Excavator

Abstract

A shovel (100) according to an embodiment of the present invention includes a lower traveling body (1), an upper rotating body (3) rotatably mounted on the lower traveling body (1), an object detection device (70) provided on the upper rotating body (3), a controller (30) as a control device provided on the upper rotating body (3), and an actuator such as a boom cylinder (7) that moves a driven body such as a boom (4). The object detection device (70) is configured to detect an object within a detection space defined around the shovel (100). The controller (30) is configured to allow movement of the driven body in a direction other than the direction toward the detected object.

Description

Technical Field

[0001] The present disclosure relates to an excavator.

Background Art

[0002] Conventionally, an excavator that can prohibit work when it is determined that there are people around is known (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 the above-described excavator, when there are people around, there is a risk that its movement will be uniformly restricted.

[0005] Therefore, it is desirable to prevent the movement of the excavator from being uniformly restricted when an object exists around the excavator.

Means for Solving the Problems

[0006] The excavator according to an embodiment of the present invention includes a lower traveling body, an upper swing body rotatably mounted on the lower traveling body, an object detection device provided on the upper swing body, a display device, a control device provided on the upper swing body, and an actuator that moves a driven body. The object detection device monitors a periphery of the excavator that is set and monitored by the object detection device. Possibleconfigured to detect an object within a detection space that is part of the space, and the display device displays an image within the detection space acquired from the object detection device or an image within the detection space acquired from an imaging device provided separately from the object detection device, regardless of whether the object detection device has detected an object. The detection space includes a first detection space related to an attachment including the driven body. The first detection space is divided into a plurality of sections, and at least two of the plurality of sections are arranged side by side vertically. The plurality of the compartments include compartments located below a virtual horizontal plane where the excavator is positioned, and the sizes of the plurality of the compartments change according to the movement of the attachment. The control device In any one of the plurality of the compartments brakes or prohibits the movement of the driven body in the direction towards the detected object, and In any one of the plurality of the compartments is configured to allow the movement of the driven body in a direction other than the direction towards the detected object.

Advantages of the Invention

[0007] By the above means, a shovel is provided that can prevent the movement of the shovel from being uniformly restricted when an object exists around the shovel.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5A

Figure 5B

Figure 5C

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Figure 13A

Figure 13B

Figure 14

Figure 15

Figure 16

Mode for Carrying Out the Invention

[0009] First, with reference to FIGS. 1 and 2, an excavator 100 as a digging machine according to an embodiment of the present invention will be described. FIG. 1 is a side view of the excavator 100, and FIG. 2 is a top view of the excavator 100.

[0010] In the present embodiment, the lower traveling body 1 of the excavator 100 includes a crawler 1C as a driven body. The crawler 1C is driven by a traveling hydraulic motor 2M mounted on the lower traveling body 1. However, the traveling hydraulic motor 2M may be a traveling electric generator as an electric actuator. Specifically, the crawler 1C includes a left crawler 1CL and a right crawler 1CR. The left crawler 1CL is driven by a left traveling hydraulic motor 2ML, and the right crawler 1CR is driven by a right traveling hydraulic motor 2MR. Since the lower traveling body 1 is driven by the crawler 1C, it functions as a driven body.

[0011] The upper slewing body 3 is mounted on the lower traveling body 1 via a slewing mechanism 2 so as to be slewing capable. The slewing mechanism 2 as a driven body is driven by a slewing hydraulic motor 2A mounted on the upper slewing body 3. However, the slewing hydraulic motor 2A may be a slewing motor generator as an electric actuator. Since the upper slewing body 3 is driven by the slewing mechanism 2, it functions as a driven body.

[0012] A boom 4 as a driven body is attached to the upper slewing body 3. An arm 5 as a driven body is attached to the tip of the boom 4, and a bucket 6 as a driven body and an end attachment is attached to the tip of the arm 5. The boom 4, the arm 5, and the bucket 6 constitute an excavation attachment which is an example of an attachment. The boom 4 is driven by a boom cylinder 7, the arm 5 is driven by an arm cylinder 8, and the bucket 6 is driven by a bucket cylinder 9.

[0013] A boom angle sensor S1 is attached to the boom 4, an arm angle sensor S2 is attached to the arm 5, and a bucket angle sensor S3 is attached to the bucket 6.

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

[0015] The arm angle sensor S2 detects the rotation angle of the arm 5. In the present embodiment, the arm angle sensor S2 is an acceleration sensor and can detect the arm angle which is the rotation angle of the arm 5 with respect to the boom 4. The arm angle becomes the minimum angle when the arm 5 is closed most, for example, and increases as the arm 5 is opened.

[0016] The bucket angle sensor S3 detects the rotation angle of the bucket 6. In this embodiment, the bucket angle sensor S3 is an acceleration sensor and can detect the bucket angle, which is the rotation angle of the bucket 6 with respect to the arm 5. The bucket angle, for example, has a minimum angle when the bucket 6 is closed most, and increases as the bucket 6 is opened.

[0017] The boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 may each be a potentiometer using a variable resistor, a stroke sensor that detects the stroke amount of the corresponding hydraulic cylinder, a rotary encoder that detects the rotation angle around the connecting pin, a gyro sensor, a combination of an acceleration sensor and a gyro sensor, or the like.

[0018] The upper slewing body 3 is provided with a cabin 10 as a driver's cab, and a power source such as an engine 11 is mounted thereon. Further, a controller 30, an object detection device 70, an orientation detection device 85, a machine body inclination sensor S4, a slewing angular velocity sensor S5, etc. are attached to the upper slewing body 3. Inside the cabin 10, an operation device 26 and the like are provided. In this document, for convenience, the side of the upper slewing body 3 where the boom 4 is attached is defined as the front, and the side where the counterweight is attached is defined as the rear.

[0019] The controller 30 is a control device for controlling the excavator 100. In this embodiment, the controller 30 is composed of a computer including a CPU, a RAM, an NVRAM, a ROM, etc. Then, the controller 30 reads out the program corresponding to each function from the ROM and loads it into the RAM, and causes the CPU to execute the corresponding process.

[0020] The object detection device 70 is configured to detect objects existing around the excavator 100. The objects are, for example, people, animals, vehicles, construction machinery, buildings, or holes, etc. The object detection device 70 is, for example, an ultrasonic sensor, a millimeter-wave radar, a monocular camera, a stereo camera, a LIDAR, a distance image sensor, or an infrared sensor, etc. In the present embodiment, the object detection device 70 includes a front sensor 70F attached to the front end of the upper surface of the cab 10, a rear sensor 70B attached to the rear end of the upper surface of the upper swing body 3, a left sensor 70L attached to the left end of the upper surface of the upper swing body 3, and a right sensor 70R attached to the right end of the upper surface of the upper swing body 3.

[0021] The object detection device 70 may be configured to detect a predetermined object within a predetermined area set around the excavator 100. For example, the object detection device 70 may be configured to distinguish between a person and an object other than a person.

[0022] The orientation detection device 85 is configured to detect information regarding the relative relationship between the orientation of the upper swing body 3 and the orientation of the lower traveling body 1 (hereinafter referred to as "information regarding the orientation"). For example, the orientation detection device 85 may be configured by a combination of a geomagnetic sensor attached to the lower traveling body 1 and a geomagnetic sensor attached to the upper swing body 3. Alternatively, the orientation detection device 85 may be configured by a combination of a GNSS receiver attached to the lower traveling body 1 and a GNSS receiver attached to the upper swing body 3. In a configuration where the upper swing body 3 is rotationally driven by a swing electric generator, the orientation detection device 85 may be configured by a resolver. The orientation detection device 85 may be arranged, for example, at a center joint provided in relation to the swing mechanism 2 that realizes the relative rotation between the lower traveling body 1 and the upper swing body 3.

[0023] The body tilt sensor S4 is configured to detect the tilt of the upper swing body 3 with respect to a predetermined plane. In the present embodiment, the body tilt sensor S4 is an acceleration sensor that detects the tilt angle of the upper swing body 3 around the front-rear axis and the tilt angle around the left-right axis with respect to the horizontal plane. The front-rear axis and the left-right axis of the upper swing body 3 pass through, for example, a point on the swing axis of the excavator 100 that is the excavator center point and are orthogonal to each other.

[0024] The swing angular velocity sensor S5 is configured to detect the swing angular velocity of the upper swing body 3. In the present embodiment, the swing angular velocity sensor S5 is a gyro sensor. The swing angular velocity sensor S5 may be a resolver, a rotary encoder, or the like. The swing angular velocity sensor S5 may detect the swing speed. The swing speed may be calculated from the swing angular velocity.

[0025] Hereinafter, any combination of the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, the body tilt sensor S4, and the swing angular velocity sensor S5 is also collectively referred to as an attitude sensor.

[0026] Next, with reference to FIG. 3, a configuration example of the hydraulic system mounted on the excavator 100 will be described. FIG. 3 is a diagram showing a configuration example of the hydraulic system mounted on the excavator 100. FIG. 3 shows a mechanical power transmission system, a hydraulic oil line, a pilot line, and an electric control system with double lines, solid lines, broken lines, and dotted lines, respectively.

[0027] The hydraulic system of the excavator 100 mainly includes an engine 11, a regulator 13, a main pump 14, a pilot pump 15, a control valve 17, an operating device 26, a discharge pressure sensor 28, an operating pressure sensor 29, a controller 30, a control valve 60, and the like.

[0028] In FIG. 3, the hydraulic system circulates hydraulic oil from the main pump 14 driven by the engine 11 to the hydraulic oil tank through the center bypass line 40 or the parallel line 42.

[0029] The engine 11 is the driving source of the excavator 100. In the present embodiment, the engine 11 is, for example, a diesel engine that operates so as to maintain a predetermined rotational speed. The output shaft of the engine 11 is connected to the input shafts of the main pump 14 and the pilot pump 15, respectively.

[0030] The main pump 14 is configured to supply hydraulic oil to the control valve 17 via a hydraulic oil line. In the present embodiment, the main pump 14 is a swash plate type variable displacement hydraulic pump.

[0031] The regulator 13 is configured to control the discharge amount of the main pump 14. In the present embodiment, the regulator 13 controls the discharge amount (push-back volume) of the main pump 14 by adjusting the swash plate tilt angle of the main pump 14 in response to a control command from the controller 30.

[0032] The pilot pump 15 is configured to supply hydraulic oil to hydraulic control equipment including the operating device 26 via a pilot line. In the present embodiment, the pilot pump 15 is a fixed displacement hydraulic pump. However, the pilot pump 15 may be omitted. In this case, the functions previously performed by the pilot pump 15 may be realized by the main pump 14. That is, the main pump 14 may have a function of supplying hydraulic oil to the operating device 26 and the proportional valve 31 etc. after reducing the pressure of the hydraulic oil by means of a throttle or the like, in addition to the function of supplying hydraulic oil to the control valve 17.

