low.

[0158] Also, for example, the setting unit 302 may perform a setting to switch the ON (effective) and OFF (ineffective) of the external notification function in response to a predetermined operation by an operator or the like through the input device 52. In this case, when the monitoring target is detected in the notification range by the detection unit 304, the safety function control unit 305 may switch between activating and not activating the external notification function according to the set status regarding the activation of the external notification function. Specifically, when the monitoring target is detected in the notification range by the detection unit 304, the safety function control unit 305 may activate the external notification function when the external notification function is set to ON (effective), and may not activate the external notification function when the external notification function is set to OFF (ineffective). Thereby, the peripheral monitoring device 200 can reflect the intention of an operator or the like in the determination of whether to activate the external notification function.

[0159] As described above, the safety function control unit 305 may activate the external notification function through the sound output device 54. As described above, the sound output device 54 includes, for example, a horn 54a, a traveling alarm 54b, and the like. Thereby, the safety function control unit 305 can realize the external notification function using the existing horn 54a and traveling alarm 54b. Therefore, the cost for realizing the external notification function can be suppressed.

[0160] For example, the horn 54a may be configured to be able to sound by energizing a coil and closing a relay 62 in response to a control command (control current) corresponding to the activation of the external notification function from the controller 30, regardless of the ON operation of the knob switch 64. The controller 30 can output a sound from the horn 54a in a predetermined sounding pattern by appropriately controlling the opening and closing pattern of the horn relay. At this time, the sounding pattern of the horn 54a corresponding to the external notification function may be set in a mode different from the sounding pattern when an operator or the like sounds it at the start of travel. Thereby, the peripheral monitoring device 200 can distinguish between the notification (signal) of the start of travel of the excavator 100 and the activation of the external notification function for the workers and the like around the excavator 100.

[0161] Also, for example, the traveling alarm 54b outputs a sound in a predetermined sounding pattern in response to a control command corresponding to the activation of the external notification function of the controller 30. At this time, the sounding pattern of the traveling alarm corresponding to the external notification function may be set in a mode different from that during the travel of the normal lower traveling body 1 (for example, a beep sound that repeatedly sounds like "pipipit, pipipit, pipipit,..."). Thereby, the peripheral monitoring device 200 can distinguish between the notification during the travel of the excavator 100 and the activation of the external notification function for the workers and the like around the excavator 100, as in the case of the horn 54a.

[0162] [Operation control method of the operation restriction function] Next, with reference to FIGS. 7 and 8 (FIGS. 8A and 8B), a specific example of the operation control method of the operation restriction function by the safety function control unit 305 will be described.

[0163] FIG. 7 is a diagram for explaining a method of determining whether or not there is contact with a monitoring target around the excavator 100. Specifically, FIG. 7 shows a working situation 700 in which the lower traveling body 1 (crawlers 1CL, 1CR) of the excavator 100 is traveling straight ahead in the right direction in the figure. FIGS. 8A and 8B are diagrams for explaining an operation control method of the operation restriction function. Specifically, FIGS. 8A and 8B are diagrams showing the operation control methods of the operation restriction function in the working situations 810 and 820 of the excavator 100, respectively.

[0164] In this example, when the monitoring target is detected in the operation restriction range by the detection unit 304, the safety function control unit 305 determines whether or not contact occurs between the monitoring target and the excavator 100 by the operation of the excavator 100 corresponding to the operation of the excavator 100 (that is, the operation of the operation device 26 or the remote operation). Then, when the safety function control unit 305 determines that contact occurs between the monitoring target and the excavator 100, the operation stop function is activated to stop the operation of the excavator 100 with respect to the operation of the excavator 100.

[0165] Specifically, the safety function control unit 305 may determine the direction in which the driven body to be operated moves based on the operation information of the driven body to be operated. Then, the safety function control unit 305 may predict the presence or absence of contact between the excavator 100 and the monitoring target based on the information regarding the positional relationship between the outer surface of the excavator 100 and the monitoring target (detected by the detection unit 304) and the determined direction in which the excavator 100 moves. The information regarding the positional relationship between the outer surface of the excavator 100 and the monitoring target may include, for example, output information of the imaging device 40 (camera 40X), the ambient information acquisition device 45 (sensor 45X), and the detection result of the detection unit 304. Also, the presence or absence of contact between the excavator 100 and the monitoring target may be predicted. Further, the information regarding the positional relationship between the outer surface of the excavator 100 and the monitoring target may include, for example, information regarding the installation positions of the camera 40X and the sensor 45X on the excavator 100 (upper swing body 3). This is because it is possible to determine which part of the outer surface of the excavator 100 the monitoring target is close to from the installation locations of the camera 40X and the sensor 45X that acquire information regarding the monitoring target. Additionally, the information regarding the positional relationship between the outer surface of the excavator 100 and the monitoring target may include information regarding the physical dimensions of the excavator 100 (such as specifications and shape, e.g., width) with respect to the direction in which the excavator 100 moves. This is because the positional relationship between the outer surface of the excavator 100 and the monitoring target may change depending on the physical dimensions (occupied width) of the excavator 100 with respect to the direction in which the excavator 100 moves.

