Excavator

Abstract

To prevent work by a shovel from being carried out while ON / OFF state of an object detection function is erroneously recognized.SOLUTION: A shovel 100 includes a lower traveling body 1, an upper revolving body 3 rotatably mounted on the lower traveling body 1, and a controller 30 provided on the upper revolving body 3. The controller 30 has a state switching function that switches the state of the shovel between an operable state and an inoperable state, a human detection function that detects people around the shovel, and a function that allows the operator to confirm ON / OFF state of the human detection function. The shovel is configured to be switched to an operable state after the operator confirms the ON / OFF state of the human detection function.SELECTED DRAWING: Figure 5

Description

[Technical Field]

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

[0002] Conventionally, there is known an excavator that has an object detection function that detects objects present around the excavator by applying image processing techniques such as optical flow or pattern matching to images captured by a camera attached to the excavator (see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6290497 specification Summary of the Invention [Problem to be solved by the invention]

[0004] However, the above-mentioned shovel does not have a function that allows the operator to check the ON / OFF state of the object detection function.

[0005] Therefore, there is a risk that the operator may start work with the shovel, believing that the object detection function is in the ON state even though the object detection function is in the OFF state. Alternatively, there is a risk that the operator may start work with the shovel, believing that the object detection function is in the OFF state even though the object detection function is in the ON state.

[0006] Therefore, it is desirable to prevent work from being performed with the shovel while the ON / OFF state of the object detection function is erroneously recognized. [Means for solving the problem]

[0007] A shovel according to an embodiment of the present invention includes a lower traveling body, an upper rotating body rotatably mounted on the lower traveling body, and a control device provided on the upper rotating body, the control device having a state switching function for switching the state of the shovel between an operable state and an inoperable state, an object detection function for detecting an object present around the shovel, and a display indicating that the object detection function is in an ON state when the object detection function is in an ON state. No. 1 An image is displayed on the display device to indicate that the object detection function is in an OFF state when the object detection function is in an OFF state. No. 2 a function of displaying an image on the display device to allow an operator to confirm the ON / OFF state of the object detection function, When the object detection function is in an OFF state, when a manual first device for switching the state of the shovel between an operable state and an inoperable state is operated so that the state of the shovel becomes an operable state, a third image is displayed to inform the operator that the object detection function is in an OFF state. The object detection function but OFF state Being The excavator is configured to switch the state of the excavator to an operable state after the operator has confirmed the above. and the third image is an image different from the first image and the second image. . [Effects of the Invention]

[0008] The above-described means provides a shovel that can prevent work from being performed with the shovel while the ON / OFF state of the object detection function is erroneously recognized. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a side view of a shovel according to an embodiment of the present invention. [Figure 2] FIG. 1 is a top view of a shovel according to an embodiment of the present invention. [Figure 3] FIG. 1 is a diagram illustrating an example of the configuration of a basic system mounted on a shovel. [Figure 4] FIG. 2 is an electrical circuit diagram showing an example of the relationship between a control valve and a controller. [Figure 5] 10 is a flowchart illustrating an example of a relay switching process. [Figure 6] FIG. 2 is a diagram illustrating an example of a display screen displayed on a display device. [Figure 7] FIG. 10 is a diagram showing an example of a display screen including a status check image. [Figure 8]FIG. 10 is a diagram showing another example of a display screen including a status check image. DETAILED DESCRIPTION OF THE INVENTION

[0010] First, a shovel 100 as an excavator according to an embodiment of the present invention will be described with reference to Figures 1 and 2. Figure 1 is a side view of the shovel 100, and Figure 2 is a top view of the shovel 100.

[0011] In this embodiment, the undercarriage 1 of the excavator 100 includes crawlers 1C as driven bodies. The crawlers 1C are driven by a traveling hydraulic motor 2M mounted on the undercarriage 1. However, the traveling hydraulic motor 2M may be a traveling motor-generator serving as an electric actuator. Specifically, the crawlers 1C include a left crawler 1CL and a right crawler 1CR. The left crawler 1CL is driven by a left traveling hydraulic motor 2ML, and the right crawler 1CR is driven by a right traveling hydraulic motor 2MR. The undercarriage 1 functions as a driven body because it is driven by the crawlers 1C.

[0012] An upper rotating body 3 is rotatably mounted on the lower traveling body 1 via a rotating mechanism 2. The rotating mechanism 2, which serves as a driven body, is driven by a rotating hydraulic motor 2A mounted on the upper rotating body 3. However, the rotating hydraulic motor 2A may also be a rotating motor-generator serving as an electric actuator. The upper rotating body 3 is driven by the rotating mechanism 2 and therefore functions as a driven body.

[0013] A boom 4 serving as a driven body is attached to the upper rotating body 3. An arm 5 serving as a driven body is attached to the tip of the boom 4, and a bucket 6 serving as a driven body and an end attachment is attached to the tip of the arm 5. The boom 4, arm 5, and bucket 6 constitute an excavation attachment, which is an example of an attachment. The boom 4 is driven by a boom cylinder 7, the arm 5 is driven by an arm cylinder 8, and the bucket 6 is driven by a bucket cylinder 9.

[0014] A boom angle sensor S1 is attached to the boom 4, an arm angle sensor S2 is attached to the arm 5, and a bucket angle sensor S3 is attached to the bucket 6.

[0015] The boom angle sensor S1 detects the rotation angle of the boom 4. In this embodiment, the boom angle sensor S1 is an acceleration sensor, and can detect the boom angle, which is the rotation angle of the boom 4 relative to the upper rotating body 3. For example, the boom angle is at its minimum when the boom 4 is lowered to the lowest position, and increases as the boom 4 is raised. The arm angle sensor S2 detects the rotation angle of the arm 5. In this embodiment, the arm angle sensor S2 is an acceleration sensor, and can detect the arm angle, which is the rotation angle of the arm 5 relative to the boom 4. For example, the arm angle is at its smallest when the arm 5 is fully closed, and increases as the arm 5 opens.

[0016] The bucket angle sensor S3 detects the rotation angle of the bucket 6. In this embodiment, the bucket angle sensor S3 is an acceleration sensor, and can detect the bucket angle, which is the rotation angle of the bucket 6 with respect to the arm 5. For example, the bucket angle is at its smallest when the bucket 6 is fully closed, and increases as the bucket 6 opens.

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

[0018] The upper rotating body 3 is provided with a cabin 10 as a driver's cab, and is equipped with a power source such as an engine 11. The upper rotating body 3 is also equipped with a controller 30, an object detection device 70, a direction detection device 85, a machine body inclination sensor S4, a rotation angular velocity sensor S5, etc. The cabin 10 is equipped with an operation device 26, an input device BT, a display device DS, etc. For convenience, in this specification, the side of the upper rotating body 3 to which the boom 4 is attached is referred to as the front, and the side to which the counterweight is attached is referred to as the rear.

[0019] The controller 30 is an example of a control device for executing various functions. In this embodiment, the controller 30 is configured as a computer including a CPU, RAM, NVRAM, ROM, etc., and is configured to be able to control the shovel 100. Specifically, the controller 30 reads out programs corresponding to various functions from the ROM, loads them into the RAM, and causes the CPU to execute the corresponding processes.