[0033] The control valve 17 is a hydraulic control device that controls the hydraulic system in the excavator 100. In the present embodiment, the control valve 17 includes control valves 171 to 176. The control valve 175 includes a control valve 175L and a control valve 175R, and the control valve 176 includes a control valve 176L and a control valve 1756. The control valve 17 can selectively supply the hydraulic oil discharged from the main pump 14 to one or a plurality of hydraulic actuators through the control valves 171 to 176. The control valves 171 to 176 control the flow rate of the hydraulic oil flowing from the main pump 14 to the hydraulic actuator and the flow rate of the hydraulic oil flowing from the hydraulic actuator to the hydraulic oil tank. The hydraulic actuators include a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, a left travel hydraulic motor 2ML, a right travel hydraulic motor 2MR, and a swing hydraulic motor 2A.

[0034] The operating device 26 is a device used by the operator for operating the actuator. The actuator includes at least one of a hydraulic actuator and an electric actuator. In the present embodiment, the operating device 26 supplies the hydraulic oil discharged from the pilot pump 15 through a pilot line toward the pilot port of the corresponding control valve in the control valve 17. The pressure (pilot pressure) of the hydraulic oil supplied toward each of the pilot ports is a pressure corresponding to the operation direction and operation amount of a lever or a pedal (not shown) of the operating device 26 corresponding to each of the hydraulic actuators.

[0035] The discharge pressure sensor 28 is configured to detect the discharge pressure of the main pump 14. In the present embodiment, the discharge pressure sensor 28 outputs the detected value to the controller 30.

[0036] The operation pressure sensor 29 is configured to detect the content of the operation of the operation device 26 by the operator. In the present embodiment, the operation pressure sensor 29 detects the operation direction and operation amount of the lever or pedal of the operation device 26 corresponding to each actuator in the form of pressure (operation pressure), and outputs the detected value to the controller 30. The operation content of the operation device 26 may be detected using other sensors other than the operation pressure sensor.

[0037] The main pump 14 includes a left main pump 14L and a right main pump 14R. The left main pump 14L circulates the hydraulic oil to the hydraulic oil tank through the left center bypass pipeline 40L or the left parallel pipeline 42L, and the right main pump 14R circulates the hydraulic oil to the hydraulic oil tank through the right center bypass pipeline 40R or the right parallel pipeline 42R.

[0038] The left center bypass pipeline 40L is a hydraulic oil line passing through the control valves 171, 173, 175L, and 176L arranged in the control valve 17. The right center bypass pipeline 40R is a hydraulic oil line passing through the control valves 172, 174, 175R, and 176R arranged in the control valve 17.

[0039] The control valve 171 is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged from the left main pump 14L to the left travel hydraulic motor 2ML and to discharge the hydraulic oil discharged from the left travel hydraulic motor 2ML to the hydraulic oil tank.

[0040] The control valve 172 is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged from the right main pump 14R to the right travel hydraulic motor 2MR and to discharge the hydraulic oil discharged from the right travel hydraulic motor 2MR to the hydraulic oil tank.

[0041] The control valve 173 is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged from the left main pump 14L to the swing hydraulic motor 2A and to discharge the hydraulic oil discharged from the swing hydraulic motor 2A to the hydraulic oil tank.

[0042] The control valve 174 is a spool valve that switches the flow of the hydraulic oil to supply the hydraulic oil discharged from the right main pump 14R to the bucket cylinder 9 and to discharge the hydraulic oil in the bucket cylinder 9 to the hydraulic oil tank.

[0043] The control valve 175L is a spool valve that switches the flow of the hydraulic oil to supply the hydraulic oil discharged from the left main pump 14L to the boom cylinder 7. The control valve 175R is a spool valve that switches the flow of the hydraulic oil to supply the hydraulic oil discharged from the right main pump 14R to the boom cylinder 7 and to discharge the hydraulic oil in the boom cylinder 7 to the hydraulic oil tank.

[0044] The control valve 176L is a spool valve that switches the flow of the hydraulic oil to supply the hydraulic oil discharged from the left main pump 14L to the arm cylinder 8 and to discharge the hydraulic oil in the arm cylinder 8 to the hydraulic oil tank.

[0045] The control valve 176R is a spool valve that switches the flow of the hydraulic oil to supply the hydraulic oil discharged from the right main pump 14R to the arm cylinder 8 and to discharge the hydraulic oil in the arm cylinder 8 to the hydraulic oil tank.

[0046] The left parallel pipeline 42L is a hydraulic oil line parallel to the left center bypass pipeline 40L. The left parallel pipeline 42L can supply hydraulic oil to a downstream control valve when the flow of the hydraulic oil passing through the left center bypass pipeline 40L is restricted or blocked by any one of the control valves 171, 173, or 175L. The right parallel pipeline 42R is a hydraulic oil line parallel to the right center bypass pipeline 40R. The right parallel pipeline 42R can supply hydraulic oil to a downstream control valve when the flow of the hydraulic oil passing through the right center bypass pipeline 40R is restricted or blocked by any one of the control valves 172, 174, or 175R.

[0047] The regulator 13 includes a left regulator 13L and a right regulator 13R. The left regulator 13L controls the discharge amount (push-back volume) of the left main pump 14L by adjusting the swash plate tilt angle of the left main pump 14L according to the discharge pressure of the left main pump 14L. Specifically, for example, the left regulator 13L adjusts the swash plate tilt angle of the left main pump 14L in response to an increase in the discharge pressure of the left main pump 14L to reduce the discharge amount (push-back volume). The same applies to the right regulator 13R. This is to ensure that the absorbed horsepower of the main pump 14, which is represented by the product of the discharge pressure and the discharge amount, does not exceed the output horsepower of the engine 11.

[0048] The operating device 26 includes a left operating lever 26L, a right operating lever 26R, and a travel lever 26D. The travel lever 26D includes a left travel lever 26DL and a right travel lever 26DR.

[0049] The left operating lever 26L is used for the turning operation and the operation of the arm 5. When the left operating lever 26L is operated in the front-rear direction, it uses the hydraulic oil discharged by the pilot pump 15 to introduce a control pressure corresponding to the lever operation amount into the pilot port of the control valve 176. When the left operating lever 26L is operated in the left-right direction, it uses the hydraulic oil discharged by the pilot pump 15 to introduce a control pressure corresponding to the lever operation amount into the pilot port of the control valve 173.

[0050] Specifically, when the left operating lever 26L is operated in the arm closing direction, it introduces hydraulic oil into the right pilot port of the control valve 176L and also introduces hydraulic oil into the left pilot port of the control valve 176R. When the left operating lever 26L is operated in the arm opening direction, it introduces hydraulic oil into the left pilot port of the control valve 176L and also introduces hydraulic oil into the right pilot port of the control valve 176R. When the left operating lever 26L is operated in the left turning direction, it introduces hydraulic oil into the left pilot port of the control valve 173, and when it is operated in the right turning direction, it introduces hydraulic oil into the right pilot port of the control valve 173.

[0051] The right operation lever 26R is used for the operation of the boom 4 and the bucket 6. When the right operation lever 26R is operated in the front-rear direction, it utilizes the hydraulic oil discharged by the pilot pump 15 and introduces a control pressure corresponding to the lever operation amount into the pilot port of the control valve 175. When the right operation lever 26R is operated in the left-right direction, it utilizes the hydraulic oil discharged by the pilot pump 15 and introduces a control pressure corresponding to the lever operation amount into the pilot port of the control valve 174.

[0052] Specifically, when the right operation lever 26R is operated in the boom lowering direction, it introduces hydraulic oil into the right pilot port of the control valve 175R. When the right operation lever 26R is operated in the boom raising direction, it introduces hydraulic oil into the right pilot port of the control valve 175L and also into the left pilot port of the control valve 175R. When the right operation lever 26R is operated in the bucket closing direction, it introduces hydraulic oil into the right pilot port of the control valve 174, and when it is operated in the bucket opening direction, it introduces hydraulic oil into the left pilot port of the control valve 174.

[0053] The travel lever 26D is used for the operation of the crawler 1C. Specifically, the left travel lever 26DL is used for the operation of the left crawler 1CL. The left travel lever 26DL may be configured to be interlocked with the left travel pedal. When the left travel lever 26DL is operated in the front-rear direction, it utilizes the hydraulic oil discharged by the pilot pump 15 and introduces a control pressure corresponding to the lever operation amount into the pilot port of the control valve 171. The right travel lever 26DR is used for the operation of the right crawler 1CR. The right travel lever 26DR may be configured to be interlocked with the right travel pedal. When the right travel lever 26DR is operated in the front-rear direction, it utilizes the hydraulic oil discharged by the pilot pump 15 and introduces a control pressure corresponding to the lever operation amount into the pilot port of the control valve 172.

[0054] The discharge pressure sensor 28 includes a discharge pressure sensor 28L and a discharge pressure sensor 28R. The discharge pressure sensor 28L detects the discharge pressure of the left main pump 14L and outputs the detected value to the controller 30. The same applies to the discharge pressure sensor 28R.

[0055] The operation pressure sensor 29 includes operation pressure sensors 29LA, 29LB, 29RA, 29RB, 29DL, and 29DR. The operation pressure sensor 29LA detects, in the form of pressure, the content of the operation in the front-rear direction on the left operation lever 26L by the operator, and outputs the detected value to the controller 30. The operation content is, for example, the lever operation direction and the lever operation amount (lever operation angle), etc.

[0056] Similarly, the operation pressure sensor 29LB detects, in the form of pressure, the content of the operation in the left-right direction on the left operation lever 26L by the operator, and outputs the detected value to the controller 30. The operation pressure sensor 29RA detects, in the form of pressure, the content of the operation in the front-rear direction on the right operation lever 26R by the operator, and outputs the detected value to the controller 30. The operation pressure sensor 29RB detects, in the form of pressure, the content of the operation in the left-right direction on the right operation lever 26R by the operator, and outputs the detected value to the controller 30. The operation pressure sensor 29DL detects, in the form of pressure, the content of the operation in the front-rear direction on the left travel lever 26DL by the operator, and outputs the detected value to the controller 30. The operation pressure sensor 29DR detects, in the form of pressure, the content of the operation in the front-rear direction on the right travel lever 26DR by the operator, and outputs the detected value to the controller 30.

[0057] The controller 30 receives the output of the operation pressure sensor 29, outputs a control command to the regulator 13 as necessary, and changes the discharge amount of the main pump 14.

[0058] Here, the negative control using the throttle 18 and the control pressure sensor 19 will be described. The throttle 18 includes a left throttle 18L and a right throttle 18R, and the control pressure sensor 19 includes a left control pressure sensor 19L and a right control pressure sensor 19R.