[0166] For example, when a monitoring target is detected by the detection unit 304, the safety function control unit 305 determines, at a predetermined period, the direction in which the excavator 100 operates along with the operation of the driven body based on the operation information of the driven body. Thereby, in accordance with the change in the operation information of the driven body, the determination result of the direction in which the excavator 100 operates is updated. Similarly, the detection unit 304 performs a process of detecting a monitoring target around the excavator 100 at a predetermined period and outputs the position information of the detected monitoring target. Thereby, the relative position information of the monitoring target continuously detected by the detection unit 304 with respect to the excavator 100 is sequentially updated. Then, the safety function control unit 305 may determine whether contact between the excavator 100 and the monitoring target will occur until a predetermined time elapses in the future, based on the direction in which the excavator 100 operates as determined by itself and the position information of the monitoring target output from the detection unit 304. Thereby, the safety function control unit 305 can sequentially update the determination result of the presence or absence of contact between the excavator 100 and the surrounding monitoring target in accordance with the sequentially updated direction in which the excavator 100 operates and the position of the monitoring target as seen from the excavator 100. Therefore, even in a situation where the operation content regarding the driven body changes (for example, when the operation content regarding the lower traveling body 1 changes to a traveling operation that changes from straight-ahead traveling to slow turning traveling), it is possible to appropriately determine the presence or absence of contact between the excavator 100 and the monitoring target.

[0167] Also, for example, the safety function control unit 305 may determine the presence or absence of contact between the excavator 100 and the monitoring target using a predetermined range (i.e., an operation stop range) set based on the information regarding the positional relationship between the outer surface of the excavator 100 and the monitoring target and the determined direction in which the excavator 100 operates. Specifically, the operation stop range may be set by the setting unit 302 at a predetermined period as a range in which contact between the excavator 100 and the monitoring target may occur.

[0168] For example, in the working condition 700 of FIG. 7, the excavator 100 with the upper swing body 3 and the attachment shown by the solid line (hereinafter, for convenience, referred to as the "excavator 100 with the solid line") has the upper swing body 3 (attachment) rotated 90 degrees to the left direction with respect to the straight-ahead direction of the lower traveling body 1 (right direction in the figure) and facing upward in the figure. Also, the excavator 100 with the upper swing body 3 and the attachment shown by the dashed-dotted line (hereinafter, for convenience, referred to as the "excavator 100 with the dashed-dotted line") has the upper swing body 3 rotated to the left direction with respect to the straight-ahead direction of the lower traveling body 1 (right direction in the figure) and facing upward and to the right diagonally in the figure.

[0169] When the lower traveling body 1 of the excavator 100 with the solid line travels in the right direction in the figure, the machine body (lower traveling body 1 and upper swing body 3) passes through the width (range) between the dotted line 710 defined by the left end (outer end) of the crawler 1CL and the rear end of the upper swing body 3 in a top view. Therefore, the safety function control unit 305 can determine the presence or absence of contact between the monitoring target and the excavator 100 (machine body) based on the positional relationship between the left end (outer end) of the crawler 1CL and the rear end of the upper swing body 3 and the surrounding monitoring target (for example, the operator 730) when the lower traveling body 1 is traveling in the case of the excavator 100 with the solid line. Also, the safety function control unit 305 can also determine the presence or absence of contact between the monitoring target and the excavator 100 (machine body) based on the physical size of the machine body of the excavator 100 (width between the dotted lines 710) with respect to the straight-ahead direction of the excavator 100 (right direction in the figure) and the relative position of the monitoring target around the excavator 100. For example, the safety function control unit 305 may determine that contact occurs between the excavator 100 and the monitoring target when the monitoring target is detected within the operation stop range defined by a width obtained by adding a predetermined margin (for example, 1 meter to 1.5 meters) to the width between the dotted lines 710.

[0170] When, for example, the lower traveling body 1 of the excavator 100 indicated by the dashed line travels in the right direction in the figure, the machine body (the lower traveling body 1 and the upper slewing body 3) passes through the width (range) between the dashed lines 720 defined by the left front corner and the right rear corner of the upper slewing body 3 in top view. Therefore, when the excavator 100 is in the state indicated by the dashed line, the safety function control unit 305 can determine whether or not there is contact between the monitored object and the excavator 100 (the machine body) based on the positional relationship between the left front corner and the right rear corner of the upper slewing body 3 and the surrounding monitored object (for example, the operator 730) when the lower traveling body 1 is traveling. Further, the safety function control unit 305 can also determine whether or not there is contact between the monitored object and the excavator 100 (the machine body) based on the physical size of the machine body of the excavator 100 (the width between the dashed lines 720) with respect to the straight traveling direction (the right direction in the figure) of the excavator 100 and the relative position of the monitored object around the excavator 100. For example, when a monitored object is detected within the operation stop range defined by a width obtained by adding a predetermined margin to the width between the dashed lines 720, the safety function control unit 305 may determine that contact has occurred between the excavator 100 and the monitored object.