[0020] The various functions include an object detection function. The object detection function is a function that detects objects present around the shovel 100. Examples of objects include people, animals, vehicles, construction machinery, buildings, and holes. In this embodiment, the object detection function is configured to be switchable between an ON state and an OFF state. This is because, depending on the work site of the shovel 100, turning the object detection function ON may increase the incidence of false detection. For example, when the shovel 100 is working at a waste disposal site, if the human detection function, which is an example of the object detection function, is turned ON, the controller 30 may relatively frequently erroneously detect objects other than people (e.g., circular objects in the waste disposal site) as people and output an alarm. In this case, the operator of the shovel 100 can manually turn the object detection function OFF to suppress or prevent the output of an alarm due to false detection.

[0021] In this embodiment, the controller 30 is configured to detect an object based on the output of the object detection device 70. The object detection device 70 is a device for detecting objects present around the excavator 100, and is, for example, an ultrasonic sensor, a millimeter-wave radar, a monocular camera, a stereo camera, a LIDAR, a distance image sensor, or an infrared sensor. In this embodiment, the object detection device 70 includes a front object detection device 70F attached to the front end of the upper surface of the cabin 10, a rear object detection device 70B attached to the rear end of the upper surface of the upper rotating body 3, a left object detection device 70L attached to the left end of the upper surface of the upper rotating body 3, and a right object detection device 70R attached to the right end of the upper surface of the upper rotating body 3.

[0022] The object detection device 70 may be configured to detect a predetermined object within a predetermined area set around the shovel 100. For example, the object detection device 70 may have a human detection function configured to be able to detect a person while distinguishing between a person and a non-human object.

[0023] When the object detection function is in the OFF state, the controller 30 does not detect an object even if the output of the object detection device 70 indicates that an object is present around the shovel 100. In other words, the controller 30 is configured to detect an object when the object detection function is in the ON state and the output of the object detection device 70 indicates that an object is present around the shovel 100.

[0024] The orientation detection device 85 is configured to detect information regarding the relative relationship between the orientation of the upper rotating body 3 and the orientation of the lower running body 1 (hereinafter referred to as "orientation-related information"). For example, the orientation detection device 85 may be configured by a combination of a geomagnetic sensor attached to the lower running body 1 and a geomagnetic sensor attached to the upper rotating body 3. Alternatively, the orientation detection device 85 may be configured by a combination of a GNSS receiver attached to the lower running body 1 and a GNSS receiver attached to the upper rotating body 3. In a configuration in which the upper rotating body 3 is driven to rotate by a rotation motor-generator, the orientation detection device 85 may be configured by a resolver. The orientation detection device 85 may be disposed, for example, in a center joint provided in association with the rotation mechanism 2 that realizes relative rotation between the lower running body 1 and the upper rotating body 3.

[0025] The machine body inclination sensor S4 is configured to detect the inclination of the upper rotating body 3 with respect to a predetermined plane. In this embodiment, the machine body inclination sensor S4 is an acceleration sensor that detects the inclination angle about the longitudinal axis and the lateral axis of the upper rotating body 3 with respect to a horizontal plane. The longitudinal axis and the lateral axis of the upper rotating body 3 are, for example, perpendicular to each other and pass through the shovel center point, which is a point on the rotation axis of the shovel 100.

[0026] The rotation angular velocity sensor S5 is configured to detect the rotation angular velocity of the upper rotating body 3. In this embodiment, the rotation angular velocity sensor S5 is a gyro sensor. The rotation angular velocity sensor S5 may be a resolver, a rotary encoder, or the like. The rotation angular velocity sensor S5 may detect a rotation speed. The rotation speed may be calculated from the rotation angular velocity.

[0027] Hereinafter, any combination of the boom angle sensor S1, arm angle sensor S2, bucket angle sensor S3, machine body tilt sensor S4, and turning angular velocity sensor S5 will also be collectively referred to as an attitude sensor.

[0028] The input device BT is configured to allow various types of information to be input. In this embodiment, the input device BT is a button on the top surface of a cabinet installed on the right side of the driver's seat.

[0029] The display device DS is configured to be able to display various types of information. In this embodiment, the display device DS is a touch panel display attached to a pillar of the cabin 10.

[0030] Next, a configuration example of a basic system mounted on the shovel 100 will be described with reference to Fig. 3. Fig. 3 is a diagram showing a configuration example of a basic system mounted on the shovel 100. In Fig. 3, a mechanical power transmission system, a hydraulic oil line, a pilot line, and an electrical control system are indicated by double lines, solid lines, dashed lines, and dotted lines, respectively.

[0031] The basic system of the excavator 100 mainly includes an engine 11, a regulator 13, a main pump 14, a pilot pump 15, a control valve unit 17, an operating device 26, a discharge pressure sensor 28, an operating pressure sensor 29, a controller 30, and a control valve 60.

[0032] In FIG. 3, the basic system circulates hydraulic oil from a main pump 14 driven by an engine 11 through a center bypass line 40 or a parallel line 42 to a hydraulic oil tank.

[0033] The engine 11 is a drive source of the excavator 100. In this embodiment, the engine 11 is, for example, a diesel engine that operates to maintain a predetermined rotation speed. An output shaft of the engine 11 is connected to the input shafts of the main pump 14 and the pilot pump 15.

[0034] The main pump 14 is configured to supply hydraulic oil via a hydraulic oil line to the control valve unit 17. In this embodiment, the main pump 14 is a swash plate type variable displacement hydraulic pump.

[0035] The regulator 13 is configured to control the discharge rate of the main pump 14. In this embodiment, the regulator 13 controls the discharge rate (displacement volume) of the main pump 14 by adjusting the tilt angle of the swash plate of the main pump 14 in response to a control command from the controller 30.

[0036] The pilot pump 15 is configured to supply hydraulic oil to hydraulic control devices including the operating device 26 via a pilot line. In this embodiment, the pilot pump 15 is a fixed displacement hydraulic pump. However, the pilot pump 15 may be omitted. In this case, the function that was previously performed by the pilot pump 15 may be realized by the main pump 14. That is, in addition to the function of supplying hydraulic oil to the control valve unit 17, the main pump 14 may have a function of supplying hydraulic oil to the operating device 26, the proportional valve 31, etc. after reducing the pressure of the hydraulic oil by a throttle or the like.

[0037] The control valve unit 17 is a hydraulic control device that controls the hydraulic actuators in the excavator 100. In this embodiment, the control valve unit 17 includes control valves 171 to 176. The control valve 175 includes a control valve 175L and a control valve 175R, and the control valve 176 includes a control valve 176L and a control valve 1756. The control valve unit 17 can selectively supply hydraulic oil discharged from the main pump 14 to one or more hydraulic actuators via the control valves 171 to 176. The control valves 171 to 176 control the flow rate of hydraulic oil flowing from the main pump 14 to the hydraulic actuators and the flow rate of hydraulic oil flowing from the hydraulic actuators to a hydraulic oil tank. The hydraulic actuators include a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, a left traveling hydraulic motor 2ML, a right traveling hydraulic motor 2MR, and a swing hydraulic motor 2A.

