Excavator

Abstract

To provide a technique capable of ensuring the safe in a range where the blind spot from an imaging device, a distance sensor, etc. and the blind spot from the operator overlap around the excavator.SOLUTION: An excavator 100 in an embodiment includes: an undercarriage 1; an upper revolving body 3 mounted rotatably on the undercarriage 1; an attachment AT attached to the upper revolving body 3; an imaging unit 40 mounted on the upper revolving body 3 capable of acquiring information about the surrounding situation of the excavator 100; a display device 50 that provides information capable of checking conditions surrounding the excavator 100 based on the output of the imaging unit 40; and a sound output unit 54 that is configured to notify an operator to pay attention to the specified range when the undercarriage 1 travels towards a predetermined range where there is a possibility of becoming an operator's blind spot outside the acquisition range of information on the surroundings of the excavator 100 by the imaging unit 40, or when the upper revolving body 3 pivots so that the attachment AT approaches.SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] The present disclosure relates to a shovel. [Background technology]

[0002] There are known techniques for displaying an image of the shovel's surroundings on a display device in the cabin, and detecting monitored objects around the shovel and notifying the operator of the detection (see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2017-203352 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the imaging range of the imaging device that acquires the original image of the image displayed on the display device may not cover all directions around the shovel. Similarly, the range in which monitored objects around the shovel can be detected may not cover all directions around the shovel. Therefore, around the shovel, there is a possibility that the blind spots when viewed from the imaging device, distance sensor, etc., overlap with the blind spots when viewed directly by the operator or through a mirror, etc.

[0005] In view of the above-mentioned problems, an object of the present invention is to provide a technology that can ensure safety in the area where the blind spots from imaging devices, distance sensors, etc. around the excavator overlap with the blind spots from the operator. [Means for solving the problem]

[0006] In order to achieve the above object, in one embodiment of the present disclosure, a lower running body; an upper rotating body rotatably mounted on the lower traveling body; a work attachment attached to the upper rotating body; an acquisition device mounted on the upper rotating body and capable of acquiring data relating to the situation around the excavator; an information providing device that provides information that allows the operator to check the situation around the excavator based on the output of the acquisition device; When a condition is met in which the lower traveling body travels toward a predetermined range that may be a blind spot for the operator outside the range in the periphery of the excavator where information can be provided by the information providing device, or the upper rotating body rotates so that the work attachment approaches, Regardless of whether or not a predetermined object is present in the predetermined range, a notification device that issues a notification to an operator to alert them to the predetermined range, Shovels will be provided. [Effects of the Invention]

[0007] According to the above-described embodiment, safety can be ensured in the area where the blind spots from the imaging device, distance sensor, etc. around the shovel overlap with the blind spots from the operator. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram illustrating an example of an excavator management system. [Figure 2] FIG. [Figure 3] FIG. 2 is a block diagram showing an example of the configuration of a shovel. [Figure 4] FIG. 2 is a diagram showing an example of a monitoring image (through image) displayed on a display device. [Figure 5] FIG. 10 is a diagram showing another example (bird's-eye view image) of a monitoring image displayed on the display device. [Figure 6] 4 is a flowchart schematically illustrating a first example of a control process by a controller. [Figure 7] 10 is a flowchart schematically illustrating a second example of a control process by the controller. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, an embodiment will be described with reference to the drawings.

[0010] [Outline of the excavator management system] First, an outline of an excavator management system 1000 according to this embodiment will be described with reference to FIGS.

[0011] Fig. 1 is a diagram showing an example of an excavator management system 1000 according to this embodiment. Fig. 1 shows a side view of the excavator 100. Fig. 2 is a top view of the excavator 100.

[0012] The shovel management system 1000 includes an shovel 100 , a management device 200 , and a terminal device 300 .

[0013] The shovel management system 1000 monitors (manages) the operating status, operational status, etc. of the shovel 100 using, for example, the management device 200 and the terminal device 300.

[0014] The shovel management system 1000 may include one or more shovels 100. The shovel management system 1000 may include one or more management devices 200. For example, the multiple management devices 200 may each be responsible for managing some of the multiple shovels 100 (all) of the multiple shovels 100, thereby sharing the overall management of the multiple shovels 100. The shovel management system 1000 may include one or more terminal devices 300.

[0015] <Outline of the excavator> The excavator 100 includes a lower traveling body 1, an upper rotating body 3 rotatably mounted on the lower traveling body 1 via a rotating mechanism 2, an attachment AT, and a cabin 10.

[0016] The lower traveling body 1 includes, for example, a pair of left and right crawlers 1C, i.e., a left crawler 1CL and a right crawler 1CR. The left crawler 1CL and the right crawler 1CR are hydraulically driven by corresponding traveling hydraulic motors 1M, i.e., a left traveling hydraulic motor 1ML and a right traveling hydraulic motor 1MR, respectively, so that the lower traveling body 1 moves independently.

[0017] The upper rotating body 3 rotates relative to the lower traveling body 1 as the rotating mechanism 2 is hydraulically driven by the rotating hydraulic motor 2A.

[0018] The attachment AT includes a boom 4 , an arm 5 , and a bucket 6 .

[0019] The boom 4 is attached to the front center of the upper rotating body 3 so as to be able to tilt up and down, and an arm 5 is attached to the tip of the boom 4 so as to be able to rotate up and down, and a bucket 6 is attached to the tip of the arm 5 so as to be able to rotate up and down.

[0020] The bucket 6 is an example of an end attachment, and is attached to the tip of the arm 5 in a manner that allows it to be appropriately replaced depending on the type of work being performed by the excavator 100. In other words, instead of the bucket 6, a bucket of a different type from the bucket 6, such as a relatively large bucket, a slope bucket, or a dredging bucket, may be attached to the tip of the arm 5. Also, a type of end attachment other than a bucket, such as a mixer, breaker, or crusher, may be attached to the tip of the arm 5. Also, a spare attachment such as a quick coupling or a tiltrotator may be interposed between the arm 5 and the end attachment.

[0021] The boom 4, arm 5, and bucket 6 are hydraulically driven by a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9, respectively.

[0022] Note that the shovel 100 may have some or all of the various hydraulic actuators replaced with electric actuators, that is, the shovel 100 may be a hybrid shovel or an electric shovel.

[0023] The cabin 10 is a control room where an operator sits and operates the excavator 100, and is mounted, for example, on the front left side of the upper rotating body 3.

[0024] As will be described later, the cabin 10 may be omitted when the excavator 100 is remotely operated or operates in a fully automatic manner.

[0025] The shovel 100 is also equipped with, for example, a communication device 70, and communicates with devices outside the shovel 100 (for example, the management device 200 and the terminal device 300) via the communication line NW.

[0026] The communication line NW includes, for example, a wide area network (WAN). The wide area network may include, for example, a mobile communication network terminated in a base station. The wide area network may also include, for example, a satellite communication network using a communication satellite. The wide area network may also include, for example, the Internet. The communication line NW also includes, for example, a local area network (LAN) within a facility or the like in which the management device 200 is installed. The local network may be wired or wireless, or may be a form including both. The communication line NW may also include, for example, a wireless short-range communication line such as WiFi or Bluetooth (registered trademark).

[0027] The shovel 100 communicates with the management device 200, for example, using the communication device 70. This allows the shovel 100 to transmit data related to the shovel 100 (its own machine) to the management device 200 and receive data related to the control of the shovel 100 (its own machine).

[0028] Furthermore, the shovel 100 may communicate with the terminal device 300, for example, using the communication device 70. In this case, the shovel 100 may communicate with the terminal device 300 indirectly via the management device 200, or may communicate with the terminal device 300 directly.

[0029] The excavator 100 operates driven elements such as the lower traveling body 1 (a pair of left and right crawlers 1C), upper rotating body 3, boom 4, arm 5, and bucket 6 in response to operations by an operator inside the cabin 10.

[0030] Furthermore, instead of or in addition to being configured to be operable by an operator inside the cabin 10, the shovel 100 may be configured to be remotely operable from outside the shovel 100. When the shovel 100 is remotely operated, the inside of the cabin 10 may be unmanned. The following description will be given on the assumption that the operation of the operator includes at least one of operation of the operating device 26 by the operator inside the cabin 10 and remote operation by an external operator.

[0031] Remote operation includes, for example, a mode in which the shovel 100 is operated by an operation input related to the actuator of the shovel 100 performed by a predetermined external device. The predetermined external device may be, for example, the management device 200 or the terminal device 300. In this case, the shovel 100 may transmit, to the external device, for example, image information (captured images) output by a front camera 42 that captures an image in front of the remote-operated upper rotating body 3 or an imaging device 40 (described later), via a communication device 70 (described later). The external device may then display the received image information (captured images) on a display device (hereinafter referred to as a "remote-operation display device") provided in the external device. Furthermore, various information images (information screens) displayed on the display device 50 inside the cabin 10 of the shovel 100 may also be displayed on the remote-operation display device of the external device. This allows the operator of the external device to remotely operate the shovel 100 while checking the display contents of, for example, captured images and information screens showing the surroundings of the shovel 100 displayed on the remote-operation display device. The excavator 100 may operate actuators in response to remote control signals indicating the content of the remote control received from an external device by the communication device 70, and drive driven elements such as the lower traveling body 1 (left and right crawlers 1C), upper rotating body 3, boom 4, arm 5, and bucket 6.

[0032] Furthermore, remote control may include, for example, a mode in which the shovel 100 is operated by an external voice input or gesture input to the shovel 100 by a person (e.g., a worker) in the vicinity of the shovel 100. Specifically, the shovel 100 recognizes voices uttered by nearby workers or gestures made by the workers through a voice input device (e.g., a microphone) or a gesture input device (e.g., an imaging device) mounted on the shovel 100 (the shovel itself). Then, the shovel 100 may operate actuators in accordance with the content of the recognized voices or gestures, and drive driven elements such as the lower traveling body 1 (left and right crawlers 1C), upper rotating body 3, boom 4, arm 5, and bucket 6.

[0033] The excavator 100 may also automatically operate the actuators regardless of the operation by the operator. This allows the excavator 100 to realize a function (so-called "automatic driving function" or "machine control (MC) function") that automatically operates at least some of the driven elements such as the lower traveling body 1 (left and right crawlers 1C), upper rotating body 3, boom 4, arm 5, and bucket 6.