[0171] As described above, in the case of the excavator 100 indicated by the solid line, the operation stop range corresponds to the range between the dotted lines 710, and in the case of the excavator 100 indicated by the dashed line, the operation stop range corresponds to the range between the dashed lines 720. That is, the setting unit 302 may change the operation stop range according to the slewing angle of the upper slewing body 3 with respect to the lower traveling body 1. Thereby, the setting unit 302 can set the operation stop range more appropriately according to the slewing angle of the upper slewing body 3. Information regarding the slewing angle of the upper slewing body 3 may be acquired, for example, based on the captured image of the camera 40X. Specifically, the slewing angle of the upper slewing body 3 can be determined according to how the crawler appears in the captured image of the camera 40X and which camera 40X it appears in. Further, sensors capable of acquiring information regarding the slewing angle of the upper slewing body 3 (for example, a rotary encoder, an acceleration sensor, an angular velocity sensor, a six-axis sensor, an IMU (Inertial Measurement Unit, etc.) mounted on the upper slewing body 3) may be provided in the excavator 100.

[0172] In addition, in the working condition 700 of FIG. 7, it is assumed that the lower traveling body 1 travels straight. However, in addition to straight traveling, the lower traveling body 1 has traveling modes such as slow turning, pivot turning, and spin turning. Therefore, based on the operation information input from the operation information output device 29, the safety function control unit 305 may determine whether the traveling operation corresponds to the straight traveling of the lower traveling body 1, the slow turning traveling, the turning operation corresponding to the pivot turning, or the turning operation corresponding to the spin turning. That is, the operation information regarding the lower traveling body 1 may include at least one of information representing a traveling operation corresponding to straight traveling, information representing a traveling operation corresponding to slow turning, information representing a traveling operation corresponding to pivot turning, and information representing a traveling operation corresponding to spin turning.

[0173] In this way, by considering the physique (occupancy width) of the machine body and the like with respect to the operation direction of the driven body of the excavator 100, the safety function control unit 305 can determine whether there is contact between the excavator 100 and the surrounding monitoring target detected by the detection unit 304. Specifically, the safety function control unit 305 may determine whether contact occurs between the monitoring target and the excavator 100 as the driven body moves, based on the operation information regarding the driven body of the excavator 100 and the information regarding the positional relationship between the outer surface of the excavator 100 and the monitoring target. Also, in the case of the traveling operation of the lower traveling body 1, the information regarding the traveling operation of the lower traveling body 1 includes at least one of information representing a traveling operation corresponding to straight traveling, information representing a traveling operation corresponding to slow turning, information representing a traveling operation corresponding to pivot turning, and information representing a traveling operation corresponding to spin turning. Thereby, the safety function control unit 305 can grasp the traveling direction of the lower traveling body 1 in more detail and more appropriately determine whether there is contact between the excavator 100 and the monitoring target.

[0174] For example, in the working condition 810 of FIG. 8A, the excavator 100 is in a state where the turning angle with respect to the straight traveling direction (right direction in the figure) of the lower traveling body 1 is 90 degrees to the left. Also, in front of the lower traveling body 1 (right direction in the figure), there is an operator 811 detected by the detection unit 304.

[0175] In this case, the safety function control unit 305 permits the lower traveling body 1 to travel backward (leftward in the figure) in response to the traveling operation of the lower traveling body 1. This is because the excavator 100 moves away from the operator 811, so contact between the excavator 100 and the operator 811 cannot occur. On the other hand, the safety function control unit 305 prohibits the lower traveling body 1 from traveling forward (rightward in the figure) in response to the traveling operation of the lower traveling body 1 and activates the operation stop function. This is because the operator 811 is present in the front in the traveling direction of the excavator 100, and if it travels straight ahead, the excavator 100 will approach the operator 811 and contact will occur between the excavator 100 and the operator 811.

[0176] Also, in the working situation 820 of Fig. 8B, similar to the working situation 810 of Fig. 8A, the excavator 100 is in a state where the turning angle with respect to the straight-ahead direction (rightward in the figure) of the lower traveling body 1 is 90 degrees to the left. Further, there is an operator 821 detected by the detection unit 304 diagonally rearward to the right of the lower traveling body 1 and diagonally forward to the right of the crawler 1CR.