[0038] The operating device 26 is a device used by an operator to operate the actuators. The actuators include at least one of a hydraulic actuator and an electric actuator. In this embodiment, the operating device 26 supplies the hydraulic oil discharged from the pilot pump 15 to the pilot ports of the corresponding control valves in the control valve unit 17 via a pilot line. The pressure of the hydraulic oil supplied to each pilot port (pilot pressure) is a pressure that corresponds to the operation direction and operation amount of the lever or pedal (not shown) of the operating device 26 that corresponds to each hydraulic actuator.

[0039] The discharge pressure sensor 28 is configured to detect the discharge pressure of the main pump 14. In this embodiment, the discharge pressure sensor 28 outputs the detected value to the controller 30.

[0040] The operation pressure sensor 29 is configured to detect the operation of the operation device 26 by the operator. In this embodiment, the operation pressure sensor 29 detects the operation direction and operation amount of the lever or pedal of the operation device 26 corresponding to each actuator in the form of pressure (operation pressure), and outputs the detected value to the controller 30. The operation of the operation device 26 may be detected using a sensor other than the operation pressure sensor.

[0041] The main pump 14 includes a left main pump 14L and a right main pump 14R. The left main pump 14L circulates hydraulic oil to the hydraulic oil tank via a left center bypass line 40L or a left parallel line 42L, and the right main pump 14R circulates hydraulic oil to the hydraulic oil tank via a right center bypass line 40R or a right parallel line 42R.

[0042] The left center bypass line 40L is a hydraulic oil line that passes through control valves 171, 173, 175L, and 176L arranged in the control valve unit 17. The right center bypass line 40R is a hydraulic oil line that passes through control valves 172, 174, 175R, and 176R arranged in the control valve unit 17.

[0043] The control valve 171 is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the left main pump 14L to the left traveling hydraulic motor 2ML and to discharge the hydraulic oil discharged by the left traveling hydraulic motor 2ML to the hydraulic oil tank.

[0044] The control valve 172 is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the right main pump 14R to the right traveling hydraulic motor 2MR and to discharge the hydraulic oil discharged by the right traveling hydraulic motor 2MR to the hydraulic oil tank.

[0045] The control valve 173 is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the left main pump 14L to the swing hydraulic motor 2A and to discharge the hydraulic oil discharged by the swing hydraulic motor 2A to the hydraulic oil tank.

[0046] The control valve 174 is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the right main pump 14R to the bucket cylinder 9 and to discharge the hydraulic oil in the bucket cylinder 9 to the hydraulic oil tank.

[0047] The control valve 175L is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the left main pump 14L to the boom cylinder 7. The control valve 175R is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the right main pump 14R to the boom cylinder 7 and to discharge the hydraulic oil in the boom cylinder 7 to the hydraulic oil tank.

[0048] The control valve 176L is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the left main pump 14L to the arm cylinder 8 and to discharge the hydraulic oil in the arm cylinder 8 to the hydraulic oil tank.

[0049] The control valve 176R is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the right main pump 14R to the arm cylinder 8 and to discharge the hydraulic oil in the arm cylinder 8 to the hydraulic oil tank.

[0050] The left parallel conduit 42L is a hydraulic oil line that runs parallel to the left center bypass conduit 40L. The left parallel conduit 42L can supply hydraulic oil to a downstream control valve when the flow of hydraulic oil through the left center bypass conduit 40L is restricted or blocked by any of the control valves 171, 173, or 175L. The right parallel conduit 42R is a hydraulic oil line that runs parallel to the right center bypass conduit 40R. The right parallel conduit 42R can supply hydraulic oil to a downstream control valve when the flow of hydraulic oil through the right center bypass conduit 40R is restricted or blocked by any of the control valves 172, 174, or 175R.

[0051] The regulator 13 includes a left regulator 13L and a right regulator 13R. The left regulator 13L controls the discharge rate (displacement volume) of the left main pump 14L by adjusting the tilt angle of the swash plate of the left main pump 14L in response to the discharge pressure of the left main pump 14L. Specifically, for example, the left regulator 13L adjusts the tilt angle of the swash plate of the left main pump 14L in response to an increase in the discharge pressure of the left main pump 14L to reduce the discharge rate (displacement volume). The same applies to the right regulator 13R. This is to prevent the absorption horsepower of the main pump 14, which is expressed as the product of the discharge pressure and the discharge rate, from exceeding the output horsepower of the engine 11.

[0052] The operating device 26 includes a left operating lever 26L, a right operating lever 26R, and a travel lever 26D. The travel lever 26D includes a left traveling lever 26DL and a right traveling lever 26DR.

[0053] The left operating lever 26L is used for swing operation and operation of the arm 5. When the left operating lever 26L is operated in the forward / backward direction, it uses the hydraulic oil discharged from the pilot pump 15 to introduce a control pressure corresponding to the amount of lever operation into the pilot port of the control valve 176. When it is operated in the left / right direction, it uses the hydraulic oil discharged from the pilot pump 15 to introduce a control pressure corresponding to the amount of lever operation into the pilot port of the control valve 173.

[0054] Specifically, when the left operating lever 26L is operated in the arm closing direction, it introduces hydraulic oil into the right pilot port of the control valve 176L and into the left pilot port of the control valve 176R. When the left operating lever 26L is operated in the arm opening direction, it introduces hydraulic oil into the left pilot port of the control valve 176L and into the right pilot port of the control valve 176R. When the left operating lever 26L is operated in the left turning direction, it introduces hydraulic oil into the left pilot port of the control valve 173, and when operated in the right turning direction, it introduces hydraulic oil into the right pilot port of the control valve 173.

[0055] The right operating lever 26R is used to operate the boom 4 and the bucket 6. When the right operating lever 26R is operated in the forward / backward direction, it uses the hydraulic oil discharged by the pilot pump 15 to introduce a control pressure corresponding to the amount of lever operation into the pilot port of the control valve 175. When it is operated in the left / right direction, it uses the hydraulic oil discharged by the pilot pump 15 to introduce a control pressure corresponding to the amount of lever operation into the pilot port of the control valve 174. Specifically, when the right operating lever 26R is operated in the boom-lowering direction, it introduces hydraulic oil to the right pilot port of the control valve 175R. When the right operating lever 26R is operated in the boom-raising direction, it introduces hydraulic oil to the right pilot port of the control valve 175L and also introduces hydraulic oil to the left pilot port of the control valve 175R. When the right operating lever 26R is operated in the bucket-closing direction, it introduces hydraulic oil to the right pilot port of the control valve 174, and when operated in the bucket-opening direction, it introduces hydraulic oil to the left pilot port of the control valve 174.