[0034] The automatic driving function may include a function for automatically operating driven elements (actuators) other than the driven element (actuator) to be operated in response to an operator's operation of the operating device 26 or remote operation (a so-called "semi-automatic driving function" or "operation-assisted MC function"). The automatic driving function may also include a function for automatically operating at least some of the multiple driven elements (actuators) without the operator's operation of the operating device 26 or remote operation (a so-called "fully automatic driving function" or "fully automatic MC function"). In the shovel 100, when the fully automatic driving function is enabled, the inside of the cabin 10 may be unmanned. The semi-automatic driving function, the fully automatic driving function, etc. may also include a mode in which the operation content of the driven element (actuator) to be operated automatically is determined according to predetermined rules. The semi-automatic driving function, the fully automatic driving function, etc. may also include a mode in which the shovel 100 autonomously makes various decisions and autonomously determines the operation content of the driven element (actuator) to be operated automatically in accordance with the decision results (a so-called "autonomous driving function").

[0035] <Overview of the management device> The management device 200 is provided outside the shovel 100 and manages, for example, the operating state and operational state of the shovel 100. The management device 200 may also support remote operation of the shovel 100.

[0036] The management device 200 is, for example, a cloud server installed in a management center or the like outside the work site of the shovel 100. The management device 200 may also be, for example, an edge server installed in a temporary office within the work site of the shovel 100 or in a station or base station near the work site. The management device 200 may also be, for example, a stationary terminal device (stationary terminal) or a portable terminal device (portable terminal) placed in a temporary office or the like within the work site of the shovel 100. The stationary terminal may include, for example, a desktop computer terminal. The portable terminal may include, for example, a mobile phone, a smartphone, a tablet terminal, a laptop computer terminal, etc.

[0037] The management device 200 includes a control device 210 , a communication device 220 , an output device 230 , and an input device 240 .

[0038] The control device 210 controls the management device 200. The functions of the control device 210 may be realized by any hardware or any combination of hardware and software. The control device 210 is mainly configured with a computer including, for example, a central processing unit (CPU), a memory device such as a random access memory (RAM), an auxiliary storage device such as a read only memory (ROM), and an interface device for input and output with the outside. The control device 310 described below may also have a similar configuration.

[0039] The communication device 220 communicates with the outside of the management device 200 (for example, the excavator 100 or the terminal device 300) through the communication line NW.

[0040] The output device 230 outputs information to a user (hereinafter referred to as a "management device user") such as an administrator or operator of the management device 200. The output device 230 may include, for example, a display device or a lighting device that outputs visual information. The display device may include, for example, a liquid crystal display or an organic EL (Electroluminescence) display that outputs image information. The display device may also include the above-mentioned remote control display device. The output device 230 may also include, for example, a sound output device that outputs auditory information. The sound output device may include, for example, a speaker or a buzzer.

[0041] The input device 240 accepts various inputs from the management device user, and signals corresponding to the inputs are captured by the control device 210. The input device 240 includes, for example, an operation input device that accepts operation inputs from the management device user. The operation input device may include, for example, a mouse, a keyboard, a touch panel, a button, a toggle, a lever, etc. The input device 240 may also include, for example, a voice input device or a gesture input device that accepts voice input or gesture input from the management device user. The voice input device includes, for example, a microphone that acquires voice data uttered by the management device user. The gesture input device includes, for example, an imaging device (camera) that captures images of gestures made by the management device user. The input device 240 may also include, for example, a remote control operation device.

[0042] The control device 210 communicates with the shovel 100 and the terminal device 300 using the communication device 220. As a result, the management device 200 can, for example, receive various data transmitted (uploaded) from the shovel 100 and collect various data related to the shovel 100. The control device 210 can also, for example, transmit data related to the control of the shovel 100 to the shovel 100 using the communication device 220, thereby controlling the shovel 100 from outside. The control device 210 can, for example, provide various data to the terminal device 300 using the communication device 220 in response to a request from the terminal device 300. The control device 210 can, for example, use the communication device 220 to transmit a signal (remote control signal) indicating the content of remote control received from the input device 240 (remote control operating device) to the shovel 100 that is the target of remote operation. As a result, the management device 200 can support the remote operation of the shovel 100.

[0043] <Terminal device overview> The terminal device 300 is, for example, a terminal device (user terminal) used by a user who receives information in the shovel management system 1000. The terminal device 300 may also assist in remote operation of the shovel 100.

[0044] The terminal device 300 is, for example, a general-purpose mobile terminal such as a laptop computer terminal, a tablet terminal, or a smartphone owned by a user. The terminal device 300 may also be a general-purpose stationary terminal such as a desktop computer. The terminal device 300 may also be a dedicated terminal device (mobile terminal or stationary terminal) for receiving data (information) related to the excavator 100 or for supporting remote operation.

[0045] The terminal device 300 includes a control device 310 , a communication device 320 , an output device 330 , and an input device 340 .

[0046] The control device 310 controls the terminal device 300 .

[0047] The communication device 320 communicates with the outside of the terminal device 300 (for example, the excavator 100 or the management device 200) through the communication line NW.

[0048] The output device 330 outputs information to a user (hereinafter referred to as a "terminal device user") such as an administrator or worker of the terminal device 300. The output device 330 may include, for example, a display device or a lighting device that outputs visual information. The display device may include, for example, a liquid crystal display or an organic EL display that outputs image information. The display device may also include the above-mentioned remote control display device. The output device 330 may also include, for example, a sound output device that outputs auditory information. The sound output device may include, for example, a speaker or a buzzer.

[0049] The input device 340 accepts various inputs from the terminal device user, and signals corresponding to the input contents are captured by the control device 310. The input device 340 includes, for example, an operation input device that accepts operation inputs from the terminal device user. The operation input device may include, for example, a mouse, a keyboard, a touch panel, a button, a toggle, a lever, etc. The input device 340 may also include, for example, a voice input device or a gesture input device that accepts voice input or gesture input from the terminal device user. The voice input device includes, for example, a microphone that acquires voice data uttered by the terminal device user. The gesture input device includes, for example, an imaging device (camera) that captures images of gestures made by the terminal device user. The input device 340 may also include, for example, a remote control operation device.

[0050] The control device 310 communicates with the management device 200 using the communication device 320. This allows the terminal device 300 to request the management device 200 to provide data related to the shovel 100, etc. Furthermore, the terminal device 300 may receive data related to the shovel 100 transmitted from the management device 200, and provide information related to the shovel 100 to the user via the output device 330 (display device).

[0051] Furthermore, the control device 310 may communicate with the shovel 100 using the communication device 320. In this case, the terminal device 300 may communicate with the shovel 100 indirectly via the management device 200, or may communicate with the shovel 100 directly. The control device 310 may use the communication device 320, for example, to transmit a signal (remote control signal) indicating the content of the remote control received from the input device 340 (remote control operating device) to the shovel 100 that is the target of the remote control. This allows the terminal device 300 to assist in the remote operation of the shovel 100.

[0052] [Excavator configuration] Next, the configuration of the shovel 100 according to this embodiment will be described with reference to FIGS. 3 to 5 in addition to FIGS. 1 and 2.

[0053] Fig. 3 is a diagram showing an example of the configuration of the shovel 100 according to this embodiment. Fig. 4 is a diagram showing an example of a monitoring image (monitoring image MP1 including a through image) displayed on the display device 50, and Fig. 5 is a diagram showing another example of a monitoring image (monitoring image MP2 including a viewpoint conversion image) displayed on the display device 50.

[0054] The shovel 100 includes various components such as a hydraulic drive system, an operation system, a user interface system, and a control system.

[0055] <Hydraulic drive system> The hydraulic drive system of the excavator 100 is a group of components related to hydraulic drive of the driven parts.

[0056] As shown in Figures 1 to 3, the hydraulic drive system of the excavator 100 includes a hydraulic actuator HA that hydraulically drives each of the driven parts, such as the lower traveling structure 1, boom 4, arm 5, and bucket 6. The hydraulic actuator HA includes traveling hydraulic motors 1ML, 1MR, a swing hydraulic motor 2A, a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9. The hydraulic drive system of the excavator 100 also includes a prime mover 11, a main pump 14, and a control valve 17.

[0057] The prime mover 11 is a power source for the shovel 100. The prime mover 11 includes, for example, an engine (for example, a diesel engine) that runs on a predetermined fuel (for example, diesel). The prime mover 11 may also include, for example, an electric motor that runs on power supplied from a power storage device (for example, a capacitor or a lithium-ion battery) mounted on the shovel 100 or an external power source connected via a cable.

[0058] The main pump 14 is mounted on the upper rotating body 3 and is driven by the prime mover 11. Under the control of the controller 30, the main pump 14 draws hydraulic oil from a hydraulic oil tank T and supplies the hydraulic oil to various hydraulic actuators HA.

[0059] The control valve 17 selectively supplies hydraulic oil discharged from the main pump 14 to each hydraulic actuator HA in accordance with the operating state of the driven element (i.e., the corresponding hydraulic actuator HA), and adjusts the flow rate and direction of the hydraulic oil supplied to the hydraulic actuator HA. For example, the control valve 17 may be configured with a plurality of control valves (directional control valves) that control the direction and flow rate of the hydraulic oil supplied to each hydraulic actuator HA. The control valve 17 may be, for example, hydraulically driven (hydraulic pilot type), and receives a pilot pressure corresponding to the operation of each hydraulic actuator or an operation command corresponding to the automatic driving function. In this way, the control valve (directional control valve) corresponding to each hydraulic actuator is driven in accordance with the input pilot pressure. The control valve 17 may also be electrically driven, for example, an electromagnetic solenoid type, and receives an electric signal corresponding to the operation of the operating device 26 or an operation command corresponding to the automatic driving function. In this way, the control valve (directional control valve) corresponding to each hydraulic actuator is driven in accordance with the input electric signal.

[0060] The hydraulic control valve 31 is provided in a pilot line connecting the pilot pump 15 and the control valve 17 (specifically, the pilot port of the control valve corresponding to each hydraulic actuator HA). The hydraulic control valve 31 is, for example, an electromagnetic proportional valve. The hydraulic control valve 31 is operable by a control command from the controller 30, and adjusts the pilot pressure acting on the control valve 17. The hydraulic control valve 31 may be provided, for example, in the pilot line between the pilot pump 15 and the hydraulic pilot-type operating device 26, i.e., in the pilot line on the primary side of the operating device 26. The hydraulic control valve 31 may also be provided, for example, in the pilot line between the operating device 26 and the control valve 17, i.e., in the pilot line on the secondary side of the operating device 26. The hydraulic control valve 31 is used, for example, when an electric operating device 26 is employed as described above, or when the excavator 100 is remotely operated. Moreover, under the control of the controller 30, the hydraulic control valve 31 can adjust the pilot pressure acting on the control valve 17, regardless of the operation details of the operating device 26 or the details of remote operation. In other words, under the control of the controller 30, the hydraulic control valve 31 can automatically control the operation of the excavator 100 and realize an automatic operation function, regardless of the operation details of the operating device 26 or the details of remote operation.