[0059] In the left center bypass pipeline 40L, a left throttle valve 18L is arranged between the most downstream control valve 176L and the hydraulic oil tank. Therefore, the flow of the hydraulic oil discharged by the left main pump 14L is restricted by the left throttle valve 18L. And the left throttle valve 18L generates a control pressure for controlling the left regulator 13L. The left control pressure sensor 19L is a sensor for detecting this control pressure, and outputs the detected value to the controller 30. The controller 30 controls the discharge amount of the left main pump 14L by adjusting the swash plate tilt angle of the left main pump 14L according to this control pressure. The controller 30 decreases the discharge amount of the left main pump 14L as this control pressure increases, and increases the discharge amount of the left main pump 14L as this control pressure decreases. The discharge amount of the right main pump 14R is controlled in the same way.

[0060] Specifically, as shown in FIG. 3, in the standby state where none of the hydraulic actuators in the excavator 100 are operated, the hydraulic oil discharged by the left main pump 14L reaches the left throttle valve 18L through the left center bypass pipeline 40L. And the flow of the hydraulic oil discharged by the left main pump 14L increases the control pressure generated upstream of the left throttle valve 18L. As a result, the controller 30 decreases the discharge amount of the left main pump 14L to the allowable minimum discharge amount, and suppresses the pressure loss (pumping loss) when the discharged hydraulic oil passes through the left center bypass pipeline 40L. On the other hand, when any of the hydraulic actuators is operated, the hydraulic oil discharged by the left main pump 14L flows into the operated hydraulic actuator through the control valve corresponding to the operated hydraulic actuator. And the flow of the hydraulic oil discharged by the left main pump 14L decreases or disappears the amount reaching the left throttle valve 18L, and decreases the control pressure generated upstream of the left throttle valve 18L. As a result, the controller 30 increases the discharge amount of the left main pump 14L, allows sufficient hydraulic oil to flow into the operated hydraulic actuator, and ensures the drive of the operated hydraulic actuator. Note that the controller 30 controls the discharge amount of the right main pump 14R in the same way.

[0061] With the configuration as described above, in the standby state, the hydraulic system shown in FIG. 3 can suppress the wasteful energy consumption in the main pump 14. The wasteful energy consumption includes the pumping loss generated by the hydraulic oil discharged from the main pump 14 in the center bypass pipeline 40. Further, when operating the hydraulic actuator, the hydraulic system shown in FIG. 3 can reliably supply the necessary and sufficient hydraulic oil from the main pump 14 to the hydraulic actuator to be operated.

[0062] The control valve 60 is configured to switch between the effective state and the ineffective state of the operating device 26. The effective state of the operating device 26 is a state in which the operator can move the related driven body by operating the operating device 26, and the ineffective state of the operating device 26 is a state in which the operator cannot move the related driven body even by operating the operating device 26.

[0063] In the present embodiment, the control valve 60 is an electromagnetic valve capable of switching between the communication state and the cutoff state of the pilot line CD1 connecting the pilot pump 15 and the operating device 26. Specifically, the control valve 60 is configured to switch between the communication state and the cutoff state of the pilot line CD1 according to a command from the controller 30.

[0064] The control valve 60 may be configured to be interlocked with a gate lock lever (not shown). Specifically, it may be configured to cut off the pilot line CD1 when the gate lock lever is pushed down and to put the pilot line CD1 in the communication state when the gate lock lever is pulled up. However, the control valve 60 may be a solenoid valve different from the solenoid valve capable of switching between the communication state and the cutoff state of the pilot line CD1 in conjunction with the gate lock lever.

[0065] Next, with reference to FIG. 4, a process in which the controller 30 restricts the movement of the driven body (hereinafter referred to as "movement restriction process") will be described. FIG. 4 is a flowchart of an example of the movement restriction process. The controller 30 repeatedly executes this movement restriction process at a predetermined control cycle.

[0066] First, the controller 30 determines whether the operating device 26 has been operated (step ST1). In the present embodiment, the controller 30 determines whether the operating device 26 has been operated based on the output of the operation pressure sensor 29. For example, the controller 30 determines whether an arm closing operation has been performed and whether an arm opening operation has been performed based on the output of the operation pressure sensor 29LA, and determines whether a left turning operation has been performed and whether a right turning operation has been performed based on the output of the operation pressure sensor 29LB. Alternatively, the controller 30 determines whether a boom raising operation has been performed and whether a boom lowering operation has been performed based on the output of the operation pressure sensor 29RA, and determines whether a bucket closing operation has been performed and whether a bucket opening operation has been performed based on the output of the operation pressure sensor 29RB. Similarly, the controller 30 determines whether a forward operation of the left crawler 1CL has been performed and whether a reverse operation of the left crawler 1CL has been performed based on the output of the operation pressure sensor 29DL, and determines whether a forward operation of the right crawler 1CR has been performed and whether a reverse operation of the right crawler 1CR has been performed based on the output of the operation pressure sensor 29DR.

[0067] If it is determined that the operating device 26 has not been operated (NO in step ST1), the controller 30 ends the current operation restriction process.

[0068] If it is determined that the operating device 26 has been operated (YES in step ST1), the controller 30 determines whether an object has been detected (step ST2). In the present embodiment, the controller 30 determines whether an object has been detected in a predetermined detection space based on the output of the object detection device 70.

[0069] If it is determined that no object has been detected (NO in step ST2), the controller 30 ends the current operation restriction process.

[0070] When it is determined that an object is being detected (YES in step ST2), the controller 30 determines whether the moving direction of the driven body is a direction toward the object (step ST3). That is, the controller 30 determines whether the driven body approaches the object by moving the driven body. This is to determine whether there is a possibility that the excavator 100 and the object come into contact with each other.

[0071] In the present embodiment, the controller 30 refers to the reference table 50 (see FIG. 3) stored in the ROM, and determines whether the driven body approaches the object when the driven body is moved according to the operation on the operation device 26. The reference table 50 stores in a referable manner the relationship between the detection space where the object exists, the operation content of the driven body, and the presence or absence of approach between the object and the driven body. If the controller 30 can specify the operation content of the driven body and the detection space where the object exists, the controller 30 can determine the presence or absence of approach between the object and the driven body by referring to the reference table 50.

[0072] When it is determined that the moving direction of the driven body is not a direction toward the object (NO in step ST3), the controller 30 ends the current operation restriction process.

[0073] When it is determined that the moving direction of the driven body is a direction toward the object (YES in step ST3), the controller 30 restricts the movement of the driven body (step ST4). In the present embodiment, when the driven body has already moved, the controller 30 starts braking the driven body, and when the driven body has not yet moved, the controller 30 prohibits the movement of the driven body.

[0074] With this configuration, even when the controller 30 detects an object in the detection space, when the driven body is operated in a direction away from the object, the movement of the driven body is permitted. Therefore, it is possible to prevent the movement of the excavator 100 from being uniformly restricted when an object is detected in the detection space.

[0075] Next, with reference to FIGS. 5A to 5C, the detection space will be described. FIGS. 5A to 5C show setting examples of the detection space. Specifically, FIG. 5A is a top view of the upper swing body 3 showing the detection space related to the upper swing body 3. FIG. 5B is a top view of the lower traveling body 1 showing the detection space related to the lower traveling body 1. FIG. 5C is a left side view of the excavator 100 showing the detection space related to the excavation attachment. The axis PX in each of FIGS. 5A to 5C represents the swing axis of the excavator 100, the axis AX represents the front-rear axis of the excavator 100, and the axis TX represents the left-right axis of the excavator 100.

[0076] As shown in FIGS. 5A to 5C, in the present embodiment, 15 detection spaces including the first space R1 to the fifteenth space R15 are set around the excavator 100.

[0077] The first space R1 to the eighth space R8 are detection spaces related to the upper swing body 3. In the present embodiment, the first space R1 to the eighth space R8 have a predetermined height (for example, 3 meters). The predetermined height may be the maximum height of the current excavation attachment derived based on the output of the attitude sensor.

[0078] The first space R1 is set in the range from the distance D1 to the distance D2 on the right side (-Y side) of the axis AX and in the range from the axis TX to the distance D3 on the front side (+X side) of the axis TX. The distance D1 is, for example, larger than the distance from the axis PX to the rear end of the upper swing body 3 (counterweight). The distances D2 and D3 are, for example, values based on the maximum swing radius of the excavation attachment. The distances D2 and D3 may be functions taking the swing radius of the current excavation attachment as an argument. The distance D3 is preferably larger than the distance D2. An object existing in the first space R1 may come into contact with the excavation attachment, for example, when the upper swing body 3 swings to the right.

[0079] The second space R2 is set in the range from a distance D4 to a distance D1 on the right side (-Y side) of the axis AX and in the range from the axis TX to a distance D3 on the front side (+X side) of the axis TX. The distance D4 is, for example, larger than the distance from the axis AX to the side end of the bucket 6. An object existing in the second space R2 may, for example, come into contact with the excavation attachment or the upper swing body 3 when the upper swing body 3 swings to the right or left. The second space R2 is set to include a space where entrainment may occur due to the side surface portion and the front surface portion of the upper swing body 3 when the upper swing body 3 swings.

[0080] The third space R3 is set in the range from a distance D4 to a distance D1 on the left side (+Y side) of the axis AX and in the range from the axis TX to a distance D3 on the front side (+X side) of the axis TX. An object existing in the third space R3 may, for example, come into contact with the excavation attachment or the upper swing body 3 when the upper swing body 3 swings to the left or right. The third space R3 is set to include a space where entrainment may occur due to the side surface portion and the front surface portion of the upper swing body 3 when the upper swing body 3 swings.

[0081] The fourth space R4 is set in the range from a distance D1 to a distance D2 on the left side (+Y side) of the axis AX and in the range from the axis TX to a distance D3 on the front side (+X side) of the axis TX. An object existing in the fourth space R4 may, for example, come into contact with the excavation attachment when the upper swing body 3 swings counterclockwise.

[0082] The fifth space R5 is set in the range from a distance D1 to a distance D2 on the right side (-Y side) of the axis AX and in the range from the axis TX to a distance D5 on the rear side (-X side) of the axis TX. The distance D5 is, for example, a value based on the maximum turning radius of the excavation attachment. It may also be a function taking the turning radius of the current excavation attachment as an argument. The distance D5 is preferably smaller than the distance D3. This is because the fifth space R5 is set farther from the excavation attachment than the first space R1 in the clockwise turning direction. An object existing in the fifth space R5 may, for example, come into contact with the excavation attachment when the upper swing body 3 swings clockwise.

[0083] The sixth space R6 is set in the range from the axis AX to a distance D1 on the right side (-Y side) of the axis AX and in the range from the axis TX to a distance D5 on the rear side (-X side) of the axis TX. An object existing in the sixth space R6 may, for example, come into contact with the excavation attachment or the upper swing body 3 when the upper swing body 3 swings to the right or left. The sixth space R6 is set to include a space where entrainment may occur due to the side surface and the rear surface of the upper swing body 3 when the upper swing body 3 swings.

[0084] The seventh space R7 is set in the range from the axis AX to a distance D1 on the left side (+Y side) of the axis AX and in the range from the axis TX to a distance D5 on the rear side (+X side) of the axis TX. An object existing in the seventh space R7 may, for example, come into contact with the excavation attachment or the upper swing body 3 when the upper swing body 3 swings to the left or right. The seventh space R7 is set to include a space where entrainment may occur due to the side surface and the rear surface of the upper swing body 3 when the upper swing body 3 swings.