[0056] The travel lever 26D is used to operate the crawler 1C. Specifically, the left travel lever 26DL is used to operate the left crawler 1CL. The left travel lever 26DL may be configured to operate in conjunction with the left travel pedal. When the left travel lever 26DL is operated in the forward / backward direction, it uses hydraulic oil discharged from the pilot pump 15 to introduce control pressure corresponding to the lever operation amount into the pilot port of the control valve 171. The right travel lever 26DR is used to operate the right crawler 1CR. The right travel lever 26DR may be configured to operate in conjunction with the right travel pedal. When the right travel lever 26DR is operated in the forward / backward direction, it uses hydraulic oil discharged from the pilot pump 15 to introduce control pressure corresponding to the lever operation amount into the pilot port of the control valve 172.

[0057] The discharge pressure sensor 28 includes a discharge pressure sensor 28L and a discharge pressure sensor 28R. The discharge pressure sensor 28L detects the discharge pressure of the left main pump 14L and outputs the detected value to the controller 30. The same applies to the discharge pressure sensor 28R.

[0058] The operation pressure sensor 29 includes operation pressure sensors 29LA, 29LB, 29RA, 29RB, 29DL, and 29DR. The operation pressure sensor 29LA detects the operation of the left operation lever 26L by the operator in the forward / backward direction in the form of pressure, and outputs the detected value to the controller 30. The operation content includes, for example, the lever operation direction and the lever operation amount (lever operation angle), etc.

[0059] Similarly, operating pressure sensor 29LB detects, in the form of pressure, the operation of left operating lever 26L by the operator in the left-right direction, and outputs the detected value to controller 30. Operating pressure sensor 29RA detects, in the form of pressure, the operation of right operating lever 26R by the operator in the forward-backward direction, and outputs the detected value to controller 30. Operating pressure sensor 29RB detects, in the form of pressure, the operation of right operating lever 26R by the operator in the left-right direction, and outputs the detected value to controller 30. Operating pressure sensor 29DL detects, in the form of pressure, the operation of left traveling lever 26DL by the operator in the forward-backward direction, and outputs the detected value to controller 30. Operating pressure sensor 29DR detects, in the form of pressure, the operation of right traveling lever 26DR by the operator in the forward-backward direction, and outputs the detected value to controller 30.

[0060] The controller 30 receives the output of the operating pressure sensor 29, and outputs a control command to the regulator 13 as necessary to change the discharge rate of the main pump 14.

[0061] Here, a description will be given of negative control using the throttle 18 and the control pressure sensor 19. The throttle 18 includes a left throttle 18L and a right throttle 18R, and the control pressure sensor 19 includes a left control pressure sensor 19L and a right control pressure sensor 19R.

[0062] A left throttle 18L is disposed in the left center bypass pipe 40L between the hydraulic oil tank and the control valve 176L, which is located most downstream. Therefore, the flow of hydraulic oil discharged from the left main pump 14L is restricted by the left throttle 18L. The left throttle 18L generates a control pressure for controlling the left regulator 13L. The left control pressure sensor 19L detects this control pressure and outputs the detected value to the controller 30. The controller 30 controls the discharge rate of the left main pump 14L by adjusting the swash plate tilt angle of the left main pump 14L in accordance with this control pressure. The controller 30 decreases the discharge rate of the left main pump 14L as this control pressure increases, and increases the discharge rate of the left main pump 14L as this control pressure decreases. The discharge rate of the right main pump 14R is controlled in a similar manner.

[0063] Specifically, as shown in FIG. 3 , when the excavator 100 is in a standby state in which none of the hydraulic actuators are operated, the hydraulic oil discharged from the left main pump 14L passes through the left center bypass pipe 40L and reaches the left throttle 18L. The flow of hydraulic oil discharged from the left main pump 14L increases the control pressure generated upstream of the left throttle 18L. As a result, the controller 30 reduces the discharge rate of the left main pump 14L to the minimum allowable discharge rate, thereby suppressing pressure loss (pumping loss) when the discharged hydraulic oil passes through the left center bypass pipe 40L. On the other hand, when any hydraulic actuator is operated, the hydraulic oil discharged from the left main pump 14L flows into the hydraulic actuator to be operated via the control valve corresponding to the hydraulic actuator to be operated. The flow of hydraulic oil discharged from the left main pump 14L reduces or eliminates the amount of hydraulic oil reaching the left throttle 18L, thereby lowering the control pressure generated upstream of the left throttle 18L. As a result, the controller 30 increases the discharge rate of the left main pump 14L, allowing sufficient hydraulic oil to flow into the hydraulic actuator to be operated, ensuring reliable drive of the hydraulic actuator. The controller 30 also controls the discharge rate of the right main pump 14R in a similar manner.

[0064] With the above-described configuration, the basic system of Fig. 3 can suppress unnecessary energy consumption in the main pump 14 in a standby state. The unnecessary energy consumption includes pumping loss caused in the center bypass pipe 40 by the hydraulic oil discharged from the main pump 14. Furthermore, when operating a hydraulic actuator, the basic system of Fig. 3 can reliably supply the necessary and sufficient hydraulic oil from the main pump 14 to the hydraulic actuator to be operated.

[0065] The control valve 60 is configured to switch the operating device 26 between an enabled state and an disabled state. The enabled state of the operating device 26 is a state in which the operator can operate the operating device 26 to move the associated driven body, and the disabled state of the operating device 26 is a state in which the operator cannot operate the operating device 26 to move the associated driven body. The state of the shovel 100 when the operating device 26 is in the enabled state is referred to as an operable state, and the state of the shovel 100 when the operating device 26 is in the disabled state is referred to as an inoperable state. The controller 30 is configured to have a state switching function that switches the state of the shovel between the operable state and the inoperable state.

[0066] In this embodiment, the control valve 60 is a solenoid valve that can switch between a connected state and a cut-off state of a pilot line CD1 that connects the pilot pump 15 and the operating device 26. Specifically, the control valve 60 is configured to switch between a connected state and a cut-off state of the pilot line CD1 in response to a command from the controller 30. When the pilot line CD1 is in the connected state, the operating device 26 is enabled, and when the pilot line CD1 is in the cut-off state, the operating device 26 is disabled.

[0067] The control valve 60 may be configured to operate in conjunction with a gate lock lever (not shown). Specifically, the control valve 60 may be configured to shut off the pilot line CD1 when the gate lock lever is pressed down and to open the pilot line CD1 when the gate lock lever is pulled up. However, the control valve 60 may be a solenoid valve separate from the solenoid valve that can switch the pilot line CD1 between a connected state and a cutoff state in conjunction with the gate lock lever. In other words, the basic system may include a solenoid valve that can switch the pilot line CD1 between a connected state and a cutoff state in conjunction with the gate lock lever, and a solenoid valve that can switch the pilot line CD1 between a connected state and a cutoff state independently of the gate lock lever.

[0068] Next, an example of the connection relationship between the control valve 60 and the controller 30 will be described with reference to Fig. 4. Fig. 4 is an electric circuit diagram showing an example of the relationship between the control valve 60 and the controller 30.

[0069] In the example shown in FIG. 4, the control valve 60 is connected to a power source 55 via a switch 51 and a relay 52 .

[0070] The switch 51 is configured to be in a conducting state when the gate lock lever GL is pulled up, and to be in a non-conducting state when the gate lock lever GL is pushed down.