[0061] <Operation system> The operating system of the shovel 100 is a group of components related to the operation of the driven elements (actuators).

[0062] As shown in FIGS. 1 to 3, the operating system of the excavator 100 includes a pilot pump 15, an electromagnetic switching valve 25V, an operating device 26, and a hydraulic control valve 31.

[0063] The pilot pump 15 is driven by the prime mover 11 as a power source. The pilot pump 15 draws hydraulic oil from a hydraulic oil tank T and supplies the hydraulic oil to various hydraulic pilot type hydraulic devices (for example, the operating device 26, the control valve 17, etc.).

[0064] The pilot pump 15 may be omitted. In this case, hydraulic oil discharged from the main pump 14 and reduced in pressure to a predetermined pilot pressure via a pressure reducing valve or the like may be supplied to various hydraulic devices such as the hydraulic control valve 31.

[0065] The solenoid directional control valve 25V is disposed at the most upstream position of the pilot line 25 that connects the pilot pump 15 with various hydraulic devices. The solenoid directional control valve 25V switches the pilot line 25 between a connected state and a disconnected state under the control of the controller 30. Thus, by controlling the solenoid directional control valve 25V, the controller 30 can bring the pilot line 25 into a disconnected state and cut off the hydraulic oil supplied from the pilot pump 15 to the operating device 26 and the hydraulic control valve 31. Therefore, the controller 30 can stop the operation of the driven element (hydraulic actuator) regardless of the operation by the operator.

[0066] When the pilot line 25 is in a non-communicating state, the hydraulic oil downstream of the electromagnetic switching valve 25V of the pilot line 25 is returned to the hydraulic oil tank T. Also, the electromagnetic switching valve 25V may be omitted.

[0067] The operating device 26 is used to operate driven elements such as the lower traveling body 1, the upper rotating body 3, and the attachments (the boom 4, the arm 5, and the bucket 6) that are driven by actuators (specifically, hydraulic actuators). In other words, the operating device 26 is used to operate the hydraulic actuators HA that drive the driven elements. The operating device 26 includes, for example, lever devices, pedal devices, etc. that correspond to the respective driven elements, i.e., the respective hydraulic actuators HA.

[0068] The operating device 26 is, for example, a hydraulic pilot type. In this case, the operating device 26 uses hydraulic oil supplied from the pilot pump 15 to output a pilot pressure to the control valve 17 according to the operation details (e.g., operation direction, operation amount, etc.) of each driven element (i.e., each corresponding hydraulic actuator). In this way, the control valve 17 can realize the operation of each driven element (i.e., each corresponding hydraulic actuator) according to the operation details of the operating device 26.

[0069] Furthermore, the operating device 26 may be, for example, electric. In this case, the operating device 26 outputs an electric signal (hereinafter referred to as an "operation signal") corresponding to the operation of each driven element (i.e., each corresponding hydraulic actuator) to the controller 30. The controller 30 then outputs a control command corresponding to the operation signal to an operating hydraulic control valve 31 provided in an oil passage (pilot line) between the pilot pump 15 and the control valve 17. As a result, the operating hydraulic control valve 31 can use hydraulic oil supplied from the pilot pump 15 to apply a pilot pressure corresponding to the operation signal, that is, a pilot pressure corresponding to the operation of each driven element (i.e., each hydraulic actuator HA) in the operating device 26, to the control valve 17. Therefore, the control valve 17 can realize the operation of each driven element (i.e., each corresponding hydraulic actuator HA) according to the operation of the operating device 26.

[0070] Furthermore, the driven elements of the shovel 100, i.e., the corresponding actuators (hydraulic actuators), may be remotely controlled as described above. For example, a signal (remote control signal) indicating the content of the remote control is transmitted from a predetermined external device to the shovel 100, and the controller 30 receives the remote control signal via the communication device 70. The controller 30 then outputs a control command to the operating hydraulic control valve 31 according to the content of the remote control specified by the remote control signal (for example, the driven element or hydraulic actuator to be operated, the operation direction, the operation amount, etc.). This allows the operating hydraulic control valve 31 to apply a pilot pressure according to the content of the remote control to the hydraulically driven control valve 17, using hydraulic oil supplied from the pilot pump 15. Thus, the control valve 17 can realize the operation of each driven element (i.e., each corresponding hydraulic actuator HA) according to the content of the remote control.

[0071] As described above, some or all of the hydraulic actuators may be replaced with electric actuators. In this case, the controller 30 may output control commands to the electric actuators or drivers, inverters, etc. that drive the electric actuators, in accordance with the operation details of the operating device 26, the remote operation details specified by the remote operation signal, the operation commands corresponding to the automatic driving function, etc.

[0072] <User Interface> The user interface system of the excavator 100 is a group of components related to the exchange of information with the user.

[0073] The user interface system of the shovel 100 includes a display device 50, an input device 52, and a sound output device 54.

[0074] The display device 50 (an example of an information providing device or notification device) is provided around the cockpit in the cabin 10, specifically in a position that is easily visible to the operator seated in the cockpit, and displays various types of image information to notify the operator. The display device 50 is, for example, a liquid crystal display or an organic EL display, and may be a touch panel type that also serves as the input device 52. For example, as described below, the display device 50 displays an image (hereinafter referred to as a "monitoring image") showing the state of the surroundings of the excavator 100 (the excavator's own machine) based on an image captured by the imaging device 40 under the control of the controller 30 (display processing unit 301).

[0075] The input device 52 receives various inputs from an operator and outputs them to the controller 30. The input device 52 includes any operation input device, such as a touch panel, a touch pad, a button, a toggle, a rotary knob, etc. The input device 52 may also include a voice input device or a gesture input device that receives voice input or gesture input from a user such as an operator.

[0076] The sound output device 54 (an example of an information providing device or notification device) outputs sound toward at least one of the inside and the outside of the cabin 10. The sound output device 54 may include, for example, a speaker, a buzzer, or the like provided inside the cabin 10, and may output sound toward the operator. The sound output device 54 may also include, for example, a horn, a traveling alarm, or the like, and may output sound toward the outside of the cabin 10, specifically, toward the periphery of the excavator 100.

[0077] <Communications> The communication system of the shovel 100 is a group of components for communicating with the outside of the shovel 100.

[0078] Note that communication with the outside of the shovel 100 includes communication with devices brought into the cabin 10 of the shovel 100 (for example, a user terminal carried by an operator or a diagnostic tool brought in by a service technician).

[0079] The communication system of the shovel 100 includes a communication device 70 .

[0080] The communication device 70 communicates with the outside of the shovel 100 (for example, the management device 200 and the terminal device 300) via the communication line NW.

[0081] <Control system> The control system of the shovel 100 is a group of components for performing various controls related to the shovel 100.

[0082] The control system of the shovel 100 includes a controller 30. The control system of the shovel 100 also includes an operation information output device 29, an imaging device 40, a front camera 42, an attitude sensor 44, and a swing angle sensor 46.

[0083] The controller 30 controls the excavator 100. The controller 30 is mounted inside the cabin 10, for example.

[0084] The functions of the controller 30 may be realized by any hardware or any combination of hardware and software. The controller 30 is mainly composed of a computer including, for example, a CPU, a memory device (main storage device) such as RAM, an auxiliary storage device such as ROM, and an interface device for input and output with the outside. The controller 30 realizes various functions by, for example, loading a program installed in the auxiliary storage device into the memory device and executing it on the CPU.

[0085] The controller 30 includes, for example, a display processing unit 301, an object detection unit 302, and a safety control unit 303 as functional units realized by loading an installation program from an auxiliary storage device into a memory device and executing it on a CPU.

[0086] Note that some or all of the functions of the controller 30 may be realized by another controller. Also, some or all of the functions of the controller 30 may be transferred to an external device (for example, the management device 200) outside the shovel 100. In this case, the operation of the shovel 100 may be controlled in real time in response to a control command from an external device such as the management device 200. For example, th This is because, when extremely high-speed communication can be performed through a communication line NW, such as a mobile communication network for the next generation (NGN), it is possible to achieve delay-free operational control of the shovel 100 even in a control mode in which control commands are sent sequentially from the management device 200 to the shovel 100.

[0087] The operation information output device 29 outputs information (hereinafter referred to as "operation information") relating to the operation content of the operation device 26, the content of remote operation, or the content of the operation command corresponding to the automatic driving function, that is, the operation content relating to each driven element (i.e., each corresponding hydraulic actuator HA).

[0088] The operation information output device 29 may be, for example, a sensor that acquires information about the operation content of the operating device 26 (hereinafter referred to as "operation information acquisition sensor"). The operation information acquisition sensor is, for example, a linear encoder that detects the operation direction and operation amount of a lever, pedal, or the like of the operating device 26. The operation information acquisition sensor is, for example, a pressure sensor that detects the pilot pressure on the secondary side of a hydraulic pilot type operating device 26. The operation information output device 29 may be, for example, an electric operating device 26. This is because the operation signal output from the electric operating device 26 corresponds to the operation information. When the shovel 100 is remotely operated, the operation information output device 29 is, for example, a communication device 70 that receives a remote operation signal from an external device. When the shovel 100 operates using an automatic operation function, the operation information output device 29 may be, for example, a computing device that outputs an operation command.

[0089] The imaging device 40 (an example of an acquisition device) is attached to the upper surface of the upper revolving body 3, captures images of the periphery of the shovel 100 ranging from areas relatively close to the shovel 100 to areas relatively far from the shovel 100, and outputs the captured images. The imaging device 40 includes cameras 40B, 40L, and 40R. Hereinafter, the cameras 40B, 40L, and 40R may be collectively referred to as "cameras 40X."

[0090] Cameras 40B, 40L, and 40R are attached to the upper rear end, upper left end, and upper right end of the upper rotating body 3, respectively, and capture images of the rear, left side, and right side of the upper rotating body 3. For example, camera 40X is a monocular camera with a very wide angle of view (i.e., a wide-angle camera). Also, for example, camera 40X may be a stereo camera, a depth camera, or the like. Camera 40B captures an image range behind the upper rotating body 3, for example, a horizontal image range extending from the rear left to the rear right. Camera 40L captures an image range on the left side of the upper rotating body 3, for example, a horizontal image range extending from the front left to the rear left of the upper rotating body 3. Also, camera 40R captures an image range on the right side of the upper rotating body 3, for example, a horizontal image range extending from the front right to the rear right of the upper rotating body 3. The camera 40X is attached to the upper part of the upper revolving body 3 with its optical axis facing diagonally downward, and captures an image in the vertical imaging range that includes the ground near the shovel 100 and far away from the shovel 100.