[0177] In this case, the safety function control unit 305 permits the lower traveling body 1 to travel backward (leftward in the figure) in response to the traveling operation of the lower traveling body 1. This is because the excavator 100 moves away from the operator 811, so contact between the excavator 100 and the operator 811 cannot occur. Also, the safety function control unit 305 permits the lower traveling body 1 to travel forward (rightward in the figure) in response to the traveling operation of the lower traveling body 1. Although the excavator 100 approaches the operator 812 as the lower traveling body 1 travels, since it is a certain distance away from the end of the occupied width of the excavator 100 (dashed-dotted line 822), contact will not occur between the excavator 100 and the operator 811 even if it travels straight ahead.

[0178] Still, in the working state 820 of FIG. 8B, when a traveling operation corresponding to a gentle rightward turning travel of the lower traveling body 1 is performed, the excavator 100 moves toward the operator 812 while turning right. Therefore, when the traveling operation of the lower traveling body 1 is a gentle rightward turning travel, the safety function control unit 305 may prohibit the progress of the excavator 100 and activate the operation stop function. Thereby, the safety function control unit 305 can more appropriately activate the operation stop function according to the content of the traveling operation of the lower traveling body 1.

[0179] In this way, when the excavator 100 is likely to come into contact with the monitoring target detected by the detector 304 according to the operation of the excavator 100, the safety function control unit 305 activates the operation stop function and stops the operation of the excavator 100 for the operation. On the other hand, even when the excavator 100 approaches the monitoring target detected by the detector 304 according to the operation of the excavator 100, if no contact occurs between the monitoring target and the excavator 100, the safety function control unit 305 allows the operation of the excavator 100 for the operation. Specifically, the safety function control unit 305 determines whether or not the excavator 100 as the driven body comes into contact with the monitoring target detected by the detector 304, and when it is determined that no contact occurs between the excavator 100 and the monitoring target, allows the operation of the excavator 100 for the operation of the excavator 100. At this time, the safety function control unit 305 may activate the operation deceleration function and allow the operation of the excavator 100 while decelerating the operation speed of the excavator 100, or may allow the operation of the excavator 100 without activating the operation restriction function of the excavator 100 itself. Thereby, when no contact occurs between the excavator 100 and the monitoring target, the peripheral monitoring device 200 allows the operation of the excavator 100 and can achieve a balance between the safety and work efficiency of the excavator 100. Therefore, the peripheral monitoring device 200 can more appropriately stop the operation of the excavator 100 according to the presence of obstacles (monitoring targets) around the excavator 100.

[0180] [Display Control Method of Monitoring Image at Detection of Monitoring Target] Next, with reference to FIG. 9 (FIGS. 9A to 9C), a specific example of the display control method of the monitoring image by the display processing unit 301 when the detection unit 304 detects the monitoring target will be described.

[0181] FIGS. 9A to 9C are diagrams showing specific examples of the monitoring image when the detection unit 304 detects the monitoring target. Specifically, FIGS. 9A to 9C are diagrams showing the first to third examples (monitoring images 910 to 930) of the monitoring image when the detection unit 304 detects the monitoring target, respectively.

[0182] First, as shown in FIG. 9A, on the display device 50, the imaging image (through image) of the camera 40B is displayed as the monitoring image 910 under the control of the display processing unit 301.

[0183] In the monitoring image 910, an operator 911 wearing a helmet and a reflective vest is shown. In this example, since the operator 911 is wearing both a helmet and a reflective vest, the operator 911 is detected by both the detection unit 304A and the detection unit 304B.

[0184] In addition, a frame 912 indicating that the operator 911 has been detected by the detection unit 304A is superimposed and displayed on the monitoring image 910. Thereby, it becomes easier for an operator or the like to recognize the presence and position of the operator 911 detected by the detection unit 304A.

[0185] In addition, the display mode of the frame 912 may change according to the distance from the shovel 100 of the monitoring target (operator 911) detected by the detection unit 304 (detection unit 304A). For example, the frame 912 may be displayed in yellow when the distance between the monitoring target detected by the detection unit 304A and the shovel 100 is relatively far, and may be displayed in red when the distance between the monitoring target and the shovel 100 is relatively close. Thereby, an operator or the like can grasp the positional relationship (distance) between the shovel 100 and the monitoring target through the display mode of the frame 912. The same may apply to the frame 932 described later.

[0186] In addition, an arrow image 913 indicating the presence of a monitoring target (operator 911) detected by the detection unit 304B within the monitoring image 910 is superimposed and displayed on the monitoring image 910. Thereby, an operator or the like can recognize that the monitoring target detected by the detection unit 304B is within the currently displayed monitoring image 910.

[0187] The arrow image 913 points inward of the monitoring image 910. Thereby, specifically, the arrow image 913 can represent the presence of a monitoring target (operator 911) detected by the detection unit 304B within the monitoring image 910.