[0085] The eighth space R8 is set in the range from a distance D1 to a distance D2 on the left side (+Y side) of the axis AX and in the range from the axis TX to a distance D5 on the rear side (+X side) of the axis TX. An object existing in the eighth space R8 may, for example, come into contact with the excavation attachment when the upper swing body 3 swings counterclockwise.

[0086] The ninth space R9 and the tenth space R10 are detection spaces related to the lower traveling body 1. In the present embodiment, the ninth space R9 and the tenth space R10 have a predetermined height (for example, 3 meters). The predetermined height may be the maximum height of the current excavation attachment derived based on the output of the attitude sensor. The ninth space R9 and the tenth space R10 may be dynamically set based on the orientation of the lower traveling body 1 with respect to the current upper swing body 3.

[0087] The ninth space R9 is set in the range from the axis AX to a distance D6 on each of the right side (-Y side) and the left side (+Y side) of the axis AX, and in the range from the front end (+X side end) of the crawler 1C to a distance D7 on the front side (+X side) of the crawler 1C. The distance D6 is, for example, larger than the distance from the axis AX to the side end of the crawler 1C. The distance D7 is, for example, larger than the length of the crawler 1C (the distance from the front end to the rear end). An object existing in the ninth space R9 may, for example, come into contact with the lower traveling body 1 when the lower traveling body 1 moves forward.

[0088] The tenth space R10 is set in the range from the axis AX to a distance D6 on each of the right side (-Y side) and the left side (+Y side) of the axis AX, and in the range from the rear end (-X side end) of the crawler 1C to a distance D7 on the rear side (-X side) of the crawler 1C. An object existing in the tenth space R10 may, for example, come into contact with the lower traveling body 1 when the lower traveling body 1 moves backward.

[0089] Each of the first space R1 to the eighth space R8, which is a detection space for the upper swing body 3, and each of the ninth space R9 and the tenth space R10, which is a detection space for the lower traveling body 1, may at least partially overlap. For example, each of the first space R1 and the second space R2 may overlap with the ninth space R9 or may overlap with the tenth space R10. Therefore, an object detected in the first space R1 may be detected in the ninth space R9 or may be detected in the tenth space. As a result, the content of the operation restriction of the actuator related to the lower traveling body 1 executed when an object is detected in the first space R1 basically differs depending on the orientation of the lower traveling body 1 at that time. Similarly, the content of the operation restriction of the actuator related to the upper swing body 3 executed when an object is detected in the ninth space R9 basically differs depending on the orientation of the upper swing body 3 at that time. That is, the combination of the content of the operation restriction of the actuator related to the upper swing body 3 and the content of the operation restriction of the actuator related to the lower traveling body 1 basically changes according to the posture of the excavator 100.

[0090] Thus, in the first space R1 to the eighth space R8 and the ninth space R9 to the tenth space R10, with respect to the same one object detected simultaneously in a plurality of detection spaces, the operation restriction of the actuator related to the upper swing body 3 and the operation restriction of the actuator related to the lower traveling body 1 are executed separately.

[0091] The eleventh space R11 to the fifteenth space R15 are detection spaces related to the excavation attachment. In the present embodiment, the eleventh space R11 to the fifteenth space R15 have a predetermined width (for example, the width from the distance D4 on the right side of the axis AX to the distance D4 on the left side). Here, the width of the detection space related to the excavation attachment is narrower than the width of the detection space related to the upper swing body 3 (the second space R2, the third space R3, the sixth space R6, the seventh space R7), and narrower than the width of the upper swing body 3.

[0092] The eleventh space R11 is set in the range above the excavation attachment (+Z side), and in the range from the axis TX to the distance D8 on the front side (+X side) of the axis TX, and in the range from the virtual horizontal plane where the shovel 100 is located to the distance D9 above the virtual horizontal plane (+Z side). Also, in the front side of the excavation attachment, the eleventh space R11 is set in a range higher than the tip P5 of the arm 5. The distance D8 is, for example, a value based on the maximum turning radius of the excavation attachment. The distance D8 may be a function taking the turning radius of the current excavation attachment as an argument. The distance D9 is, for example, a value based on the highest reach point of the excavation attachment. An object existing in the eleventh space R11 may come into contact with the excavation attachment when the excavation attachment rises, for example.

[0093] The twelfth space R12 is set in the range above the virtual horizontal plane (+Z side) and below the excavation attachment (-Z side), and in the range from the axis TX to the distance D8 on the front side (+X side) of the axis TX. Also, in the front side of the excavation attachment, the twelfth space R12 is set in a range lower than the tip P5 of the arm 5. An object existing in the twelfth space R12 may come into contact with the excavation attachment when the excavation attachment descends, for example.

[0094] The 13th space R13 is set in the range from the distance D8 to the distance D10 on the front side (+X side) of the axis TX and in the range from the virtual horizontal plane to the distance D9 on the upper side (+Z side) of the virtual horizontal plane. The distance D10 is, for example, a value based on the maximum turning radius of the excavation attachment. The distance D10 may be a function taking the turning radius of the current excavation attachment as an argument. An object existing in the 13th space R13 may come into contact with the excavation attachment when, for example, the excavation attachment extends.

[0095] The 14th space R14 is set in the range from the virtual horizontal plane to the distance D11 on the lower side (-Z side) of the virtual horizontal plane and in the range from the axis TX to the distance D8 on the front side (+X side) of the axis TX. The distance D11 is, for example, a value based on the deepest reach point of the excavation attachment. An object existing in the 14th space R14 may come into contact with the excavation attachment when, for example, the excavation attachment contracts during deep excavation by the excavation attachment.

[0096] The 15th space R15 is set in the range from the virtual horizontal plane to the distance D11 on the lower side (-Z side) of the virtual horizontal plane and in the range from the distance D8 to the distance D10 on the front side (+X side) of the axis TX. An object existing in the 15th space R15 may come into contact with the excavation attachment when, for example, the excavation attachment extends during deep excavation by the excavation attachment.

[0097] In order to prevent contact between the excavation attachment and the object, in the 11th space R11 to the 15th space R15, operation restrictions are executed regarding the rotation direction of the attachment.

[0098] The ninth space R9 and the tenth space R10, which are detection spaces related to the lower traveling body 1, and the eleventh space R11 to the fifteenth space R15, which are detection spaces related to the excavation attachment, may at least partially overlap. For example, each of the eleventh space R11 and the twelfth space R12 may overlap with the ninth space R9 or may overlap with the tenth space R10. Therefore, an object detected in the twelfth space R12 may be detected in the ninth space R9 or may be detected in the tenth space. As a result, the content of the operation restriction of the actuator related to the lower traveling body 1 executed when an object is detected in the twelfth space R12 basically differs depending on the orientation of the lower traveling body 1 at that time. That is, the combination of the content of the operation restriction of the actuator related to the excavation attachment and the content of the operation restriction of the actuator related to the lower traveling body 1 basically changes according to the posture of the excavator 100.

[0099] As described above, when the same object is simultaneously detected in a plurality of detection spaces, separate operation restrictions are executed for each actuator.

[0100] In the above-described embodiment, an example in which the first space R1 to the fifteenth space R15 are set has been described. Further, a sixteenth space R16 and a seventeenth space R17 may be set as detection spaces related to the traveling hydraulic motor 2M in the left and right vicinity regions of the lower traveling body 1. The vicinity region is, for example, a region within the turning radius of the crawler 1C. That is, the vicinity region is, for example, a region that can be reached by the crawler 1C when a spin turn is performed using the crawler 1C. Thereby, even if the operator tilts the left and right traveling levers 26D in opposite directions when an object exists in the sixteenth space R16 and the seventeenth space R17 set in the left and right vicinity regions of the lower traveling body 1, the controller 30 can prevent the left and right traveling hydraulic motors 2M from rotating in opposite directions and the spin turn by the crawler 1C from being executed.

[0101] Further, the detection spaces such as the first space R1 to the eighth space R8 in FIG. 5A do not necessarily have to be set so as to be divided along a line parallel to the longitudinal axis or the lateral axis of the upper swing body 3. The detection space may be set, for example, so as to be divided along a line extending radially from the turning center. Further, the partitioning of the detection space may be configured to change according to a change in the turning radius.

[0102] Further, the eleventh space R11 to the fifteenth space R15 in FIG. 5C are configured to change according to the posture of the excavation attachment. However, the eleventh space R11 to the fifteenth space R15 do not necessarily have to be set so as to be divided along a line parallel to the turning axis or the longitudinal axis of the upper swing body 3. The detection space may be set, for example, based on the respective turning radii of the driven bodies such as the boom 4 and the arm 5.

[0103] As described above, in the present embodiment, a plurality of detection spaces are set around the excavator 100 based on the movable ranges of the excavation attachment and the upper swing body 3.

[0104] Furthermore, the controller 30 may be configured to be able to specify the type of the detected object by analyzing the image data and the like input from the object detection device 70. In this case, the controller 30 may determine at least one movement of the upper swing body 3 and the excavation attachment based on in which detection space the object is detected, the type of the detected object, and the positional relationship between the object and the excavator 100.

[0105] Next, with reference to FIG. 6, a configuration example of the reference table 50 will be described. FIG. 6 shows a configuration example of the reference table 50.

[0106] The controller 30 refers to the reference table 50 during the operation restriction process, and determines whether or not the object approaches the driven body when the driven body is moved in a state where an object is detected in one or a plurality of spaces among the first space R1 to the fifteenth space R15.

[0107] The "×" in Fig. 6 indicates that when the object and the driven body approach each other, the movement of the driven body is restricted. The "○" in Fig. 6 indicates that when the object and the driven body do not approach each other, the movement of the driven body is not restricted. Fig. 6 shows, for example, that when the left operation lever 26L is tilted to the right and a right turning operation is performed in a state where an object is detected in the first space R1 of Fig. 5A, the right turning of the upper swing body 3 is restricted by the controller 30. Specifically, the controller 30 outputs a shut-off command to the control valve 60 shown in Fig. 3 to switch the pilot line CD1 to a shut-off state and makes the left operation lever 26L ineffective, thereby preventing the upper swing body 3 from turning right.

[0108] Alternatively, Fig. 6 shows, for example, that when the traveling lever 26D is tilted forward (away) and a forward movement operation is performed in a state where an object is detected in the ninth space R9 of Fig. 5B, the forward movement of the crawler 1C is restricted by the controller 30. Specifically, the controller 30 outputs a shut-off command to the control valve 60 shown in Fig. 3 to switch the pilot line CD1 to a shut-off state and makes the traveling lever 26D ineffective, thereby preventing the crawler 1C from moving forward.

