Shovel

Abstract

To provide a shovel capable of informing an operator of open / closed state of an opening / closing body.SOLUTION: A shovel 100 comprises a lower traveling body 1, an upper revolving body 3 rotatably mounted on the lower traveling body 1, a side cover SC attached to the upper revolving body 3 so as to be openable and closable, an object detection device 70 for detecting open / closed state of side cover SC, and a display device DS for informing an operator of the open / closed state of the side cover SC detected by the object detection device 70. The open / closed state of the side cover SC is detected, for example, based on the image captured by the object detection device 70. The excavator 100 may be configured to notify the operator that the side cover SC is open when the side cover SC is in the fully open state.SELECTED DRAWING: Figure 1

Description

Technical Field

[0004] ,

[0006] , , , , , ,

[0005] , , , , The detection device is an object detection device attached to the outer surface of the upper rotating body and capable of detecting objects present around the shovel, and the open / closed state of the opening / closing body is detected based on the image captured by the object detection device. , , ,

[0001] The present disclosure relates to a shovel.

Background Art

[0002] Conventionally, a shovel equipped with an openable and closable side cover has been known (see Patent Document 1).

Prior Art Documents

Patent Documents

[0007] The aforementioned shovel can inform the operator of the open / closed state of the opening / closing mechanism. [Brief explanation of the drawing]

[0008] [Figure 1] This is a side view of the shovel. [Figure 2] This is a top view of the shovel. [Figure 3] This is a perspective view of the upper rotating body. [Figure 4] This diagram shows an example of a hydraulic system configuration installed in an excavator. [Figure 5] This diagram schematically shows an example of the configuration of an electric control system. [Figure 6] This figure shows an example of a display screen shown on a display device. [Figure 7] This figure shows another example of a display screen shown on a display device. [Modes for carrying out the invention]

[0009] First, with reference to Figures 1 to 3, the shovel 100 as an excavator according to an embodiment of the present invention will be described. Figure 1 is a side view of the shovel 100, and Figure 2 is a top view of the shovel 100. Figure 3 is a perspective view of the upper rotating body 3.

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

[0011] An upper rotating body 3 is mounted on the lower traveling body 1 via a rotating mechanism 2 so as to be able to rotate. The rotating mechanism 2, as the 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 acting as an electric actuator. Since the upper rotating body 3 is driven by the rotating mechanism 2, it functions as the driven body.

[0012] A boom 4 is attached to the upper slewing body 3 as a driven unit. An arm 5 is attached to the tip of the boom 4 as a driven unit, and a bucket 6, which is both a driven unit 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.

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

[0014] 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 with respect to the upper slewing body 3. The boom angle, for example, becomes the minimum angle 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 with respect to the boom 4. The arm angle, for example, becomes the minimum angle when the arm 5 is closed to the maximum extent, and increases as the arm 5 is opened.

[0015] The bucket angle sensor S3 detects the rotation angle of the bucket 6. In this embodiment, the bucket angle sensor S3 is an acceleration sensor and can detect the bucket angle, which is the rotation angle of the bucket 6 with respect to the arm 5. The bucket angle, for example, becomes the minimum angle when the bucket 6 is closed to the maximum extent, and increases as the bucket 6 is opened.

[0016] The boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 may each be a potentiometer using a variable resistor, a stroke sensor for detecting the stroke amount of the corresponding hydraulic cylinder, a rotary encoder for detecting the rotation angle around the connecting pin, a gyro sensor, a combination of an acceleration sensor and a gyro sensor, etc.

[0017] A cabin 10 as a driver's cab is provided on the upper slewing body 3, and a power source such as an engine 11 is mounted. In addition, a controller 30, an object detection device 7, a direction detection device 85, a machine body inclination sensor S4, a slewing angular velocity sensor S5, etc. are attached to the upper slewing body 3. Inside the cabin 10, an operation device 26, a display device DS, a sound output device AD, etc. are provided. In this document, for convenience, the side of the upper slewing body 3 where the boom 4 is attached is regarded as the front, and the side where the counterweight is attached is regarded as the rear.

[0018] The operating device 26 is a device used by an operator for operating an actuator. The operating device 26 includes, for example, an operating lever and an operating pedal. The actuator includes at least one of a hydraulic actuator and an electric actuator. The hydraulic actuator includes a hydraulic motor 2A for turning, a hydraulic motor 2M for traveling, a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9, etc.

[0019] The controller 30 is an example of a control device for executing various functions. In the present embodiment, the controller 30 is composed of a computer provided with a CPU, a RAM, a NVRAM, a ROM, etc., and is configured to be able to control the excavator 100. Specifically, the controller 30 reads out a program corresponding to various functions from the ROM and loads it into the RAM, and causes the CPU to execute the corresponding processing.

[0020] The various functions include an object detection function. The object detection function is a function for detecting an object existing around the excavator 100. The object is, for example, a person, an animal, a vehicle, a construction machine, a building, or a hole, etc.

[0021] In the present 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 an object existing 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, etc. In the present embodiment, the object detection device 70 is a monocular camera, and includes a rear object detection device 70B attached to the rear end of the upper surface of the upper swing body 3, a front object detection device 70F attached to the front end of the upper surface of the cab 10, a left object detection device 70L attached to the left end of the upper surface of the upper swing body 3, and a right object detection device 70R attached to the right end of the upper surface of the upper swing 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 be a person detection device configured to detect a person while distinguishing between a person and other objects.

[0023] In this embodiment, the object detection device 70 has a detection range Z. The object detection device 70 is configured to detect objects that are present within or have entered the detection range Z. Specifically, the detection range Z includes the rear detection range ZB of the rear object detection device 70B, the front detection range ZF of the front object detection device 70F, the left detection range ZL of the left object detection device 70L, and the right detection range ZR of the right object detection device 70R. Figure 2 schematically shows an example of the detection range Z.

[0024] The orientation detection device 85 is configured to detect information relating to the relative relationship between the orientation of the upper rotating body 3 and the orientation of the lower traveling body 1 (hereinafter referred to as "orientation information"). For example, the orientation detection device 85 may consist of a combination of a geomagnetic sensor attached to the lower traveling body 1 and a geomagnetic sensor attached to the upper rotating body 3. Alternatively, the orientation detection device 85 may consist of a combination of a GNSS receiver attached to the lower traveling 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 rotating motor generator, the orientation detection device 85 may consist of a resolver. The orientation detection device 85 may be located, for example, at a center joint provided in relation to a rotation mechanism 2 that realizes relative rotation between the lower traveling body 1 and the upper rotating body 3.