[0188] In addition, the arrow image 913 is composed of a plurality of circular images (specifically, 14 circular images), and the monitoring image is exposed from the gap between the circular images. Thereby, even when the arrow image 913 is superimposed and displayed on the monitoring image 910, an operator or the like can appropriately grasp the state around the excavator 100 corresponding to the portion of the monitoring image 910 where the arrow image 913 is displayed. The same applies to the arrow images 921, 922, 933 to 935 hereinafter.

[0189] In addition, the display mode of the arrow image 913 may change according to the distance of the monitoring target (operator 911) detected by the detection unit 304 (detection unit 304B) from the excavator 100. For example, the arrow image 913 may be displayed in yellow when the distance between the monitoring target detected by the detection unit 304A and the excavator 100 is relatively far, and may be displayed in red when the distance between the monitoring target and the excavator 100 is relatively close. Thereby, an operator or the like can grasp the positional relationship (distance) between the excavator 100 and the monitoring target through the display mode of the arrow image 913. The same may apply to the arrow images 921, 922, 933 to 935 described later.

[0190] Further, in this example, although the monitoring image 910 is displayed across the entire display area of the display device 50, the monitoring image 910 may be displayed in a manner that leaves a margin in the display area of the display device 50. In this case, an arrow image 913 may be displayed in the margin area. The same may apply to the arrow images 921 and 922 described later. Further, the arrow image 913 may be displayed not only when the monitoring target is detected by the detection unit 304B, but also when the monitoring target is detected by the detection unit 304A. The same applies to the arrow images 921, 922, 933 to 935 described later.

[0191] Subsequently, as shown in FIG. 9B, an imaging image (through image) of the camera 40B is displayed on the display device 50 as the monitoring image 920.

[0192] In this example, the monitoring target (operator) is detected by the detection unit 304B outside the range around the excavator 100 corresponding to the monitoring image 920.

[0193] Arrow images 921 and 922 indicating that the monitoring target is detected by the detection unit 304B outside the range around the excavator 100 corresponding to the monitoring image 920 are superimposed and displayed on the monitoring image 920. Thereby, an operator or the like can recognize that the monitoring target is detected outside the range around the excavator 100 corresponding to the monitoring image 920.

[0194] The arrow image 921 is displayed superimposed near the upper and lower center of the left end of the monitoring image 920, and indicates the outward and left direction of the monitoring image 920. Thereby, the arrow image 921 can represent that there is a monitoring target detected by the detection unit 304B in the circumferential left direction (for example, the imaging range of the camera 40R) rather than the range around the excavator 100 corresponding to the monitoring image 920. That is, the arrow image 921 indicates the direction in which the monitoring target detected by the detection unit 304B exists with respect to the monitoring image 920. Thereby, an operator or the like can intuitively grasp in which direction the monitoring target exists with respect to the monitoring image 920 currently displayed on the display device 50. Therefore, an operator or the like can perform an operation to switch the display content of the display device 50 through the input device 52, and display an imaging image of the camera 40R including the monitoring target detected by the detection unit 304B in the imaging range on the display device 50 as the monitoring image.

[0195] The arrow image 922 is displayed superimposed near the upper and lower center of the right end of the monitoring image 920, and indicates the outward and right direction of the monitoring image 920. Thereby, the arrow image 922 can represent that there is a monitoring target detected by the detection unit 304B in the circumferential right direction (for example, the imaging range of the camera 40L) rather than the range around the excavator 100 corresponding to the monitoring image 920. That is, the arrow image 922 indicates the direction in which the monitoring target detected by the detection unit 304B exists with respect to the monitoring image 920. Thereby, an operator or the like can intuitively grasp in which direction the monitoring target exists with respect to the monitoring image 920 currently displayed on the display device 50. Therefore, an operator or the like can perform an operation to switch the display content of the display device 50 through the input device 52, and display an imaging image of the camera 40L including the monitoring target detected by the detection unit 304B in the imaging range on the display device 50 as the monitoring image.

[0196] Further, when the monitoring target is detected by the detection unit 304 outside the range around the excavator 100 corresponding to the monitoring image displayed on the display device 50, the display processing unit 301 may maintain the state of displaying the monitoring image on the display device 50 unless an operation to switch the display content is performed through the input device 52. This is because the operator or the like can grasp the position where the detected monitoring target exists through the arrow images 921 and 922. Thereby, the peripheral monitoring device 200 can prioritize the user's will regarding the display content of the display device 50. Further, another display device may be provided in the cab 10 separately from the display device 50. In this case, when the monitoring target is detected by the detection unit 304 outside the range around the excavator 100 corresponding to the monitoring image displayed on the display device 50, the display processing unit 301 may automatically display the captured image of the camera 40X corresponding to the position where the monitoring target exists on the other display device. Thereby, the convenience for the operator or the like is improved. Further, when the monitoring target is detected by the detection unit 304 outside the range around the excavator 100 corresponding to the monitoring image displayed on the display device 50, the controller 30 may teach the operator or the like to that effect in another way instead of or in addition to teaching that effect through the display device 50. For example, when the monitoring target is detected outside the range around the excavator 100 corresponding to the monitoring image displayed on the display device 50, the controller 30 may teach the operator or the like to that effect by outputting a predetermined sound or voice through the sound output device 54.