[0109] Alternatively, Fig. 6 shows, for example, that when the right operation lever 26R is tilted forward (away) and a boom lowering operation is performed in a state where an object is detected in the twelfth space R12 of Fig. 5C, the lowering of the boom 4 is restricted by the controller 30. Specifically, the controller 30 outputs a shut-off command to the control valve 60 shown in Fig. 3 to switch the pilot line CD1 to a shut-off state and makes the right operation lever 26R ineffective, thereby preventing the boom 4 from lowering.

[0110] Here, even if an object is detected at the same location (the same detection space), if the detection timing is different, the controller 30 determines whether to execute the movement restriction according to the direction in which the actuator drives, so the movement restriction may or may not be executed. Note that the direction in which the actuator drives means, for example, the extension and contraction direction of a hydraulic cylinder or the rotation direction of a hydraulic motor.

[0111] Further, the controller 30 separately determines whether an object is detected in the detection space related to the upper swing body 3 and whether an object is detected in the detection space related to the lower traveling body 1. Therefore, even if an object is detected at the same location (the same detection space), if the detection timing is different, the controller 30 may or may not execute the operation restriction of the actuator related to the upper swing body 3, and may or may not execute the operation restriction of the actuator related to the lower traveling body 1.

[0112] Furthermore, even if an object is detected at the same location (the same detection space), if the detection timing is different, the controller 30 determines whether to execute the operation restriction of the attachment according to the rotation direction of the attachment, and thus may or may not execute the operation restriction.

[0113] As described above, in this embodiment, the direction in which the operation restriction of each actuator is executed is determined in relation to each of the plurality of detection spaces. Specifically, the controller 30 determines whether the operation direction of the driven body is a direction toward the object based on the reference table 50. When it is determined that the operation direction of the driven body is a direction toward the object (YES in step ST3 of FIG. 4), the movement of the driven body can be restricted (step ST4 of FIG. 4). At this time, the controller 30 can restrict the movement of the driven body by restricting the movement of the actuator that drives the driven body determined to be moving toward the object based on the reference table 50. Further, the controller 30 determines whether the operation direction of the driven body is a direction toward the object based on the reference table 50. When it is determined that the operation direction of the driven body is not a direction toward the object (NO in step ST3 of FIG. 4), the driven body can be operated without restricting the movement of the driven body. At this time, the controller 30 can operate the driven body by permitting the movement of the actuator that drives the driven body determined not to be moving toward the object based on the reference table 50. In this way, the operation restriction of the actuator is selectively executed according to in which detection space the object is detected.

[0114] Next, referring to FIG. 7, the actual movement of the excavator 100 capable of executing the operation restriction process will be described. FIG. 7 is a top view of the excavator 100 at the work site.

[0115] In the example of FIG. 7, when the controller 30 determines that the operating device 26 has been operated based on the output of the operation pressure sensor 29, the controller 30 determines whether an object is detected in each of the 15 detection spaces shown in FIG. 5.

[0116] And when an object is detected in any of the 15 detection spaces, the controller 30 refers to the reference table 50 shown in FIG. 6 and determines whether the movement of the driven body that is about to be actually executed is an acceptable movement. The movement of the driven body is determined to be an acceptable movement when, for example, there is no risk of contact between the excavator 100 and the object.

[0117] Specifically, when detecting the object PS1 shown in FIG. 7, the controller 30 determines that an object exists in the tenth space R10 shown in FIG. 5B.

[0118] Therefore, the controller 30 determines that only the backward movement of the crawler 1C by the backward operation using the travel lever 26D is a non-permissible movement. This is because when the crawler 1C moves backward in the state of FIG. 7, the movement direction of the crawler 1C will be the direction towards the object PS1. On the other hand, the controller 30 determines that other movements are permissible movements. That is, right turn, left turn, forward movement, boom raising, boom lowering, arm opening, arm closing, bucket opening, and bucket closing are determined to be permissible movements. This is because even if the upper slewing body 3 is turned right in the state of FIG. 7, the movement direction of the upper slewing body 3 will not be the direction towards the object PS1. The same applies to other operations.

[0119] When detecting the object PS2 shown in FIG. 7, the controller 30 determines that an object exists in each of the second space R2 shown in FIG. 5A and the ninth space R9 shown in FIG. 5B.

[0120] Therefore, the controller 30 determines that the slewing of the upper slewing body 3 by the slewing operation using the left operation lever 26L and the forward movement of the crawler 1C by the backward operation using the travel lever 26D are non-permissible movements. This is because when the upper slewing body 3 is turned right in the state of FIG. 7, the movement direction of the upper slewing body 3 will be the direction towards the object PS2. Also, when the crawler 1C moves forward in the state of FIG. 7, the movement direction of the crawler 1C will be the direction towards the object PS2. On the other hand, the controller 30 determines that other movements are permissible movements. That is, backward movement, boom raising, boom lowering, arm opening, arm closing, bucket opening, and bucket closing are considered permissible movements. This is because even if the boom 4 is raised in the state of FIG. 7, the movement direction of the boom 4 will not be the direction towards the object PS2. The same applies to other operations.

[0121] When the controller 30 detects the object PS3 shown in FIG. 7, it determines that an object exists in the 13th space R13 shown in FIG. 5C.

[0122] Therefore, the controller 30 determines that the movement that allows the opening of the arm 5 by the arm opening operation using the right operation lever 26R is not allowed. This is because if the arm 5 is opened in the state of FIG. 7, the movement direction of the arm 5 will be the direction toward the object PS3. The same applies to the bucket opening operation. On the other hand, the controller 30 determines that other movements are allowed movements. That is, it determines that right rotation, left rotation, forward movement, backward movement, boom raising, boom lowering, arm closing, and bucket closing are allowed movements. This is because even if the upper swing body 3 is rotated to the right in the state of FIG. 7, the movement direction of the upper swing body 3 will not be the direction toward the object PS3. The same applies to other operations.

[0123] When the controller 30 detects the object PS4 shown in FIG. 7, it determines that an object exists in the 3rd space R3 shown in FIG. 5A.

[0124] Therefore, the controller 30 determines that the movement that allows the rotation of the upper swing body 3 by the rotation operation using the left operation lever 26L is not allowed. This is because if the upper swing body 3 is rotated to the left in the state of FIG. 7, the movement direction of the upper swing body 3 will be the direction toward the object PS4. Also, if the upper swing body 3 is rotated to the right in the state of FIG. 7, the movement direction of the upper swing body 3 (counterweight) will be the direction toward the object PS4. On the other hand, the controller 30 determines that other movements are allowed movements. That is, it determines that forward movement, backward movement, boom raising, boom lowering, arm opening, arm closing, bucket opening, and bucket closing are allowed movements. This is because even if the arm 5 is opened in the state of FIG. 7, the movement direction of the arm 5 will not be the direction toward the object PS4. The same applies to other operations.

[0125] As described above, when an operation is performed via the operating device 26 while the controller 30 is detecting an object in any of the 15 detection spaces, the controller 30 determines whether the driven body may be moved according to the operation. Then, when the controller 30 determines that it may be moved, the controller 30 permits the movement of the driven body. On the other hand, when the controller 30 cannot determine that it may be moved, the controller 30 restricts the movement of the driven body. Specifically, the controller 30 outputs a shut-off command to the control valve 60 shown in FIG. 3 to switch the pilot line CD1 to the shut-off state. As a result, the operation via the operating device 26 is invalidated.

[0126] Next, with reference to FIG. 8, an example of the effect of the movement restriction process will be described. FIG. 8 is a side view of the excavator 100 working on a slope.

[0127] In the example of FIG. 8, the excavator 100 approaches the dump truck DP while moving backward in order to load earth and sand onto the loading platform of the dump truck DP parked on the slope. The controller 30 continuously monitors the distance DA between the excavator 100 (counterweight) and the dump truck DP based on the output of the rear sensor 70B. When the operator of the excavator 100 tries to stop the backward movement of the excavator 100 by returning the travel lever 26D to the neutral position when the distance DA reaches a desired distance. At this time, even though the travel lever 26D has been returned to the neutral position, the excavator 100 may continue to move backward due to inertia.

[0128] When the distance DA becomes less than a predetermined value, that is, when the dump truck DP enters the tenth space R10 (see FIG. 5B), the controller 30 outputs a shut-off command to the control valve 60 to switch the pilot line CD1 to the shut-off state. This is to disable the travel lever 26D and stop the rotation of the travel hydraulic motor 2M. In this way, even when the travel lever 26D has not been returned to the neutral position, the controller 30 tries to stop the backward movement of the excavator 100. However, there are cases where the controller 30 cannot immediately stop the excavator 100 that tries to continue moving backward due to inertia.

[0129] At this time, the operator of the excavator 100 tries to stop the reverse movement due to inertia by, for example, tilting the travel lever 26D forward (away) to move the excavator 100 forward. However, in a configuration where the movement of the excavator is uniformly restricted when there is an object around the excavator 100, not only the reverse operation but also the forward operation will be invalidated. Therefore, even if the operator of the excavator 100 knows that it is effective to move the excavator 100 forward to stop the reverse movement due to inertia, there is a possibility that the excavator 100 cannot be moved forward.

[0130] In the configuration according to the embodiment of the present invention, the controller 30 determines whether the driven body may be moved for each operation performed via the operation device 26. Therefore, even in the situation as shown in FIG. 8, the controller 30 can rotate the travel hydraulic motor 2M in the forward direction in response to the forward operation by the operator. This is because it can be determined that there is no risk of the excavator 100 and the object approaching too closely even if the excavator 100 is moved forward. As a result, the controller 30 can quickly stop the reverse movement due to inertia and prevent the excavator 100 and the dump truck DP from approaching too closely.

[0131] Next, referring to FIG. 9, another example of the effect of the operation restriction process will be described. FIG. 9 is a perspective view of the excavator 100 performing a crane operation.

[0132] In the example of FIG. 9, the excavator 100 is lifting the sewer pipe BP in order to bury the sewer pipe BP in the excavation trench EX formed on the road. The operator of the excavator 100 is trying to perform a right turning operation according to the instructions of the flagman FS who is in front of the left side of the excavator 100. The controller 30 continuously monitors the distance DB between the excavator 100 (bucket 6) or the sewer pipe BP and the flagman FS based on the output of the front sensor 70F. The operator of the excavator 100 is trying to turn the upper swing body 3 to the right using the left operation lever 26L to bring the sewer pipe BP closer to the excavation trench EX. At this time, the flagman FS may approach too close to the excavator 100 (bucket 6) or the sewer pipe BP, for example, for adjusting the posture of the sewer pipe BP etc.

[0133] When the distance DB is less than a predetermined value, that is, when the flagman FS is in the fourth space R4 (see FIG. 5A), if a left turning operation is performed, the controller 30 outputs a shut-off command to the control valve 60 to switch the pilot line CD1 to a shut-off state. This is to make the left operation lever 26L ineffective and stop the rotation of the swing hydraulic motor 2A.

[0134] However, in a configuration where the movement of the excavator is uniformly restricted when there are objects around the excavator 100, not only the left turning operation but also the right turning operation will be made ineffective.