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

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

[0027] In the following, any combination of the boom angle sensor S1, arm angle sensor S2, bucket angle sensor S3, machine tilt sensor S4, and rotational angular velocity sensor S5 will be collectively referred to as attitude sensors.

[0028] The display device DS is an example of an output device and is configured to display various types of information. In this embodiment, the display device DS is a touch panel display mounted on the pillar of the cabin 10.

[0029] The sound output device AD ​​is another example of an output device, and is configured to output various types of information by sound. In this embodiment, the sound output device AD ​​is a speaker installed inside the cabin 10.

[0030] The upper rotating body 3 is provided with side covers SC, as shown in Figures 2 and 3. In Figure 3, a dot pattern is applied to the side cover SC for clarity. The side cover SC is an example of an opening and closing mechanism and is also called a "door". The side cover SC includes a left side cover SCL attached to the left side of the upper rotating body 3 and a right side cover SCR attached to the right side of the upper rotating body 3. The left side cover SCL includes a first left side cover SCL1 and a second left side cover SCL2.

[0031] Specifically, the first left side cover SCL1 is attached to the frame constituting the upper slewing body 3 via a hinge unit HL1 having a hinge axis parallel to the Z-axis, behind the cabin 10 and to the left of the upper slewing body 3. More specifically, as shown in Figure 2, the first left side cover SCL1 is attached to the frame so as to rotate clockwise around the hinge unit HL1 in a top view.

[0032] The second left side cover SCL2 is attached to the frame constituting the upper slewing body 3 via a hinge unit HL2 having a hinge axis parallel to the Z-axis, behind the first left side cover SCL1 and to the left of the upper slewing body 3. More specifically, as shown in Figure 2, the second left side cover SCL2 is attached to the frame so as to rotate counterclockwise around the hinge unit HL2 in a top view. In other words, the first left side cover SCL1 and the second left side cover SCL2 are configured to open in opposite directions to each other, like double doors.

[0033] The right side cover SCR is attached to the frame constituting the upper slewing body 3 via a hinge unit HR having a hinge axis parallel to the Z-axis, behind the cabin 10 and to the right of the upper slewing body 3. More specifically, the right side cover SCR is attached to the frame so as to rotate clockwise around the hinge unit HR in a top view, as shown in Figure 2.

[0034] Furthermore, in this embodiment, the left object detection device 70L is configured to include the left side cover SCL within the left detection range ZL (see Figure 2) in both the case when the left side cover SCL is fully open and when it is in an open state between the fully closed and fully open states. In other words, the left object detection device 70L is configured to detect that the left side cover SCL is open even if the opening angle of the left side cover SCL is small. Specifically, the left object detection device 70L is configured to detect that the first left side cover SCL1 is open even if the opening angle of the first left side cover SCL1 is small, and to detect that the second left side cover SCL2 is open even if the opening angle of the second left side cover SCL2 is small.

[0035] The fully open state of the left side cover SCL is, for example, a state in which the opening angle of the left side cover SCL is at a predetermined angle and that opening angle is locked by a lock bar or the like. The predetermined angle is, for example, an angle between 70 and 90 degrees.

[0036] Similarly, the right-side object detection device 70R is configured to include the right-side cover SCR within the right-side detection range ZR (see Figure 2) in both the fully open state and the open state between the fully closed and fully open states. In other words, the right-side object detection device 70R is configured to detect that the right-side cover SCR is open even if the opening angle of the right-side cover SCR is small.

[0037] Furthermore, the left-side object detection device 70L may be configured to include the left-side cover SCL within the left-side detection range ZL (see Figure 2) in any of the following states: when the left-side cover SCL is fully closed, when the left-side cover SCL is fully open, and when the left-side cover SCL is in an open state between the fully closed and fully open states. In other words, the left-side object detection device 70L may be configured to constantly monitor the open / closed state of the left-side cover SCL, regardless of the open / closed state of the left-side cover SCL. Specifically, the left-side object detection device 70L may be configured to constantly monitor the open / closed state of the first left-side cover SCL1, regardless of the open / closed state of the first left-side cover SCL1, and to constantly monitor the open / closed state of the second left-side cover SCL2, regardless of the open / closed state of the second left-side cover SCL2.

[0038] Similarly, the right-side object detection device 70R may be configured to include the right-side cover SCR within the right-side detection range ZR (see Figure 2) in any of the following states: when the right-side cover SCR is fully closed, when the right-side cover SCR is fully open, and when the right-side cover SCR is in an open state between the fully closed and fully open states. In other words, the right-side object detection device 70R may be configured to constantly monitor the open / closed state of the right-side cover SCR, regardless of the open / closed state of the right-side cover SCR.

[0039] Next, with reference to Figure 4, an example of the configuration of the hydraulic system installed in the excavator 100 will be described. Figure 4 shows an example of the configuration of the hydraulic system installed in the excavator 100 of Figure 1. In Figure 4, the mechanical power transmission line, hydraulic fluid line, pilot line, and electrical control line are indicated by double lines, solid lines, dashed lines, and dotted lines, respectively.

[0040] The hydraulic system circulates hydraulic fluid from the left main pump 14L, driven by engine 11, through the left center bypass pipe 40L or the left parallel pipe 42L to the hydraulic fluid tank, and also circulates hydraulic fluid from the right main pump 14R, driven by engine 11, through the right center bypass pipe 40R or the right parallel pipe 42R to the hydraulic fluid tank.

[0041] The left center bypass pipeline 40L is a hydraulic fluid line that passes through control valves 171, 173, 175L, and 176L located within the control valve unit 17. The right center bypass pipeline 40R is a hydraulic fluid line that passes through control valves 172, 174, 175R, and 176R located within the control valve unit 17.

[0042] The control valve 171 is a spool valve that switches the flow of hydraulic fluid to supply the hydraulic fluid discharged by the left main pump 14L to the left-side travel hydraulic motor 1L, and to discharge the hydraulic fluid discharged by the left-side travel hydraulic motor 1L to the hydraulic fluid tank.