[0071] The relay 52 is configured to switch between a conductive state and a cut-off state in response to a control command from the controller 30. Specifically, the relay 52 is configured to enter a conductive state in response to a conductive command from the controller 30, and to enter a cut-off state in response to a cut-off command from the controller 30.

[0072] The controller 30 is configured to output a cutoff command to the relay 52 and switch the relay 52 to the cutoff state when the object detection function detects an object present around the shovel 100. In this case, when an object is detected around the shovel 100, the controller 30 cuts off the electrical connection between the power source 55 and the control valve 60 and cuts off the pilot line CD1, even if the gate lock lever GL is pulled up. As a result, the operating device 26 is disabled, and the shovel 100 becomes inoperable. In other words, the controller 30 can prohibit the operator from operating the shovel 100 using the operating device 26.

[0073] When the switch 51 and the relay 52 are each in a conducting state, the control valve 60 is electrically connected to the power source 55 and is in an open state, thereby bringing the pilot line CD1 into a conducting state. On the other hand, when either the switch 51 or the relay 52 is in a cut-off state, the control valve 60 is electrically cut off from the power source 55 and is in a closed state, thereby bringing the pilot line CD1 into a cut-off state.

[0074] In this way, the controller 30 is configured to have a state switching function that switches the state of the shovel between an operable state and an inoperable state. Specifically, when the switch 51 is in a conductive state, the controller 30 can change the state of the shovel 100 to an operable state by outputting a conduction command to the relay 52. ​​Furthermore, when the switch 51 is in a conductive state, the controller 30 can change the state of the shovel 100 to an inoperable state by outputting a disconnection command to the relay 52.

[0075] Next, with reference to FIG. 5, a relay switching process in which the controller 30 switches the relay 52 between a conductive state and a cut-off state will be described. FIG. 5 is a flowchart showing an example of the relay switching process. The controller 30 executes this relay switching process when a predetermined start condition is satisfied. Thereafter, the relay switching process is repeatedly executed at a predetermined control cycle until a predetermined end condition is satisfied. An example of the predetermined start condition is that the gate lock lever GL is pulled up. For example, after starting the engine of the excavator 100, the operator of the excavator 100 pulls up the gate lock lever GL that has been pressed down to activate the operating device 26. An example of the predetermined end condition is that the controller 30 determines that the ON / OFF state of the human detection function has been confirmed.

[0076] When the gate lock lever GL is pulled up by the operator of the shovel 100, the controller 30 starts the relay switching process, determining that a predetermined start condition has been met, and determines whether the ON / OFF state of the human detection function has been confirmed (step ST1).

[0077] In this embodiment, the human detection function, which is an example of the object detection function, is configured to be switched between an ON state and an OFF state by an ON button and an OFF button included in the input device BT. The operator can turn the human detection function ON by pressing and holding the ON button, and can turn the human detection function OFF by pressing and holding the OFF button.

[0078] The ON / OFF state of the human detection function is displayed on the display device DS. In this embodiment, the controller 30 notifies the operator of the ON / OFF state of the human detection function by displaying a predetermined icon on the display screen of the display device DS. Specifically, the controller 30 is configured to notify the operator that the human detection function is ON by changing the background color of the icon to green, and to notify the operator that the human detection function is OFF by changing the background color of the icon to gray. However, the ON / OFF state of the human detection function may also be expressed by a text message such as "The human detection function is ON" or "The human detection function is OFF." Furthermore, the controller 30 may also be configured to notify the operator of the ON / OFF state of the human detection function by outputting an audio message such as "The human detection function is ON" or "The human detection function is OFF" from a speaker installed in the cabin 10 at a predetermined timing.

[0079] In this embodiment, the controller 30 determines that the ON / OFF state of the human detection function has been confirmed when a predetermined condition is satisfied. The predetermined condition may be, for example, that a predetermined operation has been performed within a predetermined time period in the past. The predetermined operation may be, for example, pressing a confirmation button. The predetermined condition may be that information regarding the ON / OFF state of the human detection function has been displayed on the display screen of the display device DS for a predetermined time period. In this case, the controller 30 may, for example, display a text message stating "The human detection function is ON" on the display screen when the gate lock lever GL is pulled up. The controller 30 then determines that the ON / OFF state of the human detection function has been confirmed when the text message has been displayed on the display screen for 10 seconds. The confirmation button may be a software button displayed together with the text message. In this case, the controller 30 determines that the ON / OFF state of the human detection function has been confirmed when the confirmation button is pressed. Alternatively, the controller 30 may display a text message such as "Please press the confirmation button" along with the text message "The human detection function is ON." In this case, the controller 30 determines that the ON / OFF state of the human detection function has been confirmed at the time when the confirmation button, which is a hardware button included in the input device BT installed in the cabinet, is pressed.

[0080] If it is determined that the ON / OFF state of the human detection function has not been confirmed (NO in step ST1), the controller 30 switches the relay 52 to the disconnected state (step ST2). If the relay 52 is already in the disconnected state, the controller 30 maintains the relay 52 in the disconnected state.

[0081] Then, the controller 30 allows the operator to confirm the ON / OFF state of the human detection function (step ST3). For example, the controller 30 displays a status confirmation image including a text message such as "The human detection function is OFF" on the display screen of the display device DS. The status confirmation image is an image for allowing the operator to confirm the ON / OFF state of the human detection function. The controller 30 may output an audio message such as "The human detection function is ON" from the speaker together with the display of the status confirmation image, or may output an audio message such as "The human detection function is ON" from the speaker without displaying the status confirmation image.

[0082] Thereafter, the controller 30 displays a confirmation button (step ST4). For example, the controller 30 displays the confirmation button as a software button below a text message such as "The human detection function is ON" or "The human detection function is OFF." The operator can touch the confirmation button displayed on the display screen of the display device DS as a touch panel display to realize a state in which the controller 30 determines that "the ON / OFF state of the human detection function has been confirmed" in the next determination in step ST1.

[0083] If it is determined that the ON / OFF state of the human detection function has been confirmed (YES in step ST1), the controller 30 switches the relay 52 to a connected state (step ST5). If the relay 52 is already in a connected state, the controller 30 maintains the relay 52 in the connected state.

[0084] In this example, the switch 51 is in a conductive state when the gate lock lever GL is pulled up. Therefore, when the relay 52 is switched to a connected state, the power source 55 and the control valve 60 are electrically connected, and the control valve 60 is driven so that the pilot line CD1 is in a connected state, i.e., so that the control valve 60 is in an open state. When the pilot line CD1 is in a connected state, the operating device 26 is enabled, and the operator can operate the hydraulic actuator by operating the operating device 26.

[0085] With the above-described configuration, the controller 30 can allow the operator to check the ON / OFF state of the human detection function before starting operation of the shovel 100. This can prevent the operator from starting operation of the shovel 100 while mistakenly recognizing that the human detection function is in the ON state, even though the human detection function is actually in the OFF state. Conversely, it can prevent the operator from starting operation of the shovel 100 while mistakenly recognizing that the human detection function is in the OFF state, even though the human detection function is actually in the ON state.