[0135] In the configuration according to the embodiment of the present invention, the controller 30 determines whether or not to move the driven body for each operation performed via the operation device 26. Therefore, in the situation shown in FIG. 9, the controller 30 can allow the rotation of the swing hydraulic motor 2A according to the right turning operation by the operator while prohibiting the rotation of the swing hydraulic motor 2A according to the left turning operation by the operator. This is because it can be determined that there is no risk of the excavator 100 and the object approaching too close even if the excavator 100 is turned to the right. As a result, the controller 30 can quickly bring the sewer pipe BP closer to the excavation trench EX while preventing the excavator 100 (bucket 6) or the sewer pipe BP and the flagman FS from approaching too close.

[0136] Next, referring to FIG. 10, another configuration example of the hydraulic system mounted on the excavator 100 will be described. FIG. 10 is a schematic diagram showing another configuration example of the hydraulic system mounted on the excavator 100. The hydraulic system of FIG. 10 is different from the hydraulic system of FIG. 3 in that the effective state and the invalid state of each of the plurality of operating devices 26 can be switched separately, but is common in other respects. Therefore, the description of the common part will be omitted, and the different parts will be described in detail.

[0137] The hydraulic system of FIG. 10 includes control valves 60A to 60F. The control valve 60A is configured to switch between the effective state and the invalid state of the portion related to the arm operation in the left operation lever 26L. In the present embodiment, the control valve 60A is an electromagnetic valve that can switch between the communicating state and the blocking state of the pilot line CD11 that connects the pilot pump 15 and the portion related to the arm operation in the left operation lever 26L. Specifically, the control valve 60A is configured to switch between the communicating state and the blocking state of the pilot line CD11 in response to a command from the controller 30.

[0138] The control valve 60B is an electromagnetic valve that can switch between the communicating state and the blocking state of the pilot line CD12 that connects the pilot pump 15 and the portion related to the swing operation in the left operation lever 26L. Specifically, the control valve 60B is configured to switch between the communicating state and the blocking state of the pilot line CD12 in response to a command from the controller 30.

[0139] The control valve 60C is an electromagnetic valve that can switch between the communicating state and the blocking state of the pilot line CD13 that connects the pilot pump 15 and the left travel lever 26DL. Specifically, the control valve 60C is configured to switch between the communicating state and the blocking state of the pilot line CD13 in response to a command from the controller 30.

[0140] The control valve 60D is a solenoid valve that can switch between the communicating state and the blocking state of the pilot line CD14 connecting the pilot pump 15 and the boom operation-related part of the right operation lever 26R. Specifically, the control valve 60D is configured to switch between the communicating state and the blocking state of the pilot line CD14 according to a command from the controller 30.

[0141] The control valve 60E is a solenoid valve that can switch between the communicating state and the blocking state of the pilot line CD15 connecting the pilot pump 15 and the bucket operation-related part of the right operation lever 26R. Specifically, the control valve 60E is configured to switch between the communicating state and the blocking state of the pilot line CD15 according to a command from the controller 30.

[0142] The control valve 60F is a solenoid valve that can switch between the communicating state and the blocking state of the pilot line CD16 connecting the pilot pump 15 and the right travel lever 26DR. Specifically, the control valve 60F is configured to switch between the communicating state and the blocking state of the pilot line CD16 according to a command from the controller 30.

[0143] The control valves 60A to 60F may be configured to be interlocked with the gate lock lever. Specifically, the control valve 60A may be configured to block the pilot line CD11 when the gate lock lever is pushed down and to put the pilot line CD11 in the communicating state when the gate lock lever is pulled up. The same applies to the control valves 60B to 60F.

[0144] With this configuration, the controller 30 can separately switch the respective active states and inactive states of the arm operation-related part and the slewing operation-related part of the left operation lever 26L, the boom operation-related part and the bucket operation-related part of the right operation lever 26R, the left travel lever 26DL, and the right travel lever 26DR.

[0145] Therefore, even when a combined operation is performed, the controller 30 can operate the excavator 100 appropriately. For example, the controller 30 may permit the movement of one driven body corresponding to one operation among the combined operations while prohibiting the movement of another driven body corresponding to another operation among the combined operations. Alternatively, when the controller 30 prohibits the movement of one driven body corresponding to one operation among the combined operations, the controller 30 may be configured to also prohibit the movement of other driven bodies corresponding to other operations among the combined operations regardless of the settings in the reference table 50. Next, referring to FIG. 11, yet another configuration example of the hydraulic system mounted on the excavator 100 will be described. FIG. 11 is a schematic diagram showing yet another configuration example of the hydraulic system mounted on the excavator 100. The hydraulic system of FIG. 11 is different from the hydraulic systems in FIGS. 3 and 10 in that the communication state and the cutoff state of the pilot lines between the operation device 26 and the respective pilot ports of the control valves 171 to 176 can be switched by the control valve 60, but are common in other respects. Therefore, the description of the common parts will be omitted, and the different parts will be described in detail. In FIG. 11, for clarity, the illustration of the components other than the pilot pump 15, the operation device 26, the control valve 60, and the control valves 171 to 176 is omitted, but the hydraulic system of FIG. 11 has the same configuration as the hydraulic system of FIG. 3.

[0146] The hydraulic system of FIG. 11 includes control valves 60a to 60h and 60p to 60s as the control valve 60. The control valve 60a is configured to switch between the effective state and the ineffective state of the portion related to the arm opening operation of the left operation lever 26L. In the present embodiment, the control valve 60a is an electromagnetic valve capable of switching between the communication state and the cutoff state of the pilot line CD21 that connects the portion related to the arm opening operation of the left operation lever 26L to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R. Specifically, the control valve 60a is configured to switch between the communication state and the cutoff state of the pilot line CD21 in response to a command from the controller 30.

[0147] The control valve 60b is a solenoid valve capable of switching between the communicating state and the blocking state of a pilot line CD22 that connects a portion related to the arm closing operation in the left operation lever 26L to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R. Specifically, the control valve 60b is configured to switch between the communicating state and the blocking state of the pilot line CD22 in response to a command from the controller 30.

[0148] The control valve 60c is a solenoid valve capable of switching between the communicating state and the blocking state of a pilot line CD23 that connects a portion related to the right turning operation in the left operation lever 26L to the right pilot port of the control valve 173. Specifically, the control valve 60b is configured to switch between the communicating state and the blocking state of the pilot line CD23 in response to a command from the controller 30.

[0149] The control valve 60d is a solenoid valve capable of switching between the communicating state and the blocking state of a pilot line CD24 that connects a portion related to the left turning operation in the left operation lever 26L to the left pilot port of the control valve 173. Specifically, the control valve 60d is configured to switch between the communicating state and the blocking state of the pilot line CD24 in response to a command from the controller 30.

[0150] The control valve 60e is a solenoid valve capable of switching between the communicating state and the blocking state of a pilot line CD25 that connects a portion related to the boom lowering operation in the right operation lever 26R to the right pilot port of the control valve 175R. Specifically, the control valve 60e is configured to switch between the communicating state and the blocking state of the pilot line CD25 in response to a command from the controller 30.

[0151] The control valve 60f is a solenoid valve capable of switching between the communicating state and the blocking state of the pilot line CD26 that connects the part related to the boom raising operation in the right operation lever 26R to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R. Specifically, the control valve 60f is configured to switch between the communicating state and the blocking state of the pilot line CD26 according to a command from the controller 30.

[0152] The control valve 60g is a solenoid valve capable of switching between the communicating state and the blocking state of the pilot line CD27 that connects the part related to the bucket closing operation in the right operation lever 26R to the right pilot port of the control valve 174. Specifically, the control valve 60g is configured to switch between the communicating state and the blocking state of the pilot line CD27 according to a command from the controller 30.

[0153] The control valve 60h is a solenoid valve capable of switching between the communicating state and the blocking state of the pilot line CD28 that connects the part related to the bucket opening operation in the right operation lever 26R to the left pilot port of the control valve 174. Specifically, the control valve 60h is configured to switch between the communicating state and the blocking state of the pilot line CD28 according to a command from the controller 30.

[0154] The control valve 60p is a solenoid valve capable of switching between the communicating state and the blocking state of the pilot line CD31 that connects the part related to the forward operation in the left travel lever 26DL to the left pilot port of the control valve 171. Specifically, the control valve 60p is configured to switch between the communicating state and the blocking state of the pilot line CD31 according to a command from the controller 30.

[0155] The control valve 60q is a solenoid valve capable of switching between the communicating state and the blocking state of the pilot line CD32 that connects the part related to the reverse operation in the left travel lever 26DL to the right pilot port of the control valve 171. Specifically, the control valve 60q is configured to switch between the communicating state and the blocking state of the pilot line CD32 according to a command from the controller 30.

[0156] The control valve 60r is a solenoid valve capable of switching between a communicating state and a blocking state of a pilot line CD33 that connects a portion related to the forward operation in the right travel lever 26DR and the right pilot port of the control valve 172. Specifically, the control valve 60r is configured to switch between the communicating state and the blocking state of the pilot line CD33 in response to a command from the controller 30.

[0157] The control valve 60s is a solenoid valve capable of switching between a communicating state and a blocking state of a pilot line CD34 that connects a portion related to the reverse operation in the right travel lever 26DR and the left pilot port of the control valve 172. Specifically, the control valve 60s is configured to switch between the communicating state and the blocking state of the pilot line CD34 in response to a command from the controller 30.

[0158] With this configuration, the controller 30 can separately switch between the valid state and the invalid state of each of the portion related to the boom raising operation, the portion related to the boom lowering operation, the portion related to the arm closing operation, the portion related to the arm opening operation, the portion related to the bucket closing operation, the portion related to the bucket opening operation, the portion related to the left turning operation, the portion related to the right turning operation, the portion related to the forward operation, and the portion related to the reverse operation in the operating device 26.

[0159] In the hydraulic system in each of the above-described embodiments, after determining that the operating device 26 has been operated, the controller 30 determines whether to limit the movement of the driven body based on the presence or absence of an object in the detection space. However, the controller 30 may determine whether to limit the movement of the driven body based on the presence or absence of an object in the detection space before the operating device 26 is operated.

[0160] FIG. 12 is a flowchart of another example of an operation restriction process, which is a process in which the controller 30 restricts the movement of the driven body before the operating device 26 is operated. The controller 30 repeatedly executes this operation restriction process at a predetermined control cycle during the operation of the excavator 100.

[0161] First, the controller 30 determines whether an object is detected (step ST11). In the present embodiment, the controller 30 determines whether an object is detected in a predetermined detection space based on the output of the object detection device 70.

[0162] When it is determined that no object is detected (NO in step ST11), the controller 30 ends the current motion restriction process.

[0163] When it is determined that an object is detected (YES in step ST11), the controller 30 restricts the movement of the driven body that satisfies a predetermined condition (step ST12).