[0091] The camera 40X outputs a captured image at predetermined intervals (e.g., 1 / 30 seconds) from the start (i.e., key switch ON) to the stop (i.e., key switch OFF) of the shovel 100. The captured image output from the camera 40X is taken into the controller 30.

[0092] Note that, instead of or in addition to the imaging device 40, a distance sensor (an example of an acquisition device) capable of detecting the distance to an object behind, to the left side, and to the right side of the upper rotating body 3 may be mounted. The distance sensor includes, for example, a LIDAR (Light Detection and Ranging), a millimeter wave radar, an ultrasonic sensor, a distance image sensor, etc.

[0093] The front camera 42 captures an image of the situation in front of the excavator 100 and acquires an image for confirmation by an operator who remotely controls the excavator. The front camera 42 may be provided at any position on the front of the upper rotating body 3, as long as it can capture an image of the situation where the attachment AT is working. For example, the front camera 42 is attached to the front end of the top surface of the cabin 10. The front camera 42 may also be attached to the front of the cabin 10.

[0094] It should be noted that if the excavator 100 is not remotely controlled, the front camera 42 may be omitted.

[0095] The posture sensor 44 (an example of a measuring device) measures the posture state of the shovel 100.

[0096] The attitude sensor 44 includes, for example, a boom angle sensor that measures the attitude angle of the boom 4. The boom angle sensor may include, for example, a rotary encoder, an acceleration sensor, an angular velocity sensor, a six-axis sensor, an IMU (Inertial Measurement Unit), etc. The boom angle sensor may also include a cylinder sensor that can detect the extension / retraction position of the boom cylinder 7.

[0097] The posture sensor 44 also includes, for example, an arm angle sensor that measures the posture angle of the arm 5. The arm angle sensor may include, for example, a rotary encoder, an acceleration sensor, an angular velocity sensor, a six-axis sensor, an IMU, etc. The arm angle sensor may also include a cylinder sensor that can detect the extension / retraction position of the arm cylinder 8.

[0098] The attitude sensor 44 also includes, for example, a bucket angle sensor that measures the attitude angle of the bucket 6. The bucket angle sensor may include, for example, a rotary encoder, an acceleration sensor, an angular velocity sensor, a six-axis sensor, an IMU, etc. The bucket angle sensor may also include a cylinder sensor that can detect the extension / retraction position of the bucket cylinder 9.

[0099] The attitude sensor 44 also includes, for example, a machine body attitude sensor that measures the attitude state of the machine body (undercarriage 1 and upper rotating body 3). The attitude state of the machine body includes the inclination state of the machine body. The inclination state of the machine body includes, for example, a tilt state in the longitudinal direction corresponding to the attitude state of the upper rotating body 3 about its lateral axis, and a tilt state in the lateral direction corresponding to the attitude state of the upper rotating body 3 about its longitudinal axis. The attitude state of the machine body may also include the rotation state of the upper rotating body 3 corresponding to the attitude state of the upper rotating body 3 about its rotation axis. The machine body attitude sensor is mounted on, for example, the upper rotating body 3, and acquires (outputs) detection data related to the attitude angles about the longitudinal axis and lateral axis of the upper rotating body 3 (hereinafter referred to as the "longitudinal tilt angle" and the "lateral tilt angle"). The machine body attitude sensor may also acquire (output) detection data related to the attitude angle about the rotation axis. This allows the aircraft attitude sensor to acquire detection information regarding the orientation of the upper rotating body 3 relative to the ground (rotational attitude around the rotation axis). The orientation of the upper rotating body 3 means, for example, the direction in which the attachment AT extends when viewed from above, that is, the forward direction as seen from the upper rotating body 3. The aircraft attitude sensor may include, for example, an acceleration sensor (inclination sensor), an angular velocity sensor, a six-axis sensor, an IMU, etc.

[0100] The attitude sensor 44 may be omitted.

[0101] The swing angle sensor 46 measures (detects) the relative swing angle of the upper swing body 3 with respect to the lower running body 1 as a reference. This allows the swing angle sensor 46 to acquire measurement (detection) information regarding the orientation of the upper swing body 3 with respect to the lower running body 1 as a reference. The swing angle sensor 46 acquires detection information regarding the swing angle of the upper swing body 3 with respect to, for example, a predetermined reference (for example, a state in which the forward direction of the lower running body 1 and the front of the upper swing body 3 are aligned). The swing angle sensor 46 includes, for example, a potentiometer, a rotary encoder, a resolver, etc.

[0102] Note that information regarding the orientation of the upper revolving structure 3 relative to the lower running structure 1 may be acquired from another device instead of or in addition to the rotation angle sensor 46. For example, a geomagnetic sensor may be mounted on each of the lower running structure 1 and the upper revolving structure 3. In this case, the controller 30 can acquire information regarding the orientation of the upper revolving structure 3 relative to the lower running structure 1 based on the output of the geomagnetic sensor of the lower running structure 1 and the output of the geomagnetic sensor of the upper revolving structure 3. Furthermore, for example, the controller 30 may use the output (captured image) of the imaging device 40 to determine the orientation of the upper revolving structure 3 relative to the lower running structure 1 from the position where the lower running structure 1 is captured in the imaging device. In other words, information regarding the orientation of the upper revolving structure 3 relative to the lower running structure 1 may be acquired from the imaging device 40.

[0103] The display processing unit 301 causes the display device 50 to display a monitoring image (surrounding image) showing the state (situation) of the periphery of the excavator 100 based on the image captured by the imaging device 40.

[0104] For example, the display processing unit 301 displays an image captured by at least one of the cameras 40B, 40L, and 40R on the display device 50 as a monitoring image, either automatically or in response to a predetermined operation on the input device 52. That is, the display processing unit 301 may display images captured by all of the cameras 40B, 40L, and 40R or images captured by two of the cameras side by side on the display device 50, or may display an image captured by any one of the cameras on the display device 50. Typically, the display processing unit 301 may display images captured by the cameras 40B and 40R side by side on the display device 50 (see FIG. 6). Hereinafter, the image displayed on the display device 50 may be referred to as a "through image."

[0105] The display processing unit 301 may switch which of the images captured by the cameras 40B, 40L, and 40R is to be displayed on the display device 50, in response to a predetermined operation on the input device 52. This allows the operator to operate the input device 52 to cause the display device 50 to display a through image in the direction that the operator desires to view.

[0106] Furthermore, for example, the display processing unit 301 generates a composite image by combining images captured by multiple cameras (at least two of cameras 40B, 40L, and 40R) based on the captured image of the imaging device 40, and displays a monitoring image including the composite image on the display device 50.

[0107] Specifically, the display processing unit 301 generates a viewpoint-converted image seen from a virtual viewpoint as a composite image by performing known viewpoint conversion processing and composition processing, etc., based on the images captured by the cameras 40B, 40L, and 40R, and causes the display device 50 to display the generated image. Furthermore, when displaying the composite image on the display device 50, the display processing unit 301 also causes the display device 50 to display an shovel image that schematically represents the shovel 100, in order to clearly indicate the relative positional relationship between the imaging range of the imaging device 40 and the shovel 100. In other words, the display processing unit 301 generates a monitoring image that includes the shovel image and a viewpoint-converted image that is arranged around the shovel image in accordance with the relative positional relationship between the shovel 100 and the imaging range of the imaging device 40, and causes the display device 50 to display the generated image.

[0108] For example, as shown in FIG. 4 , in this example, the display device 50 displays, as a monitoring image MP1, an image captured by the camera 40B (through image) MP11 and an image captured by the camera 40R (through image) MP12. This allows the operator to grasp the situation around the excavator 100 (in this example, behind the upper rotating body 3) (for example, whether there is a person or other target to be monitored around the excavator 100). In particular, while the operator can relatively easily view the left and right sides of the upper rotating body 3 through a mirror provided on the left side of the cabin 10, it is almost impossible for the operator to view the rear and right sides of the upper rotating body 3 directly or indirectly through a mirror. Therefore, by checking the through image MP11 and the through image MP12 on the display device 50, the operator can confirm the situation behind and right sides of the excavator 100 in addition to the left side.

[0109] Furthermore, the lower right corner of the through image MP11 includes an icon IC1 that represents the imaging range of the camera 40X (camera 40B) that corresponds to the through image. The icon IC1 includes an shovel icon IC11 that schematically represents the shovel 100, and an imaging range icon IC12 that schematically represents the imaging range of the camera 40X (camera 40B) based on the shovel icon IC11. This allows the operator to easily recognize that the through image MP11 represents the situation behind the shovel 100.

[0110] Furthermore, the through image MP12 includes, in the lower right corner, an icon IC2 representing the imaging range of the camera 40X (camera 40R) corresponding to the through image. The icon IC2 includes an shovel icon IC21 that schematically represents the shovel 100, and an imaging range icon IC22 that schematically represents the imaging range of the camera 40X (camera 40R) based on the shovel icon IC21. This allows the operator to easily recognize that the through image MP11 represents the situation to the right as viewed from the shovel 100.

[0111] The display device 50 may display the through images MP11 and MP12 side by side. The order of the arrangement of the through images MP11 and MP12 in the left-right or up-down direction may be arbitrary.

[0112] 5, a monitoring image MP2 including a shovel image CG and a viewpoint converted image EP arranged around the shovel image CG is displayed on the display device 50. This allows the operator to properly grasp the positional relationship between the shovel 100 and surrounding objects shown in the viewpoint converted image EP.

[0113] Furthermore, a line LN1 at a certain distance from the shovel 100 is superimposed and displayed on the viewpoint converted image EP of the monitoring image MP2. The line LN1 may represent, for example, the outer edge of the monitoring area of ​​the object being monitored by the controller 30 (object detection unit 302). This allows the operator to properly grasp the distance relationship between the shovel 100 and the surrounding objects shown in the viewpoint converted image EP.

[0114] In this example, the viewpoint-converted image EP is composed of a combination of an overhead image BVP of the surrounding area adjacent to the shovel 100 as seen from directly above, and a horizontal image HVP of the surrounding area as seen horizontally from the shovel 100, which is arranged around the overhead image BVP. The viewpoint-converted image EP is obtained by projecting the images captured by each of the cameras 40B, 40L, and 40R onto a spatial model, and then reprojecting the projected images onto the spatial model onto another two-dimensional plane. The spatial model is the target onto which the captured images are projected in virtual space, and is composed of one or more planes or curved surfaces, including planes or curved surfaces other than the plane on which the captured images are located.