[0043] The control valve 172 is a spool valve that supplies the hydraulic fluid discharged by the right main pump 14R to the right-side travel hydraulic motor 1R, and also switches the flow of hydraulic fluid to discharge the hydraulic fluid discharged by the right-side travel hydraulic motor 1R to the hydraulic fluid tank.

[0044] The control valve 173 is a spool valve that supplies the hydraulic fluid discharged by the left main pump 14L to the swing hydraulic motor 2A, and also switches the flow of the hydraulic fluid discharged by the swing hydraulic motor 2A to the hydraulic fluid tank.

[0045] The control valve 174 is a spool valve that supplies the hydraulic fluid discharged by the right main pump 14R to the bucket cylinder 9 and switches the flow of the hydraulic fluid in order to discharge the hydraulic fluid in the bucket cylinder 9 to the hydraulic fluid tank.

[0046] The control valve 175L is a spool valve that switches the flow of hydraulic fluid in order to supply the hydraulic fluid discharged by the left main pump 14L to the boom cylinder 7.

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

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

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

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

[0051] The left regulator 13L is configured to control the discharge rate of the left main pump 14L. In this embodiment, the left regulator 13L 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 the discharge pressure of the left main pump 14L. The right regulator 13R is configured to control the discharge rate of the right main pump 14R. In this embodiment, the right regulator 13R controls the discharge rate of the right main pump 14R by adjusting the swash plate tilt angle of the right main pump 14R in accordance with the discharge pressure of the right main pump 14R. The left regulator 13L reduces the discharge rate by adjusting the swash plate tilt angle of the left main pump 14L in accordance with an increase in the discharge pressure of the left main pump 14L. The same applies to the right regulator 13R. This is to ensure that the pump absorption horsepower, which is expressed as the product of the discharge pressure and the discharge rate, does not exceed the output horsepower of the engine 11. Note that the pump absorption horsepower is the sum of the absorption horsepower of the left main pump (14L) and the absorption horsepower of the right main pump (14R).

[0052] The left discharge pressure sensor 28L is an example of a discharge pressure sensor 28, which detects the discharge pressure of the left main pump 14L and outputs the detected value to the controller 30. The same applies to the right discharge pressure sensor 28R.

[0053] Here, we will explain the negative control system employed in the hydraulic system shown in Figure 4.

[0054] In the left center bypass pipeline 40L, a left throttle 18L is located between the downstream control valve 176L and the hydraulic oil tank. The flow of hydraulic oil discharged by the left main pump 14L is restricted by the left throttle 18L. The left throttle 18L then generates a control pressure to control the left regulator 13L. The left control pressure sensor 19L is a sensor for detecting the control pressure and outputs the detected value to the controller 30. In the right center bypass pipeline 40R, a right throttle 18R is located between the downstream control valve 176R and the hydraulic oil tank. The flow of hydraulic oil discharged by the right main pump 14R is restricted by the right throttle 18R. The right throttle 18R then generates a control pressure to control the right regulator 13R. The right control pressure sensor 19R is a sensor for detecting the control pressure and outputs the detected value to the controller 30.

[0055] The controller 30 controls the discharge volume of the left main pump 14L by adjusting the swash plate tilt angle of the left main pump 14L in accordance with the control pressure. The controller 30 decreases the discharge volume of the left main pump 14L as the control pressure increases, and increases the discharge volume of the left main pump 14L as the control pressure decreases. The discharge volume of the right main pump 14R is controlled in the same manner.

[0056] Specifically, as shown in Figure 4, when none of the hydraulic actuators in the shovel 100 are operated and the system is in standby mode, the hydraulic fluid discharged from the left main pump 14L passes through the left center bypass pipe 40L to the left constrictor 18L. The flow of hydraulic fluid discharged from the left main pump 14L increases the control pressure generated upstream of the left constrictor 18L. As a result, the controller 30 reduces the discharge volume of the left main pump 14L to the minimum allowable discharge volume, suppressing pressure loss (pumping loss) as the discharged hydraulic fluid passes through the left center bypass pipe 40L. On the other hand, when any of the hydraulic actuators are operated, the hydraulic fluid discharged from the left main pump 14L flows into the hydraulic actuator being operated via the control valve corresponding to that actuator. The flow of hydraulic fluid discharged from the left main pump 14L reduces or eliminates the amount reaching the left constrictor 18L, lowering the control pressure generated upstream of the left constrictor 18L. As a result, the controller 30 increases the discharge volume of the left main pump 14L, circulating sufficient hydraulic fluid to the hydraulic actuator being operated, and ensuring reliable operation of the hydraulic actuator. The same applies to the hydraulic fluid discharged by the right main pump 14R.

[0057] With the configuration described above, the hydraulic system in Figure 4 can suppress wasted energy consumption in both the left main pump 14L and the right main pump 14R when in standby mode. Wasted energy consumption includes pumping losses caused by the hydraulic fluid discharged by the left main pump 14L in the left center bypass pipeline 40L, and pumping losses caused by the hydraulic fluid discharged by the right main pump 14R in the right center bypass pipeline 40R. Furthermore, when operating a hydraulic actuator, the hydraulic system in Figure 4 can supply the necessary and sufficient amount of hydraulic fluid to the hydraulic actuator being operated from both the left main pump 14L and the right main pump 14R.

[0058] Next, a configuration for automatically operating the actuator will be described. The boom operating lever 26A is an example of an electrically operated lever as an operating device 26, and is used to operate the boom 4. The boom operating lever 26A detects the direction and amount of operation and outputs the detected direction and amount of operation as operation data (electrical signal) to the controller 30. When manually controlled, if the boom operating lever 26A is operated in the boom raising direction, the controller 30 controls the opening degree of the proportional valve 31AL according to the amount of operation of the boom operating lever 26A. This uses the hydraulic fluid discharged by the pilot pump 15 to apply pilot pressure corresponding to the amount of operation of the boom operating lever 26A to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R. Also, when manually controlled, if the boom operating lever 26A is operated in the boom lowering direction, the controller 30 controls the opening degree of the proportional valve 31AR according to the amount of operation of the boom operating lever 26A. This allows the hydraulic fluid discharged by the pilot pump 15 to be used to apply a pilot pressure corresponding to the amount of movement of the boom operating lever 26A to the right-side pilot port of the control valve 175R.