[0197] Subsequently, as shown in FIG. 9C, a monitoring image 930 including a viewpoint conversion image EP and an excavator image CG based on the captured images of the cameras 40B, 40L, and 40R is displayed on the display device 50.

[0198] In this example, an operator 931 wearing a helmet and a reflective vest is shown in the monitoring image 930 at a position corresponding to the rear of the upper swing body 3. In this example, since the operator 931 is wearing both a helmet and a reflective vest, the operator 931 is detected by both the detection unit 304A and the detection unit 304B.

[0199] In addition, on the surveillance image 930, a frame 932 indicating that the worker 931 has been detected by the detection unit 304A is superimposed and displayed. This makes it easier for an operator or the like to recognize the presence and position of the worker 931 detected by the detection unit 304A.

[0200] In addition, on the surveillance image 930, an arrow image 933 indicating the presence of a surveillance target (worker 931) detected by the detection unit 304B within the surveillance image 910 is displayed. This enables an operator or the like to recognize that the surveillance target detected by the detection unit 304B is within the currently displayed surveillance image 930.

[0201] The arrow image 933 is superimposed and displayed on the viewpoint conversion image EP, and points inward from the outer edge of the viewpoint conversion image EP, that is, the portion corresponding to the horizontal image HVP. Thus, specifically, the arrow image 933 can indicate the presence of a surveillance target (worker 931) detected by the detection unit 304B within the surveillance image 930. Further, the arrow image 933 is superimposed and arranged on the portion of the viewpoint conversion image EP (horizontal image HVP) corresponding to the rear of the upper swing body 3. This can indicate that the surveillance target (worker 931) detected by the detection unit 304B exists behind the shovel 100.

[0202] Furthermore, the arrow image 933 may be displayed in the margin portion around the viewpoint conversion image EP in the surveillance image 930. Also, when a monitoring target is detected by the detection unit 304B on the left side of the upper swing body 3 (for example, within the imaging range of the camera 40L), an arrow image 934 (dotted line) may be displayed in the portion of the viewpoint conversion image EP (horizontal image HVP) corresponding to the left side of the upper swing body 3. At this time, similar to the case of the arrow image 933, the arrow image 934 may be displayed superimposed on the viewpoint conversion image EP (horizontal image HVP), or may be displayed in the margin portion around the viewpoint conversion image EP in the surveillance image 930. The same applies to the arrow image 935 described later. Similarly, when a monitoring target is detected by the detection unit 304B on the right side of the upper swing body 3 (for example, within the imaging range of the camera 40R) by the detection unit 304B, an arrow image 935 (dotted line) may be displayed in the portion of the viewpoint conversion image EP (horizontal image HVP) corresponding to the right side of the upper swing body 3.

[0203] [Operation] Next, the operation of the excavator 100 (peripheral monitoring device 200) according to the present embodiment will be described.

[0204] In the present embodiment, the safety function control unit 305 facilitates the activation of the safety function when an optional equipment (for example, the blade 90) moves toward the periphery of the excavator 100 along with the operation of the excavator 100.

[0205] Thereby, when the optional equipment that increases the occupied volume moves toward the periphery of the excavator 100, the peripheral monitoring device 200 can ensure safety in accordance with the installed optional equipment, as it may become relatively easier to approach surrounding objects.

[0206] In addition, in this embodiment, the safety function control unit 305 may activate the safety function when a predetermined object (object to be monitored) is detected within a predetermined range around the excavator 100. The predetermined range may be set such that the outer edge in the direction where the optional equipment is attached as viewed from the body of the excavator 100 is relatively farther than the outer edge in the direction where the optional equipment is not attached as viewed from the body of the excavator 100.

[0207] As a result, the peripheral monitoring device 200 can specifically make it easier to activate the safety function when the optional equipment moves toward the periphery of the excavator 100.

[0208] In addition, in this embodiment, when optional equipment that increases the occupied volume of the excavator 100 is attached, the safety function control unit 305 activates the safety function in a manner that makes the safety of the excavator 100 relatively higher than when the optional equipment is not attached.

[0209] As a result, when optional equipment that increases the occupied volume is attached to the excavator 100, the peripheral monitoring device 200 can ensure safety in accordance with the presence or absence of the optional equipment, considering that it may be relatively easier to approach surrounding objects.

[0210] In addition, in this embodiment, the safety function control unit 305 may activate the safety function when a predetermined operating condition including the detection of a predetermined object by the detection unit 304 is satisfied. The operating condition may be set such that the safety function is more likely to be activated when the optional equipment is attached than when the optional equipment is not attached.