[0086] It should be noted that when a specific task is being performed, it may be desirable for the object detection function (human detection function) to be in the OFF state. This is to prevent an object (human) from being detected or erroneously detected while the specific task is being performed, which would stop or restrict the movement of the shovel 100. The specific task may be, for example, moving the shovel 100 onto the bed of a transport trailer, or a task that involves traveling on soft ground.

[0087] Furthermore, in the above-described configuration, the relay switching process is executed each time the gate lock lever GL is pulled up, so when the operator of the shovel 100 is changed, the controller 30 can prevent the new operator from starting to operate the shovel 100 while mistakenly recognizing the ON / OFF state of the human detection function.

[0088] The controller 30 may be configured to allow the operator to check the ON / OFF state of the human detection function at a time other than when the gate lock lever GL is pulled up. For example, the controller 30 may display a status check image on the display device DS every time a predetermined time (e.g., 30 minutes) has elapsed. This is because, for example, there may be cases where the operator turns the human detection function OFF with the intention of temporarily turning it OFF, but then forgets to turn it back ON. In this case, the operator may continue operating the excavator 100 while mistakenly believing that the human detection function is ON, even though it is actually OFF.

[0089] In this way, even if the operator has not been changed, having the operator check the ON / OFF status of the human detection function is effective in preventing the operation of the shovel 100 from continuing while the status of the human detection function is incorrectly recognized.

[0090] Next, an example of a display screen 41V displayed on the display device DS will be described with reference to Fig. 6. The display screen 41V shown in Fig. 6 is displayed, for example, when the excavator 100 is started. Specifically, Fig. 6(A) shows the display screen 41V that is displayed when the human detection function is in the ON state, and Fig. 6(B) shows the display screen 41V that is displayed when the human detection function is in the OFF state. The display screen 41V shown in Fig. 6(A) and the display screen 41V shown in Fig. 6(B) differ in that the background colors of the icons displayed in the human detection function display area 41t, which is an area that displays the ON / OFF state of the human detection function, are different, but are otherwise common.

[0091] Specifically, the display screen 41V includes a date and time display area 41a, a driving mode display area 41b, an attachment display area 41c, a fuel efficiency display area 41d, an engine control status display area 41e, an engine operating time display area 41f, a coolant temperature display area 41g, a remaining fuel amount display area 41h, a rotation speed mode display area 41i, a remaining urea water amount display area 41j, a hydraulic oil temperature display area 41k, a human detection function display area 41t, and a camera image display area 41x.

[0092] The travel mode display area 41b, the attachment display area 41c, the engine control state display area 41e, the rotation speed mode display area 41i, and the human detection function display area 41t are areas that display setting state information, which is information about the setting state of the excavator 100. The fuel consumption display area 41d, the engine operating time display area 41f, the coolant temperature display area 41g, the remaining fuel amount display area 41h, the remaining urea water amount display area 41j, and the hydraulic oil temperature display area 41k are areas that display operating state information, which is information about the operating state of the excavator 100.

[0093] More specifically, the date and time display area 41a displays the current date and time. The driving mode display area 41b displays the current driving mode. The attachment display area 41c displays an image representing the currently attached end attachment. Figure 6 shows the state in which an image representing a lifting magnet is displayed.

[0094] The fuel efficiency display area 41d is an area that displays fuel efficiency information calculated by the controller 30. The fuel efficiency display area 41d includes an average fuel efficiency display area 41d1 that displays lifetime average fuel efficiency or section average fuel efficiency, and an instantaneous fuel efficiency display area 41d2 that displays instantaneous fuel efficiency.

[0095] The engine control status display area 41e is an area that displays the control status of the engine 11. The engine operating time display area 41f is an area that displays the cumulative operating time of the engine 11. The coolant temperature display area 41g is an area that displays the current temperature state of the engine coolant. The remaining fuel amount display area 41h is an area that displays the remaining amount of fuel stored in the fuel tank. The rotation speed mode display area 41i is an area that displays the current rotation speed mode set by the engine rotation speed adjustment dial 75. The urea water remaining amount display area 41j is an area that displays the remaining amount of urea water stored in the urea water tank. The hydraulic oil temperature display area 41k is an area that displays the temperature state of the hydraulic oil in the hydraulic oil tank.

[0096] The human detection function display area 41t is an area that displays the ON / OFF state of the human detection function. In the example shown in FIG. 6, an icon indicating information related to the human detection function is displayed in the human detection function display area 41t. The background color of the icon displayed in the human detection function display area 41t is configured to be green when the human detection function is ON and gray when the human detection function is OFF. The background color of the icon displayed in the human detection function display area 41t may be configured to be a color other than green and gray. For example, the background color of the icon displayed in the human detection function display area 41t may be yellow when the human detection function is activated and red when there is an abnormality in the human detection function.

[0097] The camera image display area 41x is an area that displays a camera image captured by a monocular camera serving as the object detection device 70. In the example shown in Fig. 6, the camera image display area 41x displays a camera image captured by a monocular camera serving as the rear object detection device 70B. This camera image is a rear image that shows the space behind the excavator 100, and includes an image 3a of the counterweight.

[0098] In the example shown in Figure 6, the human detection function display area 41t is arranged so as to be superimposed on a portion of the camera image display area 41x, but it may also be arranged so as to be superimposed on a portion other than the camera image display area 41x.

[0099] The operator of the shovel 100 can determine whether the human detection function is ON or OFF, even while operating the shovel 100, for example, by using his or her peripheral vision to see the background color of the icon displayed in the human detection function display area 41t.

[0100] Next, an example of a display screen 41V including a status check image 41u will be described with reference to Fig. 7. Fig. 7 shows an example of a display screen 41V including a status check image 41u. Note that the display screen 41V shown in Fig. 7 differs from the display screen 41V shown in Fig. 6(B) in that it includes the status check image 41u, but is common to both in other respects. Therefore, in the following, a description of the common parts will be omitted, and the different parts will be described in detail.

[0101] The status check image 41u is an image that allows the operator to check the ON / OFF state of the human detection function. In the example shown in Fig. 7, the status check image 41u includes a text message saying "Please check: The object detection function is OFF." The background color of the human detection function display area 41t is gray to indicate that the human detection function is OFF.

[0102] For example, when controller 30 executes a relay switching process as shown in Fig. 5 and determines that the ON / OFF state of the human detection function has not been confirmed (NO in step ST1 in Fig. 5), it switches relay 52 to the disconnected state (step ST2 in Fig. 5) and then displays display screen 41V as shown in Fig. 7 to allow the operator to confirm the ON / OFF state of the human detection function (step ST3 in Fig. 5). When the operator views state confirmation image 41u on display screen 41V as shown in Fig. 7, he or she can easily recognize that the human detection function is in the OFF state.