[0059] The proportional valves 31AL and 31AR constitute a boom proportional valve 31A, which is an example of a proportional valve 31 as a solenoid valve. The proportional valve 31AL operates in response to a current command regulated by the controller 30. The controller 30 regulates the pilot pressure using hydraulic fluid introduced from the pilot pump 15 through the proportional valve 31AL to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R. The proportional valve 31AR operates in response to a current command regulated by the controller 30. The controller 30 regulates the pilot pressure using hydraulic fluid introduced from the pilot pump 15 through the proportional valve 31AR to the right pilot port of the control valve 175R. The proportional valves 31AL and 31AR can adjust the pilot pressure so that the control valves 175L and 175R can be stopped at any valve position.

[0060] With this configuration, during automatic excavation control, the controller 30 can supply the hydraulic fluid discharged by the pilot pump 15 to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R via the proportional valve 31AL, independently of the boom raising operation by the operator. In other words, the controller 30 can automatically raise the boom 4. Furthermore, the controller 30 can supply the hydraulic fluid discharged by the pilot pump 15 to the right pilot port of the control valve 175R via the proportional valve 31AR, independently of the boom lowering operation by the operator. In other words, the controller 30 can automatically lower the boom 4.

[0061] The arm operating lever 26B is another example of an electrically operated lever as an operating device 26, and is used to operate the arm 5. The arm operating lever 26B detects the direction and amount of operation and outputs the detected direction and amount of operation as operation data (electrical signal) to the controller 30. When manually controlled, if the arm operating lever 26B is operated in the arm opening direction, the controller 30 controls the opening degree of the proportional valve 31BR according to the amount of operation of the arm operating lever 26B. This uses the hydraulic fluid discharged by the pilot pump 15 to apply pilot pressure corresponding to the amount of operation of the arm operating lever 26B to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R. Also, when manually controlled, if the arm operating lever 26B is operated in the arm closing direction, the controller 30 controls the opening degree of the proportional valve 31BL according to the amount of operation of the arm operating lever 26B. This allows the hydraulic fluid discharged by the pilot pump 15 to be used to apply pilot pressure corresponding to the amount of movement of the arm operating lever 26B to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R.

[0062] The proportional valves 31BL and 31BR constitute an arm proportional valve 31B, which is an example of the proportional valve 31. The proportional valve 31BL operates in response to a current command regulated by the controller 30. The controller 30 regulates the pilot pressure using hydraulic fluid introduced from the pilot pump 15 through the proportional valve 31BL to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R. The proportional valve 31BR operates in response to a current command regulated by the controller 30. The controller 30 regulates the pilot pressure using hydraulic fluid introduced from the pilot pump 15 through the proportional valve 31BR to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R. The proportional valves 31BL and 31BR can adjust the pilot pressure so that the control valves 176L and 176R can be stopped at any valve position.

[0063] With this configuration, the controller 30 can supply the hydraulic fluid discharged by the pilot pump 15 to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R via the proportional valve 31BL, independently of the operator's arm closing operation. In other words, the controller 30 can automatically close the arm 5. Furthermore, the controller 30 can supply the hydraulic fluid discharged by the pilot pump 15 to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R via the proportional valve 31BR, independently of the operator's arm opening operation. In other words, the controller 30 can automatically open the arm 5.

[0064] As a result, in automatic excavation control, the arm cylinder 8 and boom cylinder 7 operate automatically according to the amount of movement of the arm operation lever 26B, thereby controlling the speed or position of the work area.

[0065] The shovel 100 may be equipped with a configuration for automatically rotating the upper slewing body 3 left and right, a configuration for automatically opening and closing the bucket 6, and a configuration for automatically moving the lower traveling body 1 forward and backward. In this case, the hydraulic system portion related to the slewing hydraulic motor 2A, the hydraulic system portion related to the operation of the bucket cylinder 9, the hydraulic system portion related to the operation of the left-side traveling hydraulic motor 1L, and the hydraulic system portion related to the operation of the right-side traveling hydraulic motor 1R may be configured in the same way as the hydraulic system portion related to the operation of the boom cylinder 7, etc.

[0066] Next, with reference to Figure 5, the electric operating system of the excavator 100 according to this embodiment will be further described. Figure 5 schematically shows an example of the configuration of the electric operating system of the excavator 100 according to this embodiment. In Figure 5, as an example of an electric operating system, the boom operating system for raising and lowering the boom 4 will be explained as an example. The electric operating system can also be similarly applied to the travel operating system for moving the lower travel body 1 forward or backward, the slewing operating system for slewing the upper slewing body 3, the arm operating system for opening and closing the arm 5, and the bucket operating system for opening and closing the bucket 6.

[0067] The electric operating system shown in Figure 5 includes a boom operating lever 26A as an electric operating lever, a pilot pump 15, a pilot pressure operated control valve unit 17, a proportional valve 31AL for boom raising operation, a proportional valve 31AR for boom lowering operation, a controller 30, a gate lock lever 60, and a gate lock valve 62.

[0068] One example of an operating device is the boom operating lever 26A (operating signal generation unit), which is equipped with a sensor such as an encoder or potentiometer capable of detecting the amount of operation (tilt amount) and the direction of tilt. The operating signal (electrical signal) corresponding to the operation of the boom operating lever 26A detected by the sensor on the boom operating lever 26A is input to the controller 30.

[0069] The proportional valve 31AL is located in the pilot line that supplies hydraulic fluid from the pilot pump 15 to the boom-raising pilot port of the control valve unit 17 (see control valves 175L and 175R shown in Figure 4). The proportional valve 31AL is a solenoid valve with adjustable opening, and its opening is controlled in accordance with the boom-raising operation signal (electrical signal), which is a control signal from the controller 30. By controlling the opening of the proportional valve 31AL, the pilot pressure, which acts as a boom-raising operation signal (pressure signal) on the boom-raising pilot port, is controlled. Similarly, the proportional valve 31AR is located in the pilot line that supplies hydraulic fluid from the pilot pump 15 to the boom-lower pilot port of the control valve unit 17 (see control valves 175L and 175R shown in Figure 4). The proportional valve 31AR is a solenoid valve with adjustable opening, and its opening is controlled in accordance with the boom-lower operation signal (electrical signal), which is a control signal from the controller 30. By controlling the opening degree of the proportional valve 31AR, the pilot pressure, which acts as a boom lowering operation signal (pressure signal) on the boom lowering side pilot port, is controlled.