[0211] As a result, when the optional equipment is attached, the peripheral monitoring device 200 can activate the safety function in a manner that makes the safety of the excavator 100 relatively higher than when the optional equipment is not attached.

[0212] In addition, in the present embodiment, the predetermined conditions may include that a predetermined object is detected within a predetermined area (for example, a notification range or an operation restriction range) around the excavator 100 by the detection unit 304. And the outer edge of the predetermined area may be set in a direction farther from the body of the excavator 100 when the optional equipment is attached than when the optional equipment is not attached.

[0213] Thereby, the peripheral monitoring device 200 can specifically make the safety function easier to operate when the optional equipment is attached.

[0214] In addition, in the present embodiment, the safety function may include a first safety function and a second safety function in a mode where the safety of the excavator 100 is relatively higher than that of the first safety function. And when a predetermined object is detected by the detection unit 304 in a state where the optional equipment is not attached, the safety function control unit 305 may activate the first safety function, and when a predetermined object is detected by the detection unit 304 in a state where the optional equipment is attached, the second safety function may be activated.

[0215] Thereby, the peripheral monitoring device 200 can operate the safety function in a mode where the safety of the excavator 100 is relatively higher when the optional equipment is attached than when the optional equipment is not attached.

[0216] In addition, in the present embodiment, the safety function may include a notification function for notifying that a predetermined object is detected in at least one of the inside and outside of the cab 10 through a predetermined notification means (for example, the display device 50, the sound output device 54, etc.). And the first safety function and the second safety function may be in a mode where the notification modes in the notification function are different from each other.

[0217] As a result, when the optional equipment is attached, the peripheral monitoring device 200 can operate the safety function in a manner in which the safety of the excavator 100 is relatively higher than when the optional equipment is not attached, more specifically.

[0218] Further, in the present embodiment, the safety function may include an operation restriction function that restricts the operation of the excavator 100. And in the second safety function, the degree of restriction of the operation of the excavator 100 in the operation restriction function may be higher than in the case of the first safety function.

[0219] As a result, when the optional equipment is attached, the peripheral monitoring device 200 can operate the safety function in a manner in which the safety of the excavator 100 is relatively higher than when the optional equipment is not attached, more specifically.

[0220] Further, in the present embodiment, the setting unit 302 may perform settings regarding the attachment status of the optional equipment according to the operation of the user. And the safety function control unit 305 may determine whether the optional equipment is attached based on the setting content by the setting unit 302.

[0221] As a result, the peripheral monitoring device 200 can determine the presence or absence of the optional equipment.

[0222] Further, in the present embodiment, a sensor (for example, the camera 40X, the sensor 45X, etc.) for acquiring information regarding the attachment status of the optional equipment is provided. And the safety function control unit 305 may determine whether the optional equipment is attached based on the output of the sensor.

[0223] As a result, the peripheral monitoring device 200 can determine the presence or absence of the optional equipment.

[0224] Further, in this embodiment, when the display device 50 transitions from a state where no optional equipment is attached to a state where optional equipment is attached, it may display a notification regarding a change in the operating mode of the safety function.

[0225] Thereby, the peripheral monitoring device 200 can cause a user such as an operator to recognize the necessity of changing the operating mode of the safety function due to the attachment of the optional equipment.

[0226] Further, in this embodiment, the notification may be a notification that the operating mode of the safety function is changed, a notification prompting permission for changing the operating mode of the safety function, or a notification prompting manual change of the operating mode of the safety function.

[0227] Thereby, when the operating mode of the safety function is automatically changed, the peripheral monitoring device 200 can notify a user such as an operator of the change. Further, the peripheral monitoring device 200 can accept permission from a user such as an operator when changing the operating mode of the safety function. Further, the peripheral monitoring device 200 can prompt a user such as an operator to change the operating mode of the safety function.

[0228] [Modifications and Changes] As described above, the embodiments for implementing the present invention have been described in detail. However, the present invention is not limited to such specific embodiments, and various modifications and changes are possible within the scope of the gist of the present invention described in the claims.

[0229] For example, the function of the detection unit 304 in the above-described embodiment, that is, the detection device capable of identifying the wearing state of safety equipment, may be provided in a structure at the work site (for example, an entrance gate, etc.), other work machines (for example, a bulldozer, a crane, etc.), a moving vehicle (for example, a truck, etc.), a building (for example, a temporary office, etc.). Thereby, for example, a manager or the like at the work site can grasp the wearing state of the safety equipment of the workers at the work site over a wide range at the work site by using the detection result of the detection device. Therefore, a manager or the like can perform safety management of the work site by using the detection result of the detection device. Further, the information regarding the detection result of the detection device may be in a form recorded in the storage unit. In this case, the detection device and the hardware (for example, a terminal device, a server device, etc.) that realizes the configuration of the storage unit, the recording unit, etc. may be provided at the same location, or may be provided at different locations in a manner capable of communicating through wired or wireless communication.