[0115] Furthermore, the display processing unit 301 may transmit a monitoring image generated based on an image captured by the imaging device 40 to the management device 200 or the terminal device 300 via the communication device 70. This allows the management device 200 to receive the monitoring image from the shovel 100 and display the monitoring image on the output device 230 (for example, a display device for remote operation). Similarly, the terminal device 300 can receive the monitoring image from the shovel 100 and display the monitoring image on the output device 330 (for example, a display device for remote operation). Therefore, an operator of the shovel 100 using the management device 200 or the terminal device 300 can remotely operate the shovel 100 while checking the monitoring image displayed on the output device 230 or the output device 330. Furthermore, an administrator of the shovel 100 using the management device 200 or the terminal device 300 can remotely monitor the work status of each of the multiple shovels 100 performing work using the automatic driving function while checking the monitoring image displayed on the output device 230 or the output device 330.

[0116] Furthermore, when the shovel 100 is remotely operated, not only the above-mentioned monitoring image but also the image captured by the front camera 42 is naturally transmitted to the management device 200 and the terminal device 300 via the communication device 70 and displayed on the output devices 230, 330.

[0117] The object detection unit 302 detects an object to be monitored (hereinafter referred to as a “monitored object”) around the shovel 100 (upper rotating body 3) based on the output of the imaging device 40.

[0118] The monitored object may include a person such as a worker working around the shovel 100 or a supervisor at the work site. The monitored object may also include any object (i.e., an obstacle) other than a person, such as materials temporarily stored at the work site, fixed, immovable obstacles such as temporary offices at the work site, and moving obstacles such as vehicles including trucks.

[0119] The object detection unit 302 detects a monitored object in a predetermined monitoring area (hereinafter referred to as the "monitoring area" for convenience) around the shovel 100 (upper rotating body 3) based on the output of the imaging device 40, i.e., the captured image captured by the imaging device 40. The following description of the object detection unit 302 will be made under the assumption that the shovel 100 is located on a horizontal plane.

[0120] When the above-mentioned distance sensor is mounted on the upper rotating body 3, the object detection unit 302 may detect the monitored object based on the output of the distance sensor.

[0121] The object detection unit 302 detects a monitored object, for example, in a horizontal direction as seen from the shovel 100 (hereinafter simply referred to as the "horizontal direction"), that is, in a monitoring area extending in a direction along the plane (hereinafter for convenience's sake, the "work plane") on which the shovel 100 is working (the lower traveling structure 1 is on the ground). Specifically, the object detection unit 302 may detect a monitored object in a monitoring area where the horizontal distance D from the shovel 100 (upper rotating structure 3) is within a predetermined distance Dth1 (for example, 5 meters).

[0122] For example, the object detection unit 302 recognizes a monitored object in a captured image by arbitrarily applying a machine learning-based classifier including various known image processing methods and artificial intelligence (AI), etc. Furthermore, if the monitored object is a person such as a worker, the object detection unit 302 may identify which of multiple pre-registered workers (hereinafter referred to as "registered workers") the recognized person corresponds to.

[0123] In addition, the object detection unit 302 can determine (estimate) the position (e.g., the foot position) (hereinafter referred to as the "actual position") of a recognized monitored object (person) that appears in the image captured by the monocular imaging device 40 by applying various known methods.

[0124] For example, the object detection unit 302 estimates the horizontal position (hereinafter referred to as "horizontal position") of the recognized monitored object as seen from the shovel 100 based on its size in the captured image (e.g., size in the height direction in the captured image). This is because there is a correlation between the size of the recognized monitored object in the captured image, which becomes smaller as the monitored object moves farther away from the shovel 100. Specifically, since there is a range of expected sizes for monitored objects (e.g., a range of expected human heights), the correlation between the horizontal position of the monitored object as seen from the shovel 100 within the expected size range and its size in the captured image can be defined in advance. Therefore, the object detection unit 302 can estimate the actual position (horizontal position from the shovel 100) of the recognized monitored object based on, for example, a map or a conversion formula that indicates the correlation between the size of the monitored object in the captured image and the horizontal position as seen from the shovel 100, which is stored in advance in an internal memory such as an auxiliary storage device of the controller 30.

[0125] Furthermore, for example, under the assumption that the monitored object exists on the same plane as the shovel 100 (specifically, the lower traveling body 1), the object detection unit 302 can estimate the actual position (for example, the foot position) of the monitored object by projective transformation (homography) of the captured image onto the plane. In this case, a certain part (a certain point) constituting the captured image is associated with a certain position on the same plane as the shovel 100.

[0126] Furthermore, the function of the object detection unit 302 may be switched between ON (enabled) and OFF (disabled) in response to a predetermined operation on the input device 52 by an operator or the like.

[0127] The safety control unit 303 performs control related to the functional safety of the shovel 100. The safety control unit 303 includes safety control units 303A and 303B.

[0128] When the object detection unit 302 detects a monitoring target, the safety control unit 303A activates a first safety function.

[0129] The first safety function may include, for example, a notification function that outputs an alarm or the like to at least one of the inside of the cabin 10, the outside of the cabin 10, and a remote operator or manager of the shovel 100, thereby notifying the detection of a monitored object. This makes it possible to alert the operator inside the cabin 10, workers around the shovel 100, and the operator or manager who remotely operates the shovel 100 that a monitored object is present within a predetermined range around the shovel 100. Hereinafter, the notification function to the inside of the cabin 10 (operator) may be referred to as an "internal notification function," the notification function to the outside of the shovel 100 (workers, etc.) as an "external notification function," and the notification function to the operator who remotely operates the shovel 100 as a "remote notification function," and they may be distinguished from one another.

[0130] The first safety function may also include, for example, an operation limiting function that limits the operation of the shovel 100 in response to an operation command corresponding to operation of the operating device 26, remote operation, or the automatic driving function. This forcibly limits the operation of the shovel 100, thereby reducing the possibility of the shovel 100 approaching or coming into contact with surrounding objects. The operation limiting function may also include an operation deceleration function that slows down the operation speed of the shovel 100 in response to an operation command corresponding to operation of the operating device 26, remote operation, or the automatic driving function, compared to normal. The operation limiting function may also include an operation stop function that stops the operation of the shovel 100 and maintains the stopped state, regardless of an operation command corresponding to operation of the operating device 26, remote operation, or the automatic driving function.

[0131] The safety control unit 303A activates the alarm function, for example, when a monitoring target is detected within a predetermined range (hereinafter referred to as "alert range") included in the monitoring area by the object detection unit 302. The alert range may be the same as the monitoring area, or may be set so that its outer edge is relatively closer to the shovel 100 than the monitoring area.

[0132] The safety control unit 303A, for example, controls the sound output device 54 to activate an internal notification function or an external notification function using sound (i.e., an auditory method) to at least one of the inside and outside of the cabin 10. At this time, the safety control unit 303A may vary the pitch, sound pressure, tone color, the sound cycle when sound is periodically emitted, the content of the sound, etc. of the output sound according to various conditions.

[0133] Furthermore, the safety control unit 303A activates an internal notification function using, for example, a visual method. Specifically, the safety control unit 303A may control the display device 50 via the display processing unit 301 to display an image indicating that a monitoring target has been detected on the monitoring image displayed on the display device 50. Furthermore, the safety control unit 303A may, via the display processing unit 301, emphasize the monitoring target shown in the monitoring image displayed on the display device 50 or a position on the monitoring image that corresponds to the position of the detected monitoring target as seen from the excavator 100. More specifically, the safety control unit 303A may, via the display processing unit 301, superimpose and display a frame surrounding the monitoring target shown on the monitoring image, or superimpose and display a marker on a position on the monitoring image that corresponds to the actual position of the detected monitoring target (see, for example, FIGS. 10, 21, and 22). This allows the display device 50 to realize a visual notification function for the operator. Furthermore, the safety control unit 303A may use a warning light, lighting device, or the like inside the cabin 10 to notify an operator or the like inside the cabin 10 that a monitoring target has been detected.

[0134] The safety control unit 303A may also activate an external notification function by a visual method, for example, by controlling a lighting device such as a headlight or an external display device provided in the house part or the like of the upper rotating body 3. The safety control unit 303A may also activate an internal notification function by a tactile method, for example, by controlling a vibration generating device that vibrates the operator's seat in which the operator sits. This allows the controller 30 to make the operator, workers and supervisors around the shovel 100 aware that a monitoring target (for example, a person such as a worker) is present around the shovel 100. Therefore, the controller 30 can urge the operator to check the safety status around the shovel 100 and can urge workers and the like in the monitoring area to evacuate from the monitoring area.

[0135] Furthermore, the safety control unit 303A may activate the remote notification function by, for example, transmitting a command signal indicating activation of the notification function to the management device 200 or the terminal device 300 via the communication device 70. In this case, when the management device 200 (control device 210) receives a command signal from the shovel 100 via the communication device 220, it may output a visual or audible alarm via the output device 230. This allows the administrator or worker of the management device 200, an operator remotely operating the shovel 100 via the management device 200, or the like, to know that a monitored object has entered the notification range around the shovel 100. Similarly, when the terminal device 300 (control device 310) receives a command signal from the shovel 100 via the communication device 320, it may output a visual or audible alarm via the output device 330.

[0136] The remote notification function of the safety control unit 303A may be transferred to the management device 200 or the terminal device 300. In this case, the management device 200 receives information from the shovel 100 regarding the detection status of the monitoring target by the object detection unit 302, determines whether the monitoring target has entered the notification range based on the received information, and activates the external notification function if the monitoring target is present within the notification range. The same may be true for the terminal device 300.

[0137] Furthermore, the safety control unit 303A may change the notification mode (that is, the way of notifying) depending on the positional relationship between the monitoring target detected within the notification range and the shovel 100.

[0138] For example, when a monitoring target detected within the notification range by the object detection unit 302 is located relatively far from the shovel 100, the safety control unit 303A may output an alarm with a relatively low level of urgency (hereinafter, an "alert level alarm") that alerts an operator or the like to pay attention to the monitoring target. Hereinafter, for convenience, a range within the notification range that is relatively far from the shovel 100, i.e., a range corresponding to an alert level alarm, may be referred to as an "alert level alarm." On the other hand, when a monitoring target detected within the notification range by the object detection unit 302 is located relatively close to the shovel 100, the safety control unit 303A may output an alarm with a relatively high level of urgency (hereinafter, an "alert level alarm") that notifies the operator that the monitoring target is approaching the shovel 100 and the risk is increasing. Hereinafter, a range within the notification range that is relatively close to the shovel 100, i.e., a range corresponding to an alert level alarm, may be referred to as an "alert level alarm."