[0070] The controller 30 outputs boom raising operation signals (electrical signals) and boom lowering operation signals (electrical signals) that control the opening degree of the proportional valves 31AL and 31AR. As a result, the controller 30 can control the operation of the boom 4 by controlling the flow rate and direction of the hydraulic fluid supplied from the left main pump 14L and the right main pump 14R to the boom cylinder 7 via the proportional valves 31AL and 31AR and the control valve unit 17 (control valves 175L and 175R).

[0071] For example, when the shovel 100 is operated manually, the controller 30 generates and outputs a boom-raising operation signal (electrical signal) or a boom-lowering operation signal (electrical signal) in response to the operation signal (electrical signal) of the boom operation lever 26A. Also, for example, when the shovel 100 is automatically controlled, the controller 30 generates and outputs a boom-raising operation signal (electrical signal) or a boom-lowering operation signal (electrical signal) based on a set program or the like.

[0072] The gate lock lever 60 is located near the entrance / exit inside the cabin 10. The gate lock lever 60 is pivotable. The operator releases the gate lock valve 62 by raising the gate lock lever 60 to a nearly horizontal position, and locks the gate lock valve 62 by pushing down the gate lock lever 60. When the gate lock lever 60 is raised, it obstructs the entrance / exit of the cabin 10, restricting the operator from exiting the cabin 10. On the other hand, when the gate lock lever 60 is pushed down, it opens the entrance / exit of the cabin 10, allowing the operator to exit the cabin 10.

[0073] The limit switch 61 is a switch that turns ON (energized) when the gate lock lever 60 is pulled up, and turns OFF (cuts off) when the gate lock lever 60 is pressed down.

[0074] The gate lock valve 62 is an on / off valve installed in the pilot line between the pilot pump 15 and the proportional valves 31 (31AL, 31AR). The gate lock valve 62 is, for example, a solenoid valve that opens when energized and closes when de-energized. A limit switch 61 is located in the power circuit of the gate lock valve 62. As a result, when the limit switch 61 is ON, the gate lock valve 62 opens. When the limit switch 61 is OFF, the gate lock valve 62 closes. That is, when the limit switch 61 is ON, the gate lock valve 62 is open and released, making it possible to operate the boom 4 via the boom operation lever 26A. On the other hand, when the limit switch 61 is OFF, the gate lock valve 62 is closed and locked, making it impossible to operate the boom 4 via the boom operation lever 26A.

[0075] The lock state detection sensor 63 detects whether the gate lock valve 62 is in the unlocked or locked state. For example, the lock state detection sensor 63 is a voltage sensor (or current sensor) provided in the electrical circuit connecting the gate lock valve 62 and the limit switch 61, and detects the unlocked / locked state of the gate lock valve 62 by detecting the ON / OFF state of the limit switch 61. The detection result is output to the controller 30. Alternatively, the lock state detection sensor 63 may be configured to detect the unlocked / locked state of the gate lock valve 62 by directly detecting the position of the lever.

[0076] The controller 30 may be configured to switch the limit switch 61 to OFF and close the gate lock valve 62, rendering the boom 4 inoperable, even when the gate lock lever 60 is pulled up.

[0077] Figure 5 shows a configuration for switching the boom 4 (boom cylinder 7) between an operable state and an inoperable state using the gate lock lever 60. However, the gate lock lever 60 is configured to simultaneously switch the operable state and the inoperable state of the arm 5 (arm cylinder 8), bucket 6 (bucket cylinder 9), slewing (slewing hydraulic motor 2A), and travel (travel hydraulic motor 2M). However, the gate lock lever 60 may also be configured to switch the operable state and the inoperable state of the arm 5 (arm cylinder 8), bucket 6 (bucket cylinder 9), slewing (slewing hydraulic motor 2A), and travel (travel hydraulic motor 2M) individually.

[0078] Next, referring to Figure 6, an example of the display screen 41V shown on the display device DS will be described. The display screen 41V shown in Figure 6 is an example of a display screen that is shown when it is detected that the right side cover SCR is open.

[0079] 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 consumption display area 41d, an engine control status display area 41e, an engine operating time display area 41f, a coolant temperature display area 41g, a fuel level display area 41h, a rotation speed mode display area 41i, a urea solution level display area 41j, a hydraulic oil temperature display area 41k, a door open / closed status display area 41u, and a camera image display area 41x.

[0080] The driving mode display area 41b, attachment display area 41c, engine control status display area 41e, and rotation speed mode display area 41i are areas that display setting status information, which is information related to the setting status of the Shovel 100. The fuel consumption display area 41d, engine operating time display area 41f, coolant temperature display area 41g, fuel level display area 41h, urea solution level display area 41j, and hydraulic oil temperature display area 41k are areas that display operating status information, which is information related to the operating status of the Shovel 100.

[0081] More specifically, the date and time display area 41a is the area that displays the current date and time. The driving mode display area 41b is the area that displays the current driving mode. The attachment display area 41c is the area that displays an image representing the currently installed end attachment. Figure 6 shows the state where an image representing the lifting magnet is displayed.

[0082] The fuel consumption display area 41d is an area that displays fuel consumption information calculated by the controller 30. The fuel consumption display area 41d includes an average fuel consumption display area 41d1 that displays lifetime average fuel consumption or section average fuel consumption, and an instantaneous fuel consumption display area 41d2 that displays instantaneous fuel consumption.

[0083] 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 of the engine coolant. The fuel level 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 solution level display area 41j is an area that displays the remaining amount of urea solution stored in the urea solution tank. The hydraulic oil temperature display area 41k is an area that displays the temperature of the hydraulic oil in the hydraulic oil tank.

[0084] The door open / closed status display area 41u is an area that displays information regarding the open / closed status of the door (side cover SC). In the example shown in Figure 6, the door open / closed status display area 41u displays the text message "Right door is open," indicating that the right side cover SCR is open. In the example shown in Figure 6, the text message is superimposed above the fuel level display area 41h, which is a location other than the camera image display area 41x. This is to prevent part of the camera image from being obscured. The text message may also be superimposed in a location other than the camera image display area 41x.