[0103] Thereafter, the controller 30 may erase the status check image 41u after a predetermined time (e.g., 30 seconds) has elapsed. This is to make the remaining fuel amount display area 41h, which was obscured by displaying the status check image 41u, visible again. The status check image 41u may also be displayed in another position. In the example shown in FIG. 7, the status check image 41u is displayed so as not to obstruct the camera image, but it may also be displayed superimposed on part of the camera image display area 41x. In this case, the part of the camera image display area 41x may be, for example, the part where the counterweight image 3a is displayed. Alternatively, the status check image 41u may be displayed superimposed on the date and time display area 41a, the fuel efficiency display area 41d, the engine operating time display area 41f, or the like.

[0104] In this example, the controller 30 can determine that the ON / OFF state of the human detection function has been confirmed based on the fact that the state check image 41u has been displayed for a predetermined time. In this case, the display of the confirmation button (step ST4 in FIG. 5) is omitted. Then, in step ST1 of the relay switching process that is executed after the predetermined time has elapsed, the controller 30 determines that the ON / OFF state of the human detection function has been confirmed (YES in step ST1), and can switch the relay 52 to the connected state (step ST5).

[0105] With this configuration, the controller 30 can have the operator check the ON / OFF state of the human detection function before starting operation of the shovel 100. This can prevent the operator from starting operation of the shovel 100 while mistakenly recognizing that the human detection function is in the ON state, when in fact the human detection function is in the OFF state. Conversely, it can prevent the operator from starting operation of the shovel 100 while mistakenly recognizing that the human detection function is in the OFF state, when in fact the human detection function is in the ON state.

[0106] Next, another example of a display screen including a status check image will be described with reference to Fig. 8. Fig. 8 shows another example of a display screen 41V including a status check image 41u. Specifically, the display screen 41V shown in Fig. 8 differs from the display screen 41V shown in Fig. 7 in that the status check image 41u includes a check button 41w, but is common to both in other respects. Therefore, in the following, a description of the common parts will be omitted and the different parts will be described in detail.

[0107] The confirmation button 41w is configured to make the controller 30 recognize that the operator has confirmed the ON / OFF state of the human detection function. In the example shown in Fig. 8, the confirmation button 41w is a software button, and the operator can make the controller 30 recognize that the operator has confirmed the ON / OFF state of the human detection function by touching the part of the display screen 41V where the confirmation button 41w is displayed.

[0108] For example, when the controller 30 executes a relay switching process as shown in FIG. 5 and determines that the ON / OFF state of the human detection function has not been confirmed (NO in step ST1 in FIG. 5), it switches the relay 52 to the disconnected state (step ST2 in FIG. 5), and then displays a display screen 41V (status confirmation image 41u) as shown in FIG. 8 (step ST3 in FIG. 5) and further displays a confirmation button 41w (step ST4 in FIG. 5) to allow the operator to confirm the ON / OFF state of the human detection function. The operator who sees the status confirmation image 41u on the display screen 41V as shown in FIG. 8 can easily recognize that the human detection function is in the OFF state. Then, the operator who recognizes that the human detection function is in the OFF state can touch the confirmation button 41w to make the controller 30 recognize that the operator has confirmed that the human detection function is in the OFF state.

[0109] In this example, the controller 30 can determine that the ON / OFF state of the human detection function has been confirmed based on the fact that the confirmation button 41w has been pressed. Then, in step ST1 of the relay switching process that is executed after the confirmation button 41w has been pressed, the controller 30 determines that the ON / OFF state of the human detection function has been confirmed (YES in step ST1), and can switch the relay 52 to the connected state (step ST5).

[0110] With this configuration, the controller 30 can have the operator check the ON / OFF state of the human detection function before starting operation of the shovel 100. This can prevent the operator from starting operation of the shovel 100 while mistakenly recognizing that the human detection function is in the ON state, when in fact the human detection function is in the OFF state. Conversely, it can prevent the operator from starting operation of the shovel 100 while mistakenly recognizing that the human detection function is in the OFF state, when in fact the human detection function is in the ON state.

[0111] As described above, the shovel 100 according to the embodiment of the present invention includes the lower traveling body 1, the upper rotating body 3 rotatably mounted on the lower traveling body 1, and the controller 30 as a control device provided on the upper rotating body 3. The controller 30 has a state switching function that switches the state of the shovel 100 between an operable state and an inoperable state, an object detection function that detects objects present around the shovel 100, and a function that allows the operator to confirm the ON / OFF state of the object detection function. The controller 30 is configured to switch the state of the shovel 100 to the operable state after allowing the operator to confirm the ON / OFF state of the object detection function.

[0112] With this configuration, the shovel 100 can prevent the operator from performing work with the shovel 100 while erroneously recognizing the ON / OFF state of the object detection function. Therefore, the shovel 100 can improve the safety related to work performed by the shovel 100. Safety related to work performed by the shovel 100 includes the safety of the operator of the shovel 100 and the safety of workers working around the shovel 100. For example, if the operator erroneously recognizes that the object detection function is ON when it is actually OFF, the operator believes that an alarm will be issued if an object approaches. In this case, there is a risk that the operator will continue operating the shovel 100 without noticing that an object is approaching the shovel 100. This is because, because no alarm is issued, the operator believes that no object is approaching the shovel 100. The above-mentioned configuration allows the operator to check the ON / OFF state of the object detection function before starting work with the shovel 100, thereby reliably preventing such a situation from occurring. Alternatively, if the operator mistakenly believes that the object detection function is in an OFF state when it is actually in an ON state, the operator believes that the movement of the shovel 100 will not be restricted even if an object approaches the shovel 100. In this case, if an object approaches the shovel 100 while a specific task is being performed in which it is desired that the movement of the shovel 100 continue without being restricted even if an object approaches the shovel 100, there is a risk that the movement of the shovel 100 will be unexpectedly restricted. The reason the operator feels that the movement of the shovel 100 has been unexpectedly restricted is because the operator believes that the movement of the shovel 100 will not be restricted even if an object approaches the shovel 100. The above-described configuration allows the operator to check the ON / OFF state of the object detection function before starting work with the shovel 100, thereby reliably preventing such a situation from occurring.

[0113] In the above-described embodiment, the shovel 100 includes a gate lock lever GL, which is an example of a manual first device for switching the state of the shovel 100 between an operable state and an inoperable state, and a controller 30 or a relay 52, which is an example of a second device for switching the state of the shovel between an operable state and an inoperable state. When the gate lock lever GL is operated so that the shovel 100 becomes an operable state, the controller 30 determines whether the operator has confirmed the ON / OFF state of the object detection function, and if it determines that the operator has not confirmed the ON / OFF state, the controller 30 calls the operator's attention. The operator's attention may be called by, for example, displaying visual information such as a text message or an icon on the display device DS, by outputting auditory information such as a voice message or a buzzer from a speaker, or by outputting tactile information such as vibration from a vibrator installed on the seat surface of the driver's seat.

[0114] With this configuration, the shovel 100 can more reliably prevent the operator from carrying out work with the shovel 100 while the ON / OFF state of the object detection function is erroneously recognized by the operator.