[0164] The movement of the driven body that satisfies the predetermined condition is, for example, the movement of the driven body whose movement direction is the direction toward the object. In the present embodiment, the controller 30 refers to the reference table 50 stored in the ROM, and derives the movement of the driven body that satisfies the condition that the driven body approaches the object when the driven body is hypothetically moved. For example, when the controller 30 can determine that the arm 5 approaches the object when the arm 5 is hypothetically opened, the movement of opening the arm 5 is derived as the movement of the driven body (arm 5) that satisfies the predetermined condition. Then, the controller 30 restricts all of the derived movements of the driven body.

[0165] With this configuration, for example, when the controller 30 derives the movement of opening the arm 5 as the movement of the driven body that satisfies a predetermined condition, before the arm opening operation is performed, the controller 30 can output a shut-off command to the control valve 60a (see FIG. 11) to switch the pilot line CD21 to the shut-off state. Therefore, the controller 30 can disable the part related to the arm opening operation on the left operation lever 26L before the arm opening operation is performed, and even if the arm opening operation is performed thereafter, the movement of opening the arm 5 can be prevented from being executed. Further, in this configuration, since the controller 30 can switch the pilot line CD21 to the shut-off state before the arm opening operation is performed, compared with the configuration in which the pilot line CD21 is switched to the shut-off state after the arm opening operation is performed, the generation of vibrations of the machine body and the like caused by suddenly stopping the movement of the arm 5 can be surely prevented.

[0166] Further, the controller 30 in each of the above-described embodiments is configured to exceptionally disable the operation device 26 that is basically in the enabled state, but may be configured to exceptionally enable the operation device 26 that is basically in the disabled state. For example, the controller 30 may be configured not to limit the movement of the driven body when it is determined that the movement direction of the driven body is the direction toward the object, but to release the restriction on the movement of the driven body when it is determined that the movement direction of the driven body is not the direction toward the object.

[0167] Next, referring to FIGS. 13A and 13B, another configuration example of the excavator 100 will be described. FIGS. 13A and 13B are diagrams showing another configuration example of the excavator 100, FIG. 13A shows a side view, and FIG. 13B shows a top view.

[0168] The excavator shown in FIGS. 13A and 13B is different from the excavator 100 shown in FIGS. 1 and 2 in that the imaging device 80 is mounted, but is common in other points. Therefore, the description of the common parts will be omitted, and the different parts will be described in detail.

[0169] The imaging device 80 images the surroundings of the excavator 100. In the examples of FIGS. 13A and 13B, the imaging device 80 includes a rear camera 80B attached to the rear end of the upper surface of the upper swing body 3, a left camera 80L attached to the left end of the upper surface of the upper swing body 3, and a right camera 80R attached to the right end of the upper surface of the upper swing body 3. The imaging device 80 may include a front camera.

[0170] The rear camera 80B is disposed adjacent to the rear sensor 70B, the left camera 80L is disposed adjacent to the left sensor 70L, and the right camera 80R is disposed adjacent to the right sensor 70R. When a front camera is included, the front camera may be disposed adjacent to the front sensor 70F.

[0171] The image captured by the imaging device 80 is displayed on a display device DS installed in the cab 10. The imaging device 80 may be configured to be able to display a viewpoint-converted image such as an aerial view image on the display device DS. The aerial view image is generated, for example, by synthesizing the images output by the rear camera 80B, the left camera 80L, and the right camera 80R respectively.

[0172] With this configuration, the excavator 100 in FIGS. 13A and 13B can display an image of the object detected by the object detection device 70 on the display device DS. Therefore, when the operation of the driven body is restricted or prohibited, the operator of the excavator 100 can immediately confirm what the object causing the restriction is by looking at the image displayed on the display device DS.

[0173] As described above, the excavator 100 according to the embodiment of the present invention includes a lower traveling body 1, an upper swing body 3 rotatably mounted on the lower traveling body 1, an object detection device 70 provided on the upper swing body 3, a controller 30 as a control device provided on the upper swing body 3, and an actuator such as a boom cylinder 7 that moves a driven body such as a boom 4. The object detection device 70 is configured to detect an object within a detection space set around the excavator 100. And the controller 30 is configured to allow the movement of the driven body in a direction other than the direction toward the detected object. With this configuration, the excavator 100 can prevent its movement from being uniformly restricted when an object exists around it.

[0174] The controller 30 is preferably configured to start braking the driven body or prohibit the movement of the driven body when the operating direction of the driven body based on the operating device 26 is the direction toward the detected object.

[0175] Also, the controller 30 is configured to allow the movement of the driven body when the operating direction of the driven body based on the operating device 26 is not the direction toward the detected object.

[0176] The detection space may include, for example, the first space R1 to the eighth space R8 which are detection spaces related to the upper swing body 3 as shown in FIG. 5A, and the ninth space R9 and the tenth space R10 which are detection spaces related to the lower traveling body 1 as shown in FIG. 5B. In this way, the detection space related to the upper swing body 3 and the detection space related to the lower traveling body 1 may be set separately.

[0177] The detection space may include a plurality of detection spaces such as the first space R1 to the fifteenth space R15 as shown in FIGS. 5A to 5C. Also, the driven body may include a plurality of driven bodies such as the lower traveling body 1, the slewing mechanism 2, the upper swing body 3, the boom 4, the arm 5, and the bucket 6. And, as shown in the reference table 50 of FIG. 6, for each detection space, it may be preset whether each driven body can be moved or not.

[0178] The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the above-described embodiments. Various modifications, substitutions, etc. can be applied to the above-described embodiments without departing from the scope of the present invention. Also, the separately described features can be combined as long as there is no technical contradiction.

[0179] For example, in the above-described embodiment, a hydraulic operation lever provided with a hydraulic pilot circuit is disclosed. For example, in the hydraulic pilot circuit related to the left operation lever 26L, the hydraulic oil supplied from the pilot pump 15 to the left operation lever 26L is transmitted to the pilot port of the control valve 176 at a flow rate corresponding to the opening degree of the remote control valve that is opened and closed by the tilting of the left operation lever 26L in the arm opening direction. Alternatively, in the hydraulic pilot circuit related to the right operation lever 26R, the hydraulic oil supplied from the pilot pump 15 to the right operation lever 26R is transmitted to the pilot port of the control valve 175 at a flow rate corresponding to the opening degree of the remote control valve that is opened and closed by the tilting of the right operation lever 26R in the boom raising direction.

[0180] However, instead of the hydraulic operation lever provided with such a hydraulic pilot circuit, an electric operation system provided with an electric operation lever may be adopted. In this case, the lever operation amount of the electric operation lever is input to the controller 30 as an electric signal, for example. Also, a solenoid valve is disposed between the pilot pump 15 and the pilot ports of the respective control valves. The solenoid valve is configured to operate according to an electric signal from the controller 30. With this configuration, when a manual operation using the electric operation lever is performed, the controller 30 can control the solenoid valve with an electric signal corresponding to the lever operation amount to increase or decrease the pilot pressure, thereby moving each control valve (each spool valve) to a desired position.

[0181] When an electric operation system equipped with an electric operation lever is adopted, the controller 30 can easily switch between a manual control mode and an automatic control mode. The manual control mode is a mode in which the actuator is operated according to a manual operation of the operation device 26 by the operator, and the automatic control mode is a mode in which the actuator is operated regardless of the manual operation. And when the controller 30 switches from the manual control mode to the automatic control mode, a plurality of control valves (spool valves) may be separately controlled according to an electric signal corresponding to the lever operation amount of one electric operation lever.

[0182] FIG. 14 shows a configuration example of the electric operation system. Specifically, the electric operation system of FIG. 14 is an example of a boom operation system, and mainly includes a pilot pressure operated control valve 17, a boom operation lever 26B as an electric operation lever, a controller 30, a solenoid valve 61 for boom raising operation, and a solenoid valve 62 for boom lowering operation. The electric operation system of FIG. 14 can be similarly applied to an arm operation system, a bucket operation system, a slewing operation system, a traveling operation system, and the like.

[0183] The pilot pressure operated control valve 17 includes a control valve 175 (see FIG. 3) related to the boom cylinder 7, a control valve 176 (see FIG. 3) related to the arm cylinder 8, a control valve 174 (see FIG. 3) related to the bucket cylinder 9, and the like. The solenoid valve 61 is configured to be able to adjust, for example, the flow passage area of a pipeline connecting the pilot pump 15 and the right pilot port of the control valve 175L and the left pilot port of the control valve 175R. The solenoid valve 62 is configured to be able to adjust, for example, the flow passage area of a pipeline connecting the pilot pump 15 and the right pilot port of the control valve 175R.

[0184] When manual operation is performed, the controller 30 generates a boom raising operation signal (electrical signal) or a boom lowering operation signal (electrical signal) according to the operation signal (electrical signal) output by the operation signal generation unit of the boom operation lever 26B. The operation signal output by the operation signal generation unit of the boom operation lever 26B is an electrical signal that changes according to the operation amount and operation direction of the boom operation lever 26B.

[0185] Specifically, when the boom operation lever 26B is operated in the boom raising direction, the controller 30 outputs a boom raising operation signal (electrical signal) corresponding to the lever operation amount to the solenoid valve 61. The solenoid valve 61 adjusts the flow passage area according to the boom raising operation signal (electrical signal), and controls the pilot pressure as a boom raising operation signal (pressure signal) acting on the right pilot port of the control valve 175L and the left pilot port of the control valve 175R. Similarly, when the boom operation lever 26B is operated in the boom lowering direction, the controller 30 outputs a boom lowering operation signal (electrical signal) corresponding to the lever operation amount to the solenoid valve 62. The solenoid valve 62 adjusts the flow passage area according to the boom lowering operation signal (electrical signal), and controls the pilot pressure as a boom lowering operation signal (pressure signal) acting on the right pilot port of the control valve 175R.

[0186] When performing automatic control, the controller 30 generates a boom raising operation signal (electrical signal) or a boom lowering operation signal (electrical signal) according to a correction operation signal (electrical signal), for example, instead of the operation signal output by the operation signal generation unit of the boom operation lever 26B. The correction operation signal may be an electrical signal generated by the controller 30, or may be an electrical signal generated by an external control device other than the controller 30.

[0187] In addition, the information acquired by the excavator 100 may be shared with the administrator and the operators of other excavators through the excavator management system SYS as shown in FIG. 15. FIG. 15 is a schematic diagram showing a configuration example of the excavator management system SYS. The management system SYS is a system for managing one or more excavators 100. In the present embodiment, the management system SYS mainly includes an excavator 100, a support device 200, and a management device 300. Each of the excavator 100, the support device 200, and the management device 300 constituting the management system SYS may be one or a plurality. In the example of FIG. 15, the management system SYS includes one excavator 100, one support device 200, and one management device 300.

[0188] The support device 200 is typically a portable terminal device, such as a notebook PC, a tablet PC, or a smartphone carried by an operator at a construction site. The support device 200 may be a computer carried by the operator of the excavator 100. The support device 200 may be a fixed terminal device.