[0085] The controller 30 is configured to output a control command to the display device DS when the object detection device 70 detects that the side cover SC is open, causing a text message to be displayed in the door open / closed status display area 41u. In this case, the controller 30 may also output a control command to the sound output device AD, causing the sound output device AD ​​to output a sound or voice to inform the operator of the shovel 100 that the side cover SC is open. Alternatively, the controller 30 may be configured to output a control command only to the sound output device AD, so that the operator is informed that the side cover SC is open only by auditory information.

[0086] The camera image display area 41x is the area that displays the camera image captured by the monocular camera acting as the object detection device 70. In the example shown in Figure 6, the camera image display area 41x includes the first camera image display area 41x1 and the second camera image display area 41x2. The first camera image display area 41x1 displays the camera image captured by the monocular camera acting as the rear object detection device 70B. This camera image is a rear view showing the space behind the shovel 100 and includes the image 3a of the counterweight. The image 3a of the counterweight may be a CG (computer graphic) image. This is to prevent the display of an image of the counterweight that includes distortion caused by the lens of the monocular camera, etc. That is, the CG image of the counterweight is displayed without distortion, and the operator can more accurately recognize the shape and width of the counterweight by looking at the CG image. The second camera image display area 41x2 displays the camera image captured by the monocular camera acting as the right-side object detection device 70R. This camera image is a right-facing image showing the space to the right of the shovel 100, and in the example shown in Figure 6, it includes image 3b of the right edge of the upper surface of the upper rotating body 3 and image G1 of the right side cover SCR. Image G1 is an image of the right side cover SCR in the open state. Image 3b of the right edge of the upper surface of the upper rotating body 3 may be a computer-generated image. This is to prevent the display of an image of the right edge that includes distortion caused by the monocular camera lens, etc. That is, the computer-generated image of the right edge of the upper surface of the upper rotating body 3 is displayed without distortion, and the operator can more accurately recognize the shape and width of the right edge of the upper surface of the upper rotating body 3 by looking at the computer-generated image.

[0087] Next, we will describe the process by which a monocular camera, acting as an object detection device 70, detects the open / closed state of the side cover SC.

[0088] In this embodiment, the monocular camera, which serves as the left object detection device 70L, is configured to continuously monitor the open / closed state of the first left side cover SCL1 and the second left side cover SCL2 while the shovel 100 is in operation. The monocular camera, which serves as the right object detection device 70R, is configured to continuously monitor the open / closed state of the right side cover SCR while the shovel 100 is in operation.

[0089] "Shovel 100 is in operation" means, for example, when power is supplied to the controller 30, when the engine 11 is running, or when power is supplied to the object detection device 70.

[0090] Specifically, the monocular camera, acting as the left object detection device 70L, repeatedly acquires leftward images at a predetermined control cycle. The leftward image is a camera image showing the space to the left of the shovel 100. Similarly, the monocular camera, acting as the right object detection device 70R, repeatedly acquires rightward images at a predetermined control cycle.

[0091] The following describes the process by which the monocular camera, acting as the right object detection device 70R, detects the open / closed state of the right side cover SCR. The following description also applies to the process by which the monocular camera, acting as the left object detection device 70L, detects the open / closed state of the first left side cover SCL1, and the process by which the monocular camera, acting as the left object detection device 70L, detects the open / closed state of the second left side cover SCL2.

[0092] The monocular camera, which serves as the right-side object detection device 70R, is configured to include a camera control device. This camera control device consists of a computer equipped with a CPU, RAM, NVRAM, and ROM, and is configured to control the monocular camera. The process of detecting the open / closed state of the right side cover SCR is performed by this camera control device. This process may also be performed by the controller 30. In this case, the camera control device may be omitted.

[0093] Specifically, the camera control device applies a pattern matching process using one or more reference images pre-stored in the camera control device's ROM to the image displayed in a predetermined image portion R1 of the right image (the image including the image G1 of the right side cover SCR). The predetermined image portion R1 is, for example, the image portion enclosed by the dashed line in Figure 6. Note that this dashed line is not part of the image displayed on the display screen 41V.

[0094] The reference images include at least one reference image of the fully open state and at least one reference image of the open state between the fully closed and fully open states. The reference images of the open state between the fully closed and fully open states may include multiple reference images corresponding to each of the multiple opening angles of the right side cover SCR.

[0095] In this case, the camera control device performs pattern matching using a reference image of the right side cover SCR in an open or fully open state. If a match is found, that is, if the device recognizes that the right side cover SCR is in an open or fully open state, it determines that the right side cover SCR is open.

[0096] The reference image may include a reference image of the right side cover SCR in the fully closed state. In this case, the camera control device may, for example, perform pattern matching processing using the reference image of the right side cover SCR in the fully closed state, and if matching is not possible, i.e., if it is not possible to recognize that the right side cover SCR is in the fully closed state, it may determine that the right side cover SCR is open.

[0097] If the right-side object detection device 70R is composed of a stereo camera, the camera control device may determine whether the right-side cover SCR is open or not based on the distance between the object visible in a predetermined image portion R1 and the right-side object detection device 70R (stereo camera). This distance is the distance between the ground and the right-side object detection device 70R (stereo camera) if the right-side cover SCR is fully closed, and the distance between the right-side cover SCR and the right-side object detection device 70R (stereo camera) if the right-side cover SCR is open. The same applies if the right-side object detection device 70R is an ultrasonic sensor, millimeter-wave radar, LIDAR, or infrared sensor.

[0098] Alternatively, the shovel 100 may be equipped with a proximity sensor as a detection device for detecting the open / closed state of the side cover SC. The proximity sensor may be an inductive proximity sensor, a capacitive proximity sensor, or a magnetic proximity sensor. Furthermore, the proximity sensor may be a contact type proximity sensor or a non-contact type proximity sensor.

[0099] If the controller 30 detects that the side cover SC is open based on the output of the object detection device 70, it displays a message on the display device DS indicating that the side cover SC is open. The controller 30 may also have the sound output device AD ​​output sound information to audibly inform the operator that the side cover SC is open. In this case, the sound output device AD ​​may be configured so that the operator can easily distinguish between the sound information output when it detects that the side cover SC is open and the sound information output when it detects an object (e.g., a person).

[0100] Furthermore, if the controller 30 detects that the side cover SC is open based on the output of the object detection device 70, it may disable the shovel 100.