[0115] The controller 30 may be configured to prompt the operator to confirm the ON / OFF state of the object detection function each time a predetermined time has elapsed in the operable state, or when the gate lock lever GL is operated after the inoperable state has continued for a predetermined time. In this way, the controller 30 may be configured to prompt the operator to confirm the ON / OFF state of the object detection function when a predetermined condition is satisfied. The predetermined condition may be, for example, that the excavator 100 has not been operated via the operating device 26 for a predetermined time, regardless of whether the engine 11 is running.

[0116] The controller 30 may be configured to prompt the operator to confirm the ON / OFF state of the object detection function when the gate lock lever GL is operated. In other words, the controller 30 may be configured to prompt the operator to confirm the ON / OFF state of the object detection function as long as the gate lock lever GL is operated, regardless of the duration of the inoperable state before the gate lock lever GL is operated.

[0117] The above-described configuration makes it possible for the operator to check the ON / OFF status of the object detection function before continuing or starting work with the shovel 100, even if the operator has forgotten the ON / OFF status of the object detection function that the operator changed, or if the operator is replaced. This more reliably prevents the operator from continuing or starting work with the shovel 100 while misrecognizing the ON / OFF status of the object detection function.

[0118] The controller 30 may be configured to allow the operator to confirm the ON / OFF state of the object detection function by displaying information regarding the ON / OFF state of the object detection function on the display device DS, and to determine that the operator has confirmed the ON / OFF state of the object detection function when the information is displayed for a predetermined period of time or when a predetermined operation is performed after the information is displayed.

[0119] The configuration in which the controller 30 determines that the operator has confirmed the ON / OFF state of the object detection function when information regarding the ON / OFF state of the object detection function has been displayed for a predetermined period of time does not force the operator to perform a predetermined operation, and therefore enables the relay 52 to be switched to the connected state by the relay switching process more smoothly.

[0120] The configuration in which the controller 30 determines that the operator has confirmed the ON / OFF state of the object detection function when a specified operation is performed after information regarding the ON / OFF state of the object detection function is displayed makes it essential that the specified operation is performed before the shovel 100 starts working, thereby making it more certain that the ON / OFF state of the object detection function is confirmed.

[0121] The preferred embodiments of the present invention have been described above in detail. However, the present invention is not limited to the above-described embodiments. Various modifications or substitutions may be applied to the above-described embodiments without departing from the scope of the present invention. Furthermore, features described separately may be combined unless technical contradictions arise.

[0122] For example, in the above-described embodiment, the switch 51 and the relay 52 are connected in series in the power line connecting the power source 55 and the control valve 60. However, the switch 51 may be arranged in the power line connecting the power source 55 and a gate lock valve (not shown), which is another control valve. For example, the switch 51 may be configured to open and close a gate lock valve provided in the pilot line CD1 separately from the control valve 60. In this case, the control valve 60 may be controlled to open and close by the relay 52 regardless of whether the switch 51 is in a conducting state or a cut-off state. Alternatively, the gate lock valve provided in the pilot line CD1 may be configured to be mechanically linked to the movement of the gate lock lever GL. In this case, the switch 51 may be omitted. [Explanation of symbols]

[0123] 1···Undercarriage 1C···Crawler 1CL··Left crawler 1CR···Right crawler 2···Slewing mechanism 2A···Slewing hydraulic motor 2M···Travel hydraulic motor 2ML···Left travel hydraulic motor 2MR···Right travel hydraulic motor 3···Upper rotating body 4···Boom 5···Arm 6···Bucket 7···Boom cylinder 8···Arm cylinder 9···Bucket cylinder 10···Cabin 11··Engine 13···Regulator 14···Main pump 15···Pilot pump 17···Control valve unit 18···Throttle 19···Control pressure sensor 26···Operating device 26D···Travel lever 26DL···Left travel lever 26DR···Right travel lever 26L···Left operating lever 26R Right operating lever 28 Discharge pressure sensor 29, 29DL, 29DR, 29LA, 29LB, 29RA, 29RB Operating pressure sensor 30 Controller 40 Center bypass line 41a Date and time display area 41b Driving mode display area 41c Attachment display area 41d Fuel economy display area 41d1 Average fuel economy display area 41d2 Instantaneous fuel economy display area 41d2 41e Engine control status display area 41f Engine operating time display area 41g Coolant temperature display area 41h Remaining fuel amount display area 41i Revolution speed mode display area 41j Remaining urea water amount display area 41k Hydraulic oil temperature display area 41t Human detection function display area 41u...Status check image 41V...Display screen 41w...Confirmation button 41x...Camera image display area 42...Parallel pipe 51...Switch 52...Relay 55...Power supply 60...Control valve 70...Object detection device 70F...Front object detection device 70B...Rear object detection device 70L...Left object detection device 70R...Right object detection device 85...Direction detection device 100...Shovel 171~176...Control valve BT...Input device CD1...Pilot line DS...Display device GL...Gate lock lever S1...Boom angle sensor S2...Arm angle sensor S3...Bucket angle sensor S4...Machine tilt sensor S5...Slewing angular velocity sensor

Claims

1. a lower running body; an upper rotating body rotatably mounted on the lower traveling body; a control device provided on the upper rotating body, The control device a state switching function for switching the state of the shovel between an operable state and an inoperable state; An object detection function that detects objects around the excavator, a function of displaying, on a display device, a first image indicating that the object detection function is in an ON state when the object detection function is in an ON state, and displaying, on the display device, a second image indicating that the object detection function is in an OFF state when the object detection function is in an OFF state, thereby allowing an operator to confirm the ON / OFF state of the object detection function; When the object detection function is in an OFF state, if a manual first device for switching the state of the shovel between an operable state and an inoperable state is operated so that the state of the shovel becomes an operable state, a third image is displayed to inform the operator that the object detection function is in an OFF state, thereby allowing the operator to confirm that the object detection function is in an OFF state, and then the state of the shovel is switched to the operable state, the third image is an image different from the first image and the second image; Shovel.

2. Further comprising a second device for switching the state of the shovel between an operable state and an inoperable state based on confirmation of the ON / OFF state; The shovel according to claim 1.

3. When the first device is operated so that the shovel is in an operable state, the control device determines whether the operator has confirmed the ON / OFF state of the object detection function, and if it determines that the operator has not confirmed it, it calls the operator's attention. The shovel according to claim 1.

4. the control device prompts an operator to confirm an ON / OFF state of the object detection function when the first device is operated after the inoperable state has continued for a predetermined time; The shovel according to claim 1.

5. When the first device is operated so that the state of the shovel becomes an operable state while the object detection function is in an OFF state, the control device notifies the operator by sound that the object detection function is in an OFF state, thereby allowing the operator to confirm that the object detection function is in an OFF state. The shovel according to claim 2 or 3.

6. the control device prompts the operator to confirm the ON / OFF state of the object detection function every time a predetermined time has elapsed in an operable state; A shovel according to any one of claims 1 to 5.

7. The control device displays information regarding the ON / OFF state of the object detection function on the display device, thereby allowing the operator to confirm the ON / OFF state of the object detection function, and determines that the operator has confirmed the ON / OFF state of the object detection function when the information has been displayed for a predetermined time or when a predetermined operation has been performed after the information has been displayed. A shovel according to any one of claims 1 to 6.

Images