[0189] The management device 300 is typically a fixed terminal device, such as a server computer installed in a management center outside the construction site. The management device 300 may be a portable computer (for example, a portable terminal device such as a notebook PC, a tablet PC, or a smartphone).

[0190] At least one of the support device 200 and the management device 300 may be provided with a monitor and an operation device for remote operation. In this case, the operator may operate the excavator 100 while using the operation device for remote operation. The operation device for remote operation is connected to the controller 30 through a communication network such as a wireless communication network. Hereinafter, the exchange of information between the excavator 100 and the management device 300 will be described, but the following description is equally applicable to the exchange of information between the excavator 100 and the support device 200.

[0191] In the excavator management system SYS as described above, the controller 30 of the excavator 100 may transmit to the management device 300, as object-related information when an object is detected, information regarding in which detection space the object was detected, and at least one piece of information regarding the work content, the operation direction of the driven body, the pilot pressure, the cylinder pressure, etc. when the object is detected. The object-related information may include at least one of data regarding the sound acquired by the microphone mounted on the excavator 100, data regarding the ground inclination, data regarding the posture of the excavator 100, and data regarding the posture of the excavation attachment. The data regarding the ground inclination may be, for example, the detection value of the body inclination sensor S4, or information derived from the detection value. Also, the object-related information may include at least one of the output value of the object detection device 70 and the image captured by the imaging device 80. The object-related information may be continuously or intermittently acquired over a predetermined monitoring period including a predetermined period before the object is detected, the time when the object is detected, and a predetermined period after the object is detected.

[0192] Typically, the object-related information is primarily stored in the volatile or non-volatile memory device in the controller 30 and transmitted to the management device 300 at any timing.

[0193] The management device 300 is configured to present the received object-related information to the user so that the user of the management device 300 can grasp the situation at the work site. In the present embodiment, the management device 300 is configured to be able to visually reproduce the situation at the work site when an object is detected in the detection space. Specifically, the management device 300 generates a computer graphics animation using the received object-related information. Hereinafter, computer graphics will be referred to as "CG".

[0194] Figure 16 shows a display example of the CG animation CX generated by the management device 300. The CG animation CX is an example of a reproduced image of the work site and is being displayed on a display device DS connected to the management device 300. The display device DS is, for example, a touch panel monitor.

[0195] In the example of Figure 16, the CG animation CX is a CG animation that reproduces the state of the crane operation shown in Figure 9 from a top-down perspective and includes images G1 to G12. The excavator 100 shown in Figure 9 is equipped with a plurality of object detection devices 70 so as to be able to monitor the surroundings of the excavator 100. Therefore, the controller 30 and the management device 300 that receives information from the controller 30 can accurately obtain information regarding the positional relationship between the objects existing around the excavator 100 and the excavator 100.

[0196] Image G1 is a CG representing the excavator 100. Image G2 is a CG representing the object detected in the detection space. In the example of Figure 16, the controller 30 has detected a person within the detection space. Image G3 is a frame image surrounding Image G2. Image G3 is displayed to emphasize the position of the object. Image G4 is a CG representing the load cone. Image G5 is a CG of the sewer pipe BP being lifted by the excavator 100. Image G6 is a CG of the excavation groove EX formed on the road. Image G7 is a CG of the utility pole. Image G8 is a CG of the earth and sand excavated when forming the excavation groove EX. Image G9 is a CG of the guardrail extending along the road. Image G10 is a seek bar that displays the playback location of the CG animation CX. Image G11 is a slider that indicates the current playback position of the CG animation CX. Image G12 is a text image that displays various information. Note that Images G2 and G4 to G9 may be images generated by subjecting the images captured by the imaging device 80 to a viewpoint conversion process. That is, instead of a CG animation, the management device 300 may cause the display device DS to reproduce a moving image captured by the imaging device 80 as another example of a reproduced image of the work site. In the example of FIG. 16, the image G12 includes a text image "October 26, 2016" representing the date and time when the work was performed, a text image "** degrees east longitude, ** degrees north latitude" representing the location where the work was performed, a text image "crane lifting operation" representing the work content, and a text image "lifting and slewing" representing the detection operation which is the operation of the excavator 100 when an object is detected.

[0197] The image G1 is displayed to move based on data regarding the posture of the excavator 100 included in the object-related information, data regarding the posture of the excavation attachment, etc. The data regarding the posture of the excavator 100 includes, for example, the pitch angle, roll angle, and yaw angle (slewing angle) of the upper slewing body 3, etc. The data regarding the posture of the excavation attachment includes the boom angle, arm angle, and bucket angle, etc.

[0198] The user of the management device 300 can change the playback position of the CG animation CX to a desired position (time point) by, for example, touching a desired position on the image G10 (seek bar). FIG. 16 shows that the state of the work site at 10:08 am indicated by the slider is being played back by the CG animation CX.

[0199] With such a CG animation CX, an administrator who is a user of the management device 300 can, for example, easily grasp the state of the work site when an object is detected. That is, the management system SYS enables the administrator to analyze the cause etc. of the movement of the excavator 100 being restricted, and further enables the administrator to improve the working environment of the excavator 100 based on such analysis results.

[0200] Also, the playback image of the work site such as a CG animation or a moving image may be displayed not only on the display device DS connected to the management device 300, but also on the display device mounted on the support device 200, or on the display device DS installed in the cab 10 of the excavator 100.

[0201] This application claims priority based on Japanese Patent Application No. 2018-034299 filed on February 28, 2018, and incorporates the entire contents of this Japanese patent application by reference.

Explanation of Reference Signs

[0202] 1 ··· Lower Travel Body 1C ··· Crawler 1CL ··· Left Crawler 1CR ··· Right Crawler 2 ··· Slewing Mechanism 2A ··· Slewing Hydraulic Motor 2M ··· Travel Hydraulic Motor 2ML ··· Left Travel Hydraulic Motor 2MR ··· Right Travel Hydraulic Motor 3 ··· Upper Slewing Structure 4 ··· Boom 5 ··· Arm 6 ··· Bucket 7 ··· Boom Cylinder 8 ··· Arm Cylinder 9 ··· Bucket Cylinder 10 ··· Cabin 11 ··· Engine 13 ··· Regulator 14 ··· Main Pump 15 ··· Pilot Pump 17 ··· Control Valve 18 ··· Throttle 19 ··· Control Pressure Sensor 26 ··· Operating Device 26B ··· Boom Operating Lever 26D ··· Travel Lever 26DL ··· Left Travel Lever 26DR ··· Right Travel Lever 26L ··· Left Operating Lever 26R ··· Right Operating Lever 28 ··· Discharge Pressure Sensor 29, 29DL, 29DR, 29LA, 29LB, 29RA, 29RB ··· Operating Pressure Sensors 30 ··· Controller 40 ··· Center Bypass Pipeline 42 ··· Parallel Pipeline 60, 60A~60F, 60a~60h, 60p~60s ··· Control Valves 61, 62 ··· Solenoid Valves 70 ··· Object Detection Device 70F ··· Front Sensor 70B ··· Rear Sensor 70L ··· Left Sensor 70R ··· Right Sensor 80 ··· Imaging Device 80B ··· Rear Camera 80L ··· Left Camera 80R ··· Right Camera 85 ··· Orientation Detection Device 100 ··· Excavator 171~176 ··· Control Valves 200 ··· Support Device 300 ··· Management Device CD1, CD11~CD16 ··· Pilot Lines DS ··· Display Device S1 ··· Boom Angle Sensor S2 ··· Arm Angle Sensor S3 ··· Bucket Angle Sensor S4 ··· Machine Body Tilt Sensor S5 ··· Slewing Angular Velocity Sensor

Claims

1. A lower traveling body, an upper slewing body rotatably mounted on the lower traveling body, an object detection device provided on the upper slewing body, a display device, a control device provided on the upper slewing body, and an actuator for moving a driven body, comprising: The object detection device is configured to detect an object within a detection space, which is a part of a space around the excavator that the object detection device can monitor, and the display device displays an image within the detection space acquired from the object detection device, regardless of whether the object detection device has detected an object, or an image within the detection space acquired from an imaging device provided separately from the object detection device, the detection space includes a first detection space related to an attachment including the driven body, the first detection space is divided into a plurality of sections, at least two of the plurality of sections are arranged vertically side by side, the plurality of sections include a section below a virtual horizontal plane where the excavator is located, the sizes of the plurality of sections change according to the movement of the attachment, the control device is configured to brake or prohibit the movement of the driven body in the direction towards an object detected in any of the plurality of sections, and allow the movement of the driven body in a direction other than the direction towards the object detected in any of the plurality of sections, an excavator.

2. The control device is configured to start braking the driven body or prohibit the movement of the driven body when the operating direction of the driven body based on an operating device is the direction towards the detected object, The excavator according to Claim 1.

3. The control device is configured to allow the movement of the driven body when the operating direction of the driven body based on an operating device is not the direction towards the detected object, The excavator according to Claim 1.

4. The detection space includes a second detection space related to the upper slewing body and a third detection space related to the lower traveling body, the second detection space and the third detection space are set separately, The excavator according to Claim 1.

5. For each section, it is preset whether the movement of the driven body that is about to be actually executed is an allowable movement, The excavator according to Claim 1.

6. The section includes a section set above the attachment, The excavator according to Claim 1.

7. The width of the first detection space is narrower than the width of the upper swing body. The excavator according to claim 1.

8. The object detection device is configured to detect an object in a non-contact manner. The excavator according to claim 1.

9. The driven body is a boom, an arm, or a bucket. The excavator according to claim 1.

10. The detection space includes a second detection space related to the upper swing body and a third detection space related to the lower traveling body. The positional relationship between the second detection space and the third detection space changes according to the swing angle. The excavator according to claim 1.

11. The detection space includes the first detection space and a third detection space related to the lower traveling body. The positional relationship between the first detection space and the third detection space changes according to the swing angle. The excavator according to claim 1.

12. The size of the first detection space changes according to the movement of the attachment. The excavator according to claim 1.

13. The size of the section is determined based on the current swing radius or the maximum swing radius of the attachment. The excavator according to claim 1.

14. The control device is configured to prohibit the movement of the driven body that brings the object lifted by the attachment closer to the detected object, and to allow the movement of the driven body that moves the object lifted by the attachment away from the detected object. The excavator according to claim 1.

15. The control device is configured to allow the movement of one driven body corresponding to one operation among the combined operations, and to prohibit the movement of another driven body corresponding to another operation among the combined operations. The excavator according to claim 1.

16. The detection space includes a second detection space related to the upper swing body and a third detection space related to the lower traveling body. The second detection space and the third detection space partially overlap. The same object is configured to be detected simultaneously in the second detection space and the third detection space. The excavator according to claim 1.

17. The movement of the driven body is at least one of boom raising, boom lowering, arm opening, arm closing, bucket opening, and bucket closing. The excavator according to claim 1.

Images