[0101] Specifically, the controller 30 may be configured not to output a current command corresponding to the operation data to the proportional valve 31, even if it receives operation data from the operating device 26, which is an electric operating lever, when it detects that the side cover SC is open.

[0102] Alternatively, the controller 30 may be configured to output a control command to the limit switch 61 when it detects that the side cover SC is open, thereby switching the limit switch 61 to OFF and closing the gate lock valve 62.

[0103] In this case, even if the operator of the shovel 100 operates, for example, the slewing control lever (not shown), they will not be able to rotate the upper slewing body 3. Therefore, this configuration prevents the upper slewing body 3 from rotating while the side cover SC is open.

[0104] Next, with reference to Figure 7, another example of the display screen 41V shown on the display device DS will be described. The display screen 41V shown in Figure 7 is an example of a display screen that is shown when it is detected that the second left side cover SCL2 is open.

[0105] The display screen 41V shown in Figure 7 differs from the display screen 41V shown in Figure 6 in that it has a third camera image display area 41x3 instead of the first camera image display area 41x1 and the second camera image display area 41x2, but it is otherwise the same as the display screen 41V shown in Figure 6. Therefore, the explanation of the common parts will be omitted below, and the differences will be explained in detail.

[0106] The third camera image display area 41x3 is the area that displays the camera image captured by the monocular camera acting as the object detection device 70. In the example shown in Figure 7, the third camera image display area 41x3 displays a viewpoint transformation image synthesized using the camera images captured by the rear object detection device 70B, the left object detection device 70L, and the right object detection device 70R. This viewpoint transformation image is a virtual viewpoint image that shows the view from a virtual viewpoint located directly above the shovel 100, and includes images G2 and G3. Image G2 is a CG image representing the shovel 100. Image G3 is an image of the second left side cover SCL2 in the open state. The second left side cover SCL2 actually has the shape shown in Figure 3(B), but the image G3 of the second left side cover SCL2 in the third camera image display area 41x3 is displayed in a distorted state due to the viewpoint transformation process.

[0107] In the example shown in Figure 7, the door open / closed status display area 41u displays the text message "Left door is open," indicating that the second left side cover SCL2 is open.

[0108] By viewing this display screen 41V, the operator of the Shovel 100 can reliably recognize that the second left side cover SCL2 is open.

[0109] As described above, the excavator 100 according to an embodiment of the present invention comprises a lower traveling body 1, an upper rotating body 3 rotatably mounted on the lower traveling body 1, an opening / closing body attached to the upper rotating body 3 so as to be openable and closable, a detection device for detecting the open / closed state of the opening / closing body, and an output device for informing the operator of the open / closed state of the opening / closing body detected by the detection device.

[0110] The opening / closing element may be attached to the upper swivel body 3 via a hinge unit having a hinge axis parallel to the Z-axis (swivel axis), such as a side cover SC. Alternatively, the opening / closing element may be, for example, a left side cover SCL attached to the left side of the upper swivel body 3, or a right side cover SCR attached to the right side of the upper swivel body 3. The opening / closing element may also be configured to be lockable. Furthermore, the opening / closing element may be equipped with a latch mechanism.

[0111] The detection device may be, for example, an object detection device 70 attached to the upper rotating body 3. In this case, the open / closed state of the opening / closing body may be detected based on an image captured by a monocular camera acting as the object detection device 70. Alternatively, the open / closed state of the opening / closing body may be detected based on distance information output by a LIDAR acting as the object detection device 70.

[0112] The detection device may be a position detection switch that detects the position of the opening / closing body. The position detection switch may be a contact-type switch such as a limit switch, or a proximity sensor. In this case, the proximity sensor may be an ultrasonic proximity sensor, an inductive proximity sensor, a capacitive proximity sensor, or a magnetic proximity sensor. The proximity sensor may also be a contact-type proximity sensor or a non-contact-type proximity sensor. In this case, the object detection device 70 may be omitted. The detection device may also be an angle sensor or stroke sensor capable of detecting the opening / closing angle of the opening / closing body.

[0113] The output device is, for example, a display device DS or a sound output device AD. The output device may also be a vibration generator that vibrates the driver's seat or the control device 26, etc.

[0114] The output device is typically configured to inform the operator that the opening / closing body is open when it is open. For example, when the right side object detection device 70R, which acts as a detection device, detects that the right side cover SCR is open or fully open, the display device DS, which acts as an output device, is configured to inform the operator that the right side cover SCR is open by displaying a text message such as "Right door is open," as shown in Figure 6.

[0115] With the configuration described above, the shovel 100 can inform the operator that the opening / closing mechanism is open, thereby enhancing safety at the work site. This is because if the shovel 100 is operated with the opening / closing mechanism open, even if the human detection function of the object detection device 70 is activated, it may not be able to detect a person hidden behind the open opening / closing mechanism. Furthermore, if the shovel 100 is operated with the opening / closing mechanism open, there is a risk that the mechanism may come into contact with objects around the shovel 100.

[0116] With the configuration described above, the operator can reliably recognize that the right side cover SCR, which is located in a position invisible from the driver's seat, is open before starting the rotation operation of the shovel 100. Therefore, the shovel 100 can reliably prevent the rotation operation from being performed with the right side cover SCR in the open position.

[0117] Furthermore, if the opening mechanism is not closed properly, such as when it is not closed tightly, it may open while the shovel 100 is moving or rotating, even if it was closed when the shovel 100 was stopped. Incomplete closing is more likely to occur, for example, if the opening mechanism is curved or dented. Curvature or dents in the opening mechanism are typically caused by collisions or contact with surrounding objects. Even in such cases, the shovel 100 can notify the operator early that the opening mechanism is open, thereby improving safety at the work site.

[0118] Furthermore, the shovel 100 may be configured so that its movement is restricted when the opening / closing body is open. For example, if the controller 30 detects that the side cover SC is open by the object detection device 70, it may suppress or stop the supply of current commands to the proportional valve 31 (see Figure 4). In this case, even if the operating device 26 is being operated, the controller 30 can suppress or stop the supply of current commands corresponding to the operation data to the proportional valve 31. As a result, the controller 30 can prevent the shovel 100 from moving too much in response to manual operation of the operating device 26 by the operator. For example, the controller 30 can slow down the movement of the shovel 100, stop the movement of the shovel 100, or prevent the shovel 100 from starting to move.