[0139] In this case, the safety control unit 303A may change the pitch, sound pressure, tone, sound cycle, etc. of the sound output from the sound output device 54 between a caution level alarm and an alert level alarm. Furthermore, the safety control unit 303A may change the color, shape, size, presence or absence of blinking, blinking cycle, etc. of an image indicating that a monitoring target has been detected, which is displayed on the monitoring image on the display device 50, and an image emphasizing the monitoring target or the position of the monitoring target (for example, a frame, a marker, etc.), between a caution level alarm and an alert level alarm. In this way, the controller 30 allows the operator, etc. to grasp the degree of urgency, in other words, the degree of proximity of the monitoring target to the excavator 100, based on the difference in the alert sound (alarm sound) output from the sound output device 54 and the alert image displayed on the display device 50.

[0140] The safety control unit 303A may stop the alarm function if, after the alarm function has started to operate, the monitored object that was detected by the object detection unit 302 is no longer detected within the monitored area, or if a specified operation to deactivate the alarm function is received through the input device 52.

[0141] Furthermore, the safety control unit 303A activates the operation restriction function, for example, when the object detection unit 302 detects a monitoring target within a predetermined range (hereinafter referred to as the "operation restriction range") included in the monitoring area. The operation restriction range may be the same as the monitoring area, or may be set so that its outer edge is relatively closer to the shovel 100 than the monitoring area. The operation restriction range also includes at least one of an operation deceleration range in which the operation speed of the shovel 100 is slower than normal in response to an operation command corresponding to the operation of the operating device 26, remote operation, or the automatic driving function, and an operation stop range in which the operation of the shovel 100 is stopped and maintained in a stopped state regardless of an operation command corresponding to the operation of the operating device 26, remote operation, or the automatic driving function. For example, when the operation restriction range includes both the operation deceleration range and the operation stop range, the operation stop range is, for example, a range of the operation restriction range that is close to the shovel 100, and the operation deceleration range is a range of the operation restriction range that is set outside the operation stop range.

[0142] The safety control section 303A activates an operation limiting function that limits the operation of the shovel 100 by controlling the hydraulic control valve 31. In this case, the safety control section 303A may limit the operation of all driven elements (i.e., corresponding hydraulic actuators), or may limit the operation of some of the driven elements (hydraulic actuators). This allows the controller 30 to slow down or stop the operation of the shovel 100 when a monitoring target is present around the shovel 100. Therefore, the controller 30 can prevent the shovel 100 from coming into contact with a monitoring target around the shovel 100. Furthermore, the safety control section 303A may activate the operation limiting function (operation stop function) by controlling the solenoid switching valve 25V and cutting off the pilot line 25.

[0143] Furthermore, after the operation of the operation restriction function has started, the safety control unit 303A stops the operation restriction function when the monitoring target that was detected by the object detection unit 302 is no longer detected, or when a predetermined operation to deactivate the operation restriction function is received through the input device 52. The operation to deactivate the alarm function on the input device 52 and the operation to deactivate the operation restriction function may be the same or different.

[0144] Furthermore, the function of the safety control section 303A may be switched between ON (enabled) and OFF (disabled) in response to a predetermined operation on the input device 52 by an operator or the like.

[0145] The safety control unit 303B performs control related to ensuring safety in the area around the excavator 100 where the blind spot as seen from the imaging device 40 and the potential blind spot as seen from the operator overlap. Specifically, the safety control unit 303B activates the second safety function when the lower traveling structure 1 travels toward the area where the blind spot as seen from the imaging device 40 and the potential blind spot as seen from the operator overlap. Similarly, the safety control unit 303B activates the second safety function when the upper rotating structure 3 rotates so that the attachment AT approaches the area where the blind spot as seen from the imaging device 40 and the potential blind spot as seen from the operator overlap.

[0146] Areas that may be blind spots from the operator's perspective may include both areas that may be blind spots from the operator's perspective in the cabin 10 and areas that may be blind spots from the remote operator's perspective, i.e., blind spots when viewed from the forward camera 42.

[0147] 2, the imaging range (angle of view) of the imaging device 40 (cameras 40B, 40L, 40R) is indicated by a two-dot chain line in the figure, and the area in front of the upper rotating body 3 corresponds to the blind spot of the imaging device 40.

[0148] Furthermore, depending on the posture of the attachment AT (boom 4, arm 5, and bucket 6), the right front area BS of the upper rotating body 3 may become a blind spot when viewed from the operator in the cabin 10. Similarly, the attachment AT reflected in the image captured by the front camera 42 may block the right front area BS of the upper rotating body 3, making it a blind spot. In particular, when the boom 4 is relatively lowered or the arm 5 is relatively closed, the attachment AT may block the operator's field of view and the area in front of the front camera 42, making it highly likely that the right front area BS of the upper rotating body 3 becomes a blind spot.

[0149] For example, as shown in FIG. 2, the right side of the upper rotating body 3 where the worker W1 is located is included in the imaging range of the camera 40R. Therefore, the operator can confirm the presence of the worker W1 by the monitoring image displayed on the display device 50 or by the activation of the first safety function when the object detection unit 302 detects the worker W1. Therefore, even if the orientation of the upper rotating body 3 and the orientation of the travelable direction of the lower traveling body 1 are relatively significantly different (dotted chain line in the figure), the operator is very unlikely to confirm the presence of the worker W1 and operate the upper rotating body 3 to travel in that direction (dotted chain line white arrow in the figure). Similarly, the operator is very unlikely to operate the upper rotating body 3 to rotate in the right direction where the worker W1 is located.

[0150] On the other hand, as described above, the area BS to the right front of the upper rotating body 3 may be in the operator's blind spot, and therefore the operator may not be able to see the worker W2 to the right front of the upper rotating body 3. Therefore, if the difference between the orientation of the upper rotating body 3 and the travel direction of the lower traveling body 1 is relatively small, the operator may perform a traveling operation to move toward the worker W2 without noticing the worker W2, which may result in the excavator 100 approaching the worker W2. Similarly, the operator may perform a rotating operation of the upper rotating body 3 in the right direction where the worker W2 is located, which may result in the attachment AT approaching the worker W2.

[0151] In response to this, the safety control section 303B can activate a second safety function in such a situation.

[0152] For example, the second safety function may include an attention-calling function that outputs a notice or the like to at least one of the inside of the cabin 10 and a remote operator or manager of the shovel 100 to call attention to the right front area BS of the upper rotating body 3. This makes it possible to call attention to the operator inside the cabin 10, the operator remotely operating the shovel 100, etc., about an area (right front area BS) that may be a blind spot around the shovel 100. Therefore, the controller 30 can make the operator stop (cancel) a traveling operation that would move the shovel 100 toward the blind spot (right front area BS) or a swing operation that would move the attachment AT toward the blind spot (right front area BS).

[0153] The function of calling the attention of the operator inside the cabin 10 may be executed, for example, through the sound output device 54, as in the case of the internal notification function described above. Also, the function of calling the attention of the operator inside the cabin 10 may be executed, for example, through the display device 50, as in the case of the internal notification function described above. Also, as in the case of the remote notification function described above, calling the attention of the operator remotely operating the shovel 100 may be realized by transmitting a command signal indicating the activation of the attention calling function to the management device 200 or the terminal device 300 via the communication device 70.

[0154] Furthermore, for example, the second safety function may include, as in the case of the first safety function described above, an operation restriction function that restricts the traveling operation or swinging operation of the shovel 100 in response to an operation command corresponding to the operation of the operating device 26, remote operation, or the automatic operation function. This forcibly restricts (decelerates or stops) the operation of the shovel 100, and reduces the possibility of approaching or contacting between an object (worker W2) in the right front area BS of the upper rotating body 3, which may be in the blind spot of the operator, and the body or attachment AT of the shovel 100.

[0155] [Control process for the second safety function] Next, the control process relating to the second safety function by the controller 30 will be described with reference to FIGS.

[0156] <First example of control processing> Fig. 6 is a flowchart that schematically shows a first example of control processing by the controller 30. This flowchart is repeatedly executed, for example, from after the completion of the initial processing when the shovel 100 is started until before the start of the termination processing when the shovel 100 is stopped. Furthermore, the processing of this flowchart may be executed only when, for example, both the function of the object detection unit 302 and the function (first safety function) of the safety control unit 303A are enabled. The same may be true for the flowchart in Fig. 7 described below.

[0157] The function activation flag F11 used in this flowchart indicates whether or not a second safety function (an alert function or an operation restriction function for the traveling operation of the lower traveling body 1) related to the traveling operation of the lower traveling body 1 is activated. The travel permission flag F12 used in this flowchart indicates whether or not a traveling operation toward a range that overlaps the blind spot range as seen from the imaging device 40 and the range that may be a blind spot as seen from the operator is permitted. The function activation flag F11 and the travel permission flag F12 are each set to "OFF" as an initial state when the excavator 100 is started.

[0158] 6, in step S102, the safety control unit 303B determines whether or not a traveling operation of the lower traveling body 1 has been performed based on the output of the operation information output device 29. If a traveling operation of the lower traveling body 1 has been performed, the safety control unit 303B proceeds to step S103, and if not, the safety control unit 303B proceeds to step S114.

[0159] In step S103, the safety control unit 303B determines whether the traveling permission flag F12 is set to “ON.” If the traveling permission flag F12 is not set to “ON,” the safety control unit 303B proceeds to step S104. If the traveling permission flag F12 is set to “ON,” the safety control unit 303B permits the lower traveling body 1 to travel, and proceeds to step S122.

[0160] In step S104, the safety control unit 303B determines whether the direction of the travel operation is toward the overlapping range between the blind spot as seen from the imaging device 40 and the range that may be a blind spot as seen from the operator. Specifically, the safety control unit 303B determines whether the direction of the travel operation is toward the right front area BS of the upper rotating body 3. More specifically, the safety control unit 303B may determine whether the direction of the travel operation is toward the right front area BS of the upper rotating body 3 by grasping the orientation of the upper rotating body 3 relative to the lower running body 1 based on the output of the swing angle sensor 46. If the direction of the travel operation is not toward the overlapping range between the blind spot as seen from the imaging device 40 and the range that may be a blind spot as seen from the operator, the safety control unit 303B proceeds to step S106. If the direction of the travel operation is toward the overlapping range between the blind spot as seen from the imaging device 40 and the range that may be a blind spot as seen from the operator, the safety control unit 303B proceeds to step S108.