[0230] Further, the peripheral monitoring device 200 according to the above-described embodiment and modification examples may be mounted on any work machine other than the excavator 100. For example, the peripheral monitoring device 200 may be mounted on a lift magnet machine with a lifting magnet attached as an end attachment, a bulldozer, a wheel loader, an asphalt finisher, a forestry machine, or the like.

Explanation of Signs

[0231] 30 Controller 40 Imaging device 40B, 40L, 40R Cameras 45 Surrounding information acquisition device 45BL, 45BR, 45L, 45LF, 45LR, 45R, 45RF, 45RR Sensors 50 Display device 52 Input device 54 Sound output device 54a Horn 54b Travel alarm 56 Hydraulic control valve 100 Excavator 200 Peripheral monitoring device 301 Display processing unit 302 Setting Unit 303 Memory Unit 304 Detection Unit 305 Safety Function Control Unit

Claims

1. An optional equipment that increases the occupied volume of the excavator, A detection unit that detects a predetermined object around the excavator, Based on the center of the excavator body in plan view by the detection unit, when the predetermined object is detected within a predetermined range set to be adjacent to the excavator over a range of directions including the direction in which the optional equipment is attached and the direction in which the optional equipment is not attached, a control unit that activates a safety function to ensure the safety of the excavator, The control unit sets the distance between the excavator and the outer edge of the predetermined range to be the same distance regardless of the direction of looking at the outside of the excavator with respect to the center of the excavator body in plan view, and the outer edge of the predetermined range in the direction in which the optional equipment is attached with respect to the center of the excavator body is relatively farther than the outer edge of the predetermined range in the direction in which the optional equipment is not attached with respect to the center of the excavator body. By setting the predetermined range in this way, when the optional equipment moves in the direction in which the optional equipment is attached with respect to the center of the excavator body in plan view as the excavator operates, the safety function is made easier to activate. An excavator.

2. The optional equipment is a blade attached to the lower traveling body. The excavator according to claim 1.

3. An excavator to which equipment that increases the occupied volume of the excavator can be attached, A detection unit that detects a predetermined object around the excavator, Based on the center of the excavator body in plan view by the detection unit, when the predetermined object is detected within a predetermined range set to be adjacent to the excavator over a range of directions including the direction in which the equipment is attached, a control unit that activates a safety function to ensure the safety of the excavator, The control unit activates the safety function in a manner such that the safety of the excavator in the direction in which the equipment is attached with respect to the center of the excavator body in plan view is relatively higher when the equipment is attached than when the equipment is not attached. An excavator.

4. The control unit activates the safety function when a predetermined condition including that the predetermined object is detected within the predetermined range by the detection unit is satisfied. The predetermined conditions are set such that the safety function is more likely to operate when the equipment is attached than when the equipment is not attached. The excavator according to claim 3.

5. The outer edge of the predetermined range is set in a direction away from the body of the excavator when the equipment is attached than when the equipment is not attached. The excavator according to claim 4.

6. The safety function includes a first safety function and a second safety function in a mode where the safety of the excavator is relatively higher than that of the first safety function. When the predetermined object is detected in the predetermined range by the detection unit in a state where the equipment is not attached, the control unit activates the first safety function, and when the predetermined object is detected in the predetermined range by the detection unit in a state where the equipment is attached, the control unit activates the second safety function. The excavator according to claim 3.

7. The safety function includes a notification function for notifying, through a predetermined notification means, that the predetermined object is detected in at least one of the inside and outside of the cabin. The first safety function and the second safety function differ from each other in the notification mode in the notification function. The excavator according to claim 6.

8. The safety function includes an operation restriction function for restricting the operation of the excavator. In the second safety function, the degree of restriction of the operation of the excavator in the operation restriction function is higher than that in the case of the first safety function. The excavator according to claim 6 or 7.

9. The excavator further includes a setting unit for setting the mounting status of the equipment according to the operation of the user. The control unit determines whether the equipment is mounted based on the setting content by the setting unit. The excavator according to any one of claims 3 to 8.

10. The excavator includes a sensor for acquiring information on the mounting status of the equipment. The control unit determines whether the equipment is mounted based on the output of the sensor. The excavator according to any one of claims 3 to 8.

11. When shifting from a state where the equipment is not mounted to a state where the equipment is mounted, the excavator further includes a display device for displaying a notification regarding a change in the operation mode of the safety function. The excavator according to any one of claims 3 to 10.

12. The notification is a notification that the operation mode of the safety function is changed, a notification prompting approval or disapproval of the change in the operation mode of the safety function, or a notification prompting manual change of the operation mode of the safety function. The excavator according to claim 11.

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