[0119] This configuration allows the controller 30 to suppress or prevent the shovel 100 from moving while the opening / closing mechanism remains open. As a result, the controller 30 can further enhance safety at the work site.

[0120] Furthermore, with this configuration, the controller 30 can quickly slow down or stop the movement of the shovel 100 even if the opening / closing mechanism opens while the shovel 100 is in operation. The operation of the shovel 100 is, for example, during excavation, travel, or rotation.

[0121] Furthermore, the shovel 100 may be configured to notify the operator that the opening / closing body is open when it determines that the opening / closing body is not in a fully closed state. Specifically, if the object detection device 70 cannot detect that the opening / closing body is in a fully closed state, the controller 30 may determine that there is a possibility that the opening / closing body is open and display that fact on the display device DS. In this case, the controller 30 may restrict the movement of the shovel 100. With this configuration, even if the controller 30 cannot detect that the opening / closing body is open, it can at least determine that there is a possibility that the opening / closing body is open and notify the operator or restrict the movement of the shovel 100. Therefore, the controller 30 can further enhance safety at the work site.

[0122] Preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the embodiments described above. Various modifications or substitutions can be applied to the embodiments described above without departing from the scope of the present invention. Furthermore, features described separately can be combined as long as no technical inconsistencies arise.

[0123] For example, in the above-described embodiment, the controller 30 is configured to notify the operator that the side cover SC is open when it detects that the side cover SC is open. However, the controller 30 may also be configured to notify the operator that the side cover SC is closed when it detects that the side cover SC is closed. For example, the controller 30 may display an icon representing the open / closed state of the side cover SC on the display device DS. Furthermore, the controller 30 may change the display mode of the icon according to the open / closed state of the side cover SC so that the operator can distinguish between the fully closed state and the open state of the side cover SC. [Explanation of Symbols]

[0124] 1. Lower running gear 1C. Crawler 1CL. Left crawler 1CR. Right crawler 2. Swivel mechanism 2A. Hydraulic motor for swivel 2M. Hydraulic motor for travel 2ML. Hydraulic motor for left travel 2MR. Hydraulic motor for right travel 3. Upper swivel gear 4. Boom 5. Arm 6. Bucket 7. Boom cylinder 8. Arm cylinder 9. Bucket cylinder 10. Cabin 11. Engine 13L. Left regulator 13R. Right regulator 14L. Left main pump 14R. Right main pump 15. Pilot pump 17. Control valve unit 18L. Left throttle 18R. Right throttle 19L. Left control pressure sensor 19R. Right control pressure sensor 26...Operating device 26A...Boom operation lever 26B...Arm operation lever 28L...Left discharge pressure sensor 28R...Right discharge pressure sensor 30...Controller 31, 31AL, 31AR, 31BL, 31BR...Proportional valve 40L...Left center bypass pipe 40R...Right center bypass pipe 41a...Date and time display area 41b...Driving mode display area 41c...Attachment display area 41d...Fuel consumption display area 41d1...Average fuel consumption display area 41d2...Instantaneous fuel consumption display area 41e...Engine control status display area 41f...Engine operating time display area 41g...Coolant temperature display area 41h...Fuel level display area 41i...Rotation speed mode display area 41j...Urea solution level display area 41k...Operating oil temperature display area 41u...Door open / closed status display area 41V...Display screen 41x...Camera image display area 41x1...First camera image display area 41x2...Second camera image display area 41x3...Third camera image display area 42L...Left parallel conduit 42R...Right parallel conduit 60...Gate lock lever 61...Limit switch 62...Gate lock valve 63...Lock state detection sensor 70...Object detection device 70F...Forward 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 DS...Display deviceS1... Boom angle sensor S2... Arm angle sensor S3... Bucket angle sensor S4... Machine tilt sensor S5... Swivel angular velocity sensor

Claims

1. Lower running body and An upper slewing body is mounted on the lower traveling body so as to be rotatable, An opening / closing body is attached to the upper rotating body in a position that is difficult to see or cannot be seen from the driver's seat in the driver's cab, and is detachably mounted therein. A detection device located outside the driver's cab detects the open / closed state of the opening / closing body, The system includes an output device that informs the operator of the open / closed state of the opening / closing body detected by the detection device, even when the power source is operating and excavation, travel, or rotation by the shovel is not restricted. The detection device is a device capable of imaging the opening and closing body, The open / closed state of the opening / closing body is detected based on the image captured by the detection device. The opening and closing mechanism is positioned so that when the shovel is operated while in the open position, it can come into contact with objects surrounding the shovel. Shovel.

2. When excavation, travel, or rotation by the shovel is not restricted, the gate lock valve is in the released state by operating the gate lock lever. The shovel according to claim 1.

3. The detection device detects that the opening / closing body is open while the vehicle is moving or turning. The shovel according to claim 1.

4. Lower running body and An upper slewing body is mounted on the lower traveling body so as to be rotatable, An opening / closing body is attached to the upper rotating body in a position that is difficult to see or cannot be seen from the driver's seat in the driver's cab, and is detachably mounted therein. A detection device located outside the driver's cab detects the open / closed state of the opening / closing body, The system includes an output device that informs the operator of the open / closed state of the opening / closing body detected by the detection device, even when the movement of the shovel is not restricted. The detection device is a device capable of imaging the opening and closing body, The open / closed state of the opening / closing body is detected based on the image captured by the detection device. When the power source is operating and the opening / closing body is open, the operator is notified that the opening / closing body is open. Shovel.

5. Lower traveling body and An upper slewing body is mounted on the lower traveling body so as to be rotatable, An opening / closing body is attached to the upper rotating body in a position that is difficult to see or cannot be seen from the driver's seat in the driver's cab, and is detachably mounted therein. A detection device located outside the driver's cab detects the open / closed state of the opening / closing body, The system includes an output device that informs the operator of the open / closed state of the opening / closing body detected by the detection device, even when the movement of the shovel is not restricted. When the power source is operating and the opening / closing body is open, the operator is notified that the opening / closing body is open, and its movement is restricted. Shovel.

6. When it is determined that the opening / closing mechanism is not in a fully closed state, the system informs the operator that the opening / closing mechanism is open. A shovel according to any one of claims 1 to 5.

Images