[0161] If the result of step S104 is YES, the safety control unit 303B may further determine whether the range of the blind spot as viewed from the imaging device 40 and the range that may be a blind spot as viewed from the operator are actually blind spots for the operator. Specifically, the safety control unit 303A may determine whether the range is actually a blind spot for the operator by grasping the attitude state of the attachment AT based on the output of the attitude sensor 44. More specifically, the safety control unit 303B may determine whether the range is actually a blind spot for the operator based on whether the attitude angle of the boom 4 and the attitude angle of the arm 5 are each included in a predetermined range that is assumed to obstruct the operator's view. Data regarding the predetermined ranges of the attitude angles of the boom 4 and the arm 5 that are assumed to obstruct the operator's view may be stored, for example, in an auxiliary storage device of the controller 30. This data may be acquired from an external device (for example, the management device 200) via, for example, the communication device 70, or may be pre-registered at the time of shipping from a factory. If the area is not actually in the blind spot of the operator, the safety control section 303B may proceed to step S106, and if the area is actually in the blind spot of the operator, the safety control section 303B may proceed to step S108.

[0162] In step S106, the safety control unit 303B sets the function activation flag F11 to "OFF." As a result, if the second safety function related to the traveling operation of the lower traveling body 1 is activated, the safety control unit 303B stops the activation of the second safety function.

[0163] When the process of step S106 is completed, the controller 30 ends the process of this flowchart.

[0164] On the other hand, in step S108, the safety control unit 303B sets the function activation flag F11 to ON. As a result, if the second safety function related to the traveling operation of the lower traveling body 1 is not activated, the safety control unit 303B activates the second safety function related to the traveling operation of the lower traveling body 1.

[0165] For example, the safety control unit 303B activates an attention calling function that calls the operator's attention to the right front of the upper rotating body 3. Furthermore, for example, the safety control unit 303B activates a function of restricting the traveling operation of the lower traveling body 1. Furthermore, the safety control unit 303B may activate both the attention calling function and the function of restricting the traveling operation of the lower traveling body 1.

[0166] It should be noted that, when at least one of the function of the object detection unit 302 and the function (first safety function) of the safety control unit 303A described above is turned OFF (disabled), the operation restriction function for the traveling operation of the lower traveling body 1 may not be activated. Furthermore, when only the latter of the attention calling function and the operation restriction function for the traveling operation of the lower traveling body 1 is activated, the operator may be notified, via the display device 50, the sound output device 54, the communication device 70, etc., that the traveling operation of the lower traveling body 1 is restricted and the reason for this restriction.

[0167] When the process of step S108 is completed, the controller 30 ends the process of this flowchart.

[0168] On the other hand, in step S114, the safety control unit 303B determines whether or not the function activation flag F11 is set to "ON", that is, whether or not a second safety function (alert function or operation restriction function) related to the traveling operation of the lower traveling body 1 is activated. If the function activation flag F11 is set to "ON", the safety control unit 303B proceeds to step S116; otherwise, it terminates the processing of this flowchart.

[0169] In step S116, the safety control section 303B determines whether a certain time has passed with the driving operation released (for example, with the lever for driving in the neutral position). If the certain time has passed with the driving operation released, the safety control section 303B proceeds to step S118; otherwise, the safety control section 303B ends this flow chart.

[0170] In step S118, the safety control unit 303B sets the function activation flag F11 to "OFF." As a result, the safety control unit 303B cancels the second safety function that is currently activated. Therefore, the operator can cancel the warning function and the operation restriction function by canceling the traveling operation of the lower traveling body 1 and thoroughly checking the area to the right front of the upper rotating body 3 to make sure there are no problems.

[0171] When the process of step S118 is completed, the controller 30 proceeds to step S120.

[0172] In step S120, the safety control unit 303B sets the travel permission flag F12 to "ON." This allows the operator to release the travel operation of the lower traveling structure 1 and, by thoroughly checking the right front of the upper rotating structure 3 and confirming that there are no problems, allow the lower traveling structure 1 to travel in accordance with the next processing of step S103.

[0173] On the other hand, in step S122, the safety control section 303B determines whether the driving operation is continuing. If the driving operation is continuing, the safety control section 303B repeats the processing of this step, and if the driving operation is not continuing, that is, if the driving operation has been released, the safety control section 303B proceeds to step S124.

[0174] In step S124, the safety control section 303B sets the travel permission flag F12 to "OFF." As a result, the processing from step S104 onwards is executed again at the next travel operation, thereby ensuring the safety of the excavator 100.

[0175] When the process of step S124 is completed, the safety control section 303B ends the process of this flowchart.

[0176] In this way, in this example, the safety control unit 303B activates a warning function and a driving operation restriction function when the direction of the driving operation is toward a range that overlaps the blind spot range as seen from the imaging device 40 and the range that may be a blind spot as seen from the operator.

[0177] This makes it possible to improve the safety of the excavator 100.

[0178] <Second example of control processing> FIG. 7 is a flowchart schematically showing a second example of the control process by the controller 30.

[0179] The function activation flag F21 used in this flowchart indicates whether or not a second safety function (an alert function or an operation restriction function for the rotational movement of the upper rotating body 3) related to the rotational movement of the upper rotating body 3 is activated. The rotation permission flag F22 used in this flowchart indicates whether or not the rotational movement of the attachment AT toward the range where the blind spot as seen from the imaging device 40 overlaps with the range that may be a blind spot as seen from the operator is permitted. The function activation flag F21 and the rotation permission flag F22 are each set to "OFF" as an initial value when the excavator 100 is started.

[0180] In step S202, the safety control unit 303B determines whether or not a rotation operation is being performed on the upper rotating body 3. If a rotation operation is being performed on the upper rotating body 3, the safety control unit 303B proceeds to step S203, and if a rotation operation is not being performed, the safety control unit 303B proceeds to step S214.

[0181] In step S203, the safety control unit 303B determines whether the rotation permission flag F22 is set to “ON.” If the rotation permission flag F22 is not set to “ON,” the safety control unit 303B proceeds to step S204. If the rotation permission flag F22 is set to “ON,” the safety control unit 303B permits the rotation operation of the upper rotating body 3 and proceeds to step S222.

[0182] In step S204, the safety control unit 303B determines whether the direction of the rotation operation is a direction in which the attachment AT is heading toward a range where the blind spot range as seen from the imaging device 40 overlaps with a range that may be a blind spot range as seen from the operator. Specifically, the safety control unit 303B determines whether the direction of the rotation operation is a direction in which the attachment AT is heading toward the right front area BS of the upper rotating body 3, that is, a rightward direction. If the rotation direction is not a rightward direction, the safety control unit 303B proceeds to step S206, and if the rotation direction is a rightward direction, the safety control unit 303B proceeds to step S208.

[0183] As in the first example (FIG. 6) described above, if the answer to step S204 is YES, the safety control unit 303B may further determine whether the range of the blind spot as seen from the image capture device 40 and the range that may be a blind spot as seen from the operator are actually blind spots for the operator. If the range is not actually a blind spot for the operator, the safety control unit 303B may proceed to step S206, and if the range is actually a blind spot for the operator, the safety control unit 303B may proceed to step S208.

[0184] In step S206, the safety control section 303B sets the function activation flag F21 to “OFF.” As a result, if the second safety function related to the rotation operation of the upper rotating body 3 is activated, the safety control section 303B stops the activation of the second safety function.

[0185] When the process of step S206 is completed, the controller 30 ends the process of this flowchart.

[0186] On the other hand, in step S208, the safety control section 303B sets the function activation flag F21 to "ON." Upper rotating body 3 If the second safety function for the vehicle's driving operation is not activated, Upper rotating body 3 of Turning Activate a second operational safety feature.

[0187] For example, the safety control unit 303B activates an attention calling function that calls the operator's attention to the right front of the upper rotating body 3. Furthermore, for example, the safety control unit 303B activates a function for restricting the rotation operation of the upper rotating body 3. Furthermore, the safety control unit 303B may activate both the attention calling function and the function for restricting the rotation operation of the upper rotating body 3.

[0188] As in the first example described above, when at least one of the function of the object detection unit 302 and the function (first safety function) of the safety control unit 303A described above is turned OFF (disabled), the operation restriction function for the rotation operation of the upper rotating body 3 may not be activated. Furthermore, as in the first example described above, when only the latter of the attention calling function and the operation restriction function for the rotation operation of the upper rotating body 3 is activated, the operator may be notified via the display device 50, the sound output device 54, the communication device 70, etc. that the rotation operation of the upper rotating body 3 will be restricted, and the reason for this restriction.

[0189] When the process of step S208 is completed, the controller 30 ends the process of this flowchart.

[0190] On the other hand, in step S214, the safety control unit 303B determines whether or not the function activation flag F21 is set to "ON", that is, whether or not a second safety function (warning function or operation restriction function) related to the rotation operation of the upper rotating body 3 is activated. If the function activation flag F21 is set to "ON", the safety control unit 303B proceeds to step S216, and otherwise ends the processing of this flowchart.

[0191] In step S216, the safety control section 303B determines whether a certain time has elapsed in a state in which the turning operation is released (for example, a state in which the lever operation for the turning operation is in the neutral position). If the certain time has elapsed in a state in which the turning operation is released, the safety control section 303B proceeds to step S218; otherwise, the safety control section 303B ends this flow chart.

[0192] In step S218, the safety control unit 303B sets the function activation flag F21 to "OFF." As a result, the safety control unit 303B cancels the second safety function that is currently activated. Therefore, the operator can cancel the warning function and the operation restriction function by canceling the rotation operation of the upper rotating body 3 and thoroughly checking the area to the right front of the upper rotating body 3 to make sure there are no problems.

[0193] When the process of step S218 is completed, the controller 30 proceeds to step S220.

[0194] In step S220, the safety control unit 303B sets the swing permission flag F22 to "ON." This allows the operator to release the swing operation of the upper swing body 3 and to swing the upper swing body 3 in response to the next processing of step S203 by thoroughly checking the right front of the upper swing body 3 and making sure there are no problems.

[0195] On the other hand, in step S222, the safety control section 303B determines whether or not the rotation operation of the upper rotating body 3 is continuing. If the rotation operation is continuing, the safety control section 303B repeats the processing of this step, and if the rotation operation is not continuing, that is, if the rotation operation has been released, the safety control section 303B proceeds to step S224.

[0196] In step S224, the safety control section 303B sets the swing permission flag F22 to “OFF.” As a result, the processing from step S204 onwards is executed again at the time of the next swing operation, thereby ensuring the safety of the excavator 100.

[0197] When the process of step S224 is completed, the safety control section 303B ends the process of this flowchart.

[0198] Thus, in this example, the safety control unit 303B activates a warning function and a function to restrict the rotation operation when the direction of the rotation operation is such that the attachment AT is heading towards a range that overlaps the blind spot range as seen from the imaging device 40 and the range that may be a blind spot as seen from the operator.

[0199] This makes it possible to improve the safety of the excavator 100.

[0200] [Effect] Next, the operation of the shovel 100 according to this embodiment will be described.

[0201] In this embodiment, the imaging device 40 and the distance sensor are mounted on the upper rotating body 3 and are configured to be able to acquire data relating to the situation around the shovel 100. Furthermore, the display device 50 and the sound output device 54 provide information that enables confirmation of the situation around the shovel 100 (for example, a monitoring image or information indicating the detection of a monitored object around the shovel 100) based on the output of the imaging device 40 and the distance sensor. Then, under the control of the controller 30, when the lower traveling body 1 travels toward a predetermined range (for example, a right front area BS of the upper rotating body 3) that may be a blind spot for the operator outside the range where information about the periphery of the shovel 100 can be provided (for example, the imaging range of the imaging device 40 or the range where an object can be detected by the object detection unit 302), or when the upper rotating body 3 rotates so that the attachment AT approaches, the display device 50, the sound output device 54, and the communication device 70 issue a notification to alert the operator to the above-mentioned predetermined range.

[0202] This allows the shovel 100 to cancel (cancel) a travel operation that would move toward a predetermined range that could be in the operator's blind spot or a swing operation that would cause the attachment AT to approach. Therefore, even if the operator cannot confirm the presence of a person or the like within the predetermined range, it is possible to prevent the shovel from approaching or coming into contact with a person or the like. Therefore, the shovel 100 can ensure safety in the range where the blind spot from the imaging device 40, distance sensor, etc. around the shovel overlaps with the blind spot from the operator.

[0203] Furthermore, in this embodiment, under the control of the controller 30, the display device 50, sound output device 54, and communication device 70 may issue a notification to the operator to alert them to the above-mentioned specified range when the posture of the attachment AT is such that the above-mentioned specified range is a blind spot from the operator's perspective, and when the lower running body 1 runs toward the specified range or the upper rotating body 3 rotates so that the attachment AT approaches.

[0204] As a result, the shovel 100 can alert the operator only when the above-mentioned predetermined range is actually blocked by the attachment AT and becomes a blind spot. Therefore, the shovel 100 can ensure safety in the range where the blind spot from the imaging device 40, distance sensor, etc. around the shovel 100 overlaps with the blind spot from the operator, while minimizing the annoyance to the operator caused by notifications.

[0205] In addition, in this embodiment, the display device 50, sound output device 54, and communication device 70 may, under the control of the controller 30, notify the operator to pay attention to the above-mentioned specified range when the lower running body 1 is started to travel toward the above-mentioned specified range, or the upper rotating body 3 is started to rotate so that the attachment AT approaches.

[0206] As a result, the excavator 100 can limit the opportunity for issuing a notification to alert the operator to the above-mentioned predetermined range to the case where the traveling operation of the lower traveling body 1 or the swing operation of the upper rotating body 3 is started. Therefore, for example, once the traveling operation of the lower traveling body 1 or the swing operation of the upper rotating body 3 is permitted, the excavator 100 can continue the traveling operation of the lower traveling body 1 or the swing operation of the upper rotating body 3 without issuing a notification to alert the operator. Therefore, the excavator 100 can ensure safety in the range where the blind spot from the imaging device 40, distance sensor, etc. around the excavator itself overlaps with the blind spot from the operator.

[0207] In this embodiment, the shovel 100 (controller 30) may restrict the operation of the lower traveling body 1 or the upper rotating body 3, in addition to the display device 50, sound output device 54, and communication device 70 notifying the operator to pay attention to the above-mentioned specified ranges.

[0208] This makes it possible to forcibly slow down or stop the traveling motion of the lower traveling body 1 and the swinging motion of the upper swing body 3 of the shovel 100. As a result, the safety of the shovel 100 can be further improved.

[0209] In addition, in this embodiment, when operation of the lower traveling body 1 or the upper rotating body 3 is released, the shovel 100 (controller 30) may release the warning notice via the display device 50, etc., and the restriction on the operation of the lower traveling body 1 or the upper rotating body 3.

[0210] As a result, the excavator 100 can determine the operator's intention to check the above-mentioned predetermined range by the operator releasing the operation of the lower traveling body 1 or the upper rotating body 3, and can issue a notice to warn the operator or release the restriction on the operation of the lower traveling body 1 or the upper rotating body 3. Therefore, the excavator 100 can ensure safety in the range where the blind spots from the imaging device 40, distance sensors, etc. around the excavator itself overlap with the blind spots from the operator, while suppressing a decrease in convenience for the operator or a decrease in the work efficiency of the excavator.

[0211] In addition, the excavator 100 (controller 30) may allow the operation of the lower running body 1 or the upper rotating body 3 when the lower running body 1 or the upper rotating body 3 is operated to move toward the above-mentioned specified range after a predetermined time has passed since the operation of the lower running body 1 or the upper rotating body 3 was released.

[0212] As a result, when a predetermined time has elapsed since the operation was released, the shovel 100 can determine that the operator has completed checking the above-mentioned predetermined range and permit the operation of the lower traveling body 1 and the upper rotating body 3. Therefore, the shovel 100 can ensure safety in the range where the blind spots from the imaging device 40, distance sensors, etc. around the shovel overlap with the blind spots from the operator, while suppressing a decrease in the convenience for the operator and the work efficiency of the shovel.

[0213] Furthermore, in this embodiment, when the function of the object detection unit 302 or the function of the safety control unit 303A is disabled, the shovel 100 (controller 30) may disable the function of the safety control unit 303B (the function of issuing a notification to alert the operator to a specified range).

[0214] As a result, the shovel 100 (controller 30) can also automatically disable the function of the safety control unit 303B in accordance with a situation in which the operator disables the function of the object detection unit 302 or the function of the safety control unit 303A via the input device 52. Therefore, the shovel 100 can improve the convenience for the operator.

[0215] Furthermore, when the function of the object detection unit 302 or the function of the safety control unit 303A is disabled, the excavator 100 (controller 30) may activate the function of the safety control unit 303B that notifies the operator to pay attention to the above-mentioned specified range, but may not activate the function that restricts the operation of the lower running body 1 or the upper rotating body 3.

[0216] As a result, the shovel 100 (controller 30) can disable the operation restriction function among the functions of the safety control unit 303B while continuing the attention calling function in accordance with a situation in which the operator disables the functions of the object detection unit 302 and the functions of the safety control unit 303A via the input device 52. Therefore, the shovel 100 can ensure safety in the range where the blind spots from the imaging device 40, distance sensors, etc. around the shovel overlap with the blind spots from the operator, while taking into consideration the convenience of the operator.

[0217] [Transformation / Change] Although the embodiments have been described in detail above, the present disclosure is not limited to such specific embodiments, and various modifications and variations are possible within the scope of the gist described in the claims.

[0218] For example, the first safety function and the second safety function according to the above-described embodiment may be employed in any work machine other than the shovel 100. For example, the first safety function and the second safety function may be installed in a lifting magnet machine, bulldozer, wheel loader, asphalt finisher, forestry machine, or the like to which a lifting magnet is attached as an end attachment. [Explanation of symbols]

[0219] 1 Undercarriage 1C, 1CL, 1CR Crawler 3 Upper rotating body 4. Boom 5 Arm 6 buckets 10 Cabins 30 Controllers 31 Hydraulic control valve 40 Imaging device (acquisition device) 40B, 40L, 40R Camera 42 Front camera 44 Posture sensor (measuring device) 46 Rotation angle sensor 50 Display device (information providing device, notification device) 52 Input Device 54 Sound output device (notification device) 70 Communication equipment 100 Shovel 200 Management device 210 Control device 220 Communication Equipment 230 Output Device 240 Input Device 300 Terminal Equipment 301 Display processing unit 302 Object detection unit 303 Safety Control Section 303A Safety control section 303B Safety control section 310 Control device 320 Communication Equipment 330 Output Device 340 Input Device 1000 Excavator Management System

Claims

1. a lower running body; an upper rotating body rotatably mounted on the lower traveling body; a work attachment attached to the upper rotating body; an acquisition device mounted on the upper rotating body and capable of acquiring data relating to the situation around the excavator; an information providing device that provides information that allows the operator to check the situation around the excavator based on the output of the acquisition device; a notification device that, when a condition is met in which the lower traveling body travels toward a predetermined range that may be a blind spot for the operator outside the range in which information can be provided by the information providing device around the excavator, or the upper rotating body rotates so that the work attachment approaches, issues a notification to the operator to call attention to the predetermined range, regardless of whether a predetermined object is present in the predetermined range. Shovel.

2. a measuring device for measuring the posture of the working attachment; The notification device issues the notification when the posture of the work attachment is such that the predetermined range is a blind spot as viewed from the operator, and when the lower traveling body travels toward the predetermined range or the upper rotating body rotates so that the work attachment approaches. The shovel according to claim 1.

3. The notification device issues the notification when an operation of the lower traveling body traveling toward the predetermined range or an operation of the upper rotating body rotating so that the work attachment approaches is started. The shovel according to claim 1 or 2.

4. The notification device issues the notification and simultaneously restricts the operation of the lower traveling body or the upper rotating body. The shovel according to any one of claims 1 to 3.

5. When the operation of the lower traveling body or the upper rotating body is released, the notification by the notification device and the restriction on the operation of the lower traveling body or the upper rotating body are released. The shovel according to claim 4.

6. When the lower traveling body or the upper rotating body is operated to move toward the predetermined range after a predetermined time or more has elapsed since the operation of the lower traveling body or the upper rotating body was released, the operation of the lower traveling body or the upper rotating body is permitted. The shovel according to claim 5.

7. an object detection function that detects a predetermined object around the shovel based on the output of the acquisition device, and a safety function that executes at least one of a warning to an operator and a restriction on the operation of the shovel when the predetermined object is detected in a relatively close range around the shovel by the object detection function, When the object detection function or the safety function is disabled, the notification device disables a function of providing the notification. The shovel according to any one of claims 1 to 3.

8. an object detection function that detects a predetermined object around the shovel based on the output of the acquisition device, and a safety function that executes at least one of a warning to an operator and a restriction on the operation of the shovel when the predetermined object is detected in a relatively close range around the shovel by the object detection function, When the object detection function or the safety function is disabled, the notification device issues the notification but does not restrict the operation of the lower traveling body or the upper rotating body. The shovel according to any one of claims 4 to 6.

Images