Shovel

Abstract

To provide a shovel capable of improving work efficiency.SOLUTION: A shovel in accordance with an embodiment of the present invention comprises: a lower traveling body; an upper revolving body revolvably mounted on the lower traveling body; an actuator mounted on the lower traveling body or the upper revolving body; and a control device capable of limiting motion of the actuator, wherein the control device sets a plurality of off-limit areas corresponding to various shapes and types of obstacles placed in a work area, determines whether or not the shovel enters at least one of the set off-limit areas, and slows down or stops the motion of the shovel. Each of the plurality of off-limit areas is within a specific area from each of shapes of the obstacles and the specific area is changed in correspondence to the type of each of the obstacles.SELECTED DRAWING: Figure 1A

Description

Technical Field

[0006] , , It is a shovel , ,

[0001] The present invention relates to an excavator.

Background Art

[0002] Conventionally, there is known a work machine that detects buried objects and performs control to decelerate / stop the operation of an attachment or avoid the attachment from hitting a buried object when there is a possibility that the attachment may hit a buried object (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the work site, there are obstacles such as utility poles and electric wires in addition to buried objects, and the operator needs to drive the excavator while paying attention to such obstacles. Therefore, the work efficiency is reduced.

[0005] Therefore, in view of the above problems, an object is to provide an excavator capable of improving work efficiency.

Means for Solving the Problems

[0006] An excavator according to an embodiment of the present invention includes a lower traveling body, an upper revolving body rotatably mounted on the lower traveling body, an actuator mounted on the lower traveling body or the upper revolving body, An obstacle detection device attached to the upper rotating body for detecting the positional information of multiple obstacles installed within the work area, and a control device capable of restricting the movement of the actuator, It is a shovel wherein the control device Based on the position information of the multiple obstacles detected by the obstacle detection device and the position information of the shovel, the positional relationship between each of the multiple obstacles and the shovel is determined, and based on the positional relationship, sets a plurality of non-entry areas corresponding to the shape and type of each of a plurality of obstacles, and in at least any one of the set plurality of non-entry areas The The system determines whether or not the shovel has entered an area, and if it is determined that the shovel has entered any of the aforementioned restricted areas, it slows down or stops the shovel's movement. Each of the plurality of restricted areas is a predetermined range from the outer shape of each of the aforementioned obstacles, and the predetermined range is changed according to the type of each of the aforementioned obstacles. [Effects of the Invention]

[0007] According to embodiments of the present invention, it is possible to provide a shovel capable of improving work efficiency. [Brief explanation of the drawing]

[0008] [Figure 1A] Side view showing an example of a shovel according to the first embodiment of the present invention. [Figure 1B] A top view showing an example of a shovel according to the first embodiment of the present invention. [Figure 1C] Side view showing an example of a shovel according to the first embodiment of the present invention. [Figure 1D] A top view showing an example of a shovel according to the first embodiment of the present invention. [Figure 2] Figure 1A shows an example of the configuration of the drive control system for the excavator. [Figure 3] Block diagram showing an example configuration of the controller and machine guidance device. [Figure 4] This diagram shows an example of a layout diagram before a no-entry zone was established for excavators positioned on the roadway. [Figure 5] This diagram shows an example of a layout diagram after no-entry zones have been established. [Figure 6] A flowchart showing an example of the process for setting an inaccessible area. [Figure 7] This diagram shows another example of an image of a layout plan after no-entry zones have been defined. [Figure 8] Network diagram including the shovel in Figure 1A [Figure 9] A diagram showing an example of the construction of the outer surface of a shovel. [Figure 10]Block diagram showing another configuration example of a controller and a machine guidance device [Figure 11] Block diagram showing yet another configuration example of a controller and a machine guidance device [Figure 12] Side view showing an example of an excavator according to the second embodiment of the present invention [Figure 13] Schematic diagram showing a configuration example of an excavator management system [Figure 14] Diagram showing an example of a CG animation display [Figure 15] Diagram showing a configuration example of an image displayed during non-entry area setting processing [Figure 16] Diagram showing another configuration example of an image displayed during non-entry area setting processing [Figure 17] Diagram showing yet another configuration example of an image displayed during non-entry area setting processing

Embodiments for Carrying Out the Invention

[0009] Hereinafter, embodiments for carrying out the invention will be described with reference to the drawings. In each drawing, the same reference numerals are assigned to the same components, and duplicate descriptions may be omitted.

[0010] 〔First Embodiment〕 First, referring to FIGS. 1A to 1D, an overall configuration of an example of an excavator 100 according to the first embodiment of the present invention will be described. FIGS. 1A and 1C are side views showing an example of the excavator 100 according to the first embodiment of the present invention. FIGS. 1B and 1D are top views showing an example of the excavator 100 according to the first embodiment of the present invention. FIG. 1A is the same as FIG. 1C except for reference numerals and auxiliary lines, etc., and FIG. 1B is the same as FIG. 1D except for reference numerals and auxiliary lines, etc.

[0011] In the present embodiment, the excavator 100 is equipped with a hydraulic actuator. The hydraulic actuator includes a left travel hydraulic motor 2ML, a right travel hydraulic motor 2MR, a swing hydraulic motor 2A, a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9.

[0012] The lower running body 1 of the shovel 100 includes a crawler 1C. The crawler 1C is driven by a hydraulic motor 2M mounted on the lower running body 1. Specifically, the crawler 1C includes a left crawler 1CL and a right crawler 1CR. The left crawler 1CL is driven by a left-hand hydraulic motor 2ML, and the right crawler 1CR is driven by a right-hand hydraulic motor 2MR.

[0013] The lower traveling body 1 of the shovel 100 is equipped with an upper rotating body 3 that can rotate via a slewing mechanism 2. A boom 4 is attached to the upper rotating body 3. An arm 5 is attached to the tip of the boom 4. A bucket 6 is attached to the tip of the arm 5 as an end attachment (working part). A slope bucket, dredging bucket, breaker, etc. may be attached as an end attachment.

[0014] The boom 4, arm 5, and bucket 6 constitute an excavation attachment AT as an example of an attachment, and are hydraulically driven by the boom cylinder 7, arm cylinder 8, and bucket cylinder 9, respectively. A boom angle sensor S1 is attached to the boom 4. An arm angle sensor S2 is attached to the arm 5. A bucket angle sensor S3 is attached to the bucket 6. The excavation attachment may also be provided with a bucket tilt mechanism. The boom angle sensor S1, arm angle sensor S2, and bucket angle sensor S3 are sometimes referred to as "attitude sensors".

[0015] The boom angle sensor S1 detects the rotation angle of the boom 4. The boom angle sensor S1 is an acceleration sensor that detects, for example, the inclination with respect to the horizontal plane and detects the rotation angle of the boom 4 relative to the upper slewing body 3.

[0016] The arm angle sensor S2 detects the rotation angle of the arm 5. The arm angle sensor S2 is an acceleration sensor that detects, for example, the inclination relative to the horizontal plane and detects the rotation angle of the arm 5 relative to the boom 4.

[0017] The bucket angle sensor S3 detects the rotation angle of the bucket 6. The bucket angle sensor S3 is an acceleration sensor that detects, for example, an inclination with respect to the horizontal plane and detects the rotation angle of the bucket 6 relative to the arm 5.

[0018] If the excavation attachment is equipped with a bucket tilt mechanism, the bucket angle sensor S3 additionally detects the rotation angle of the bucket 6 around the tilt axis. The boom angle sensor S1, arm angle sensor S2, and bucket angle sensor S3 may be potentiometers using variable resistors, stroke sensors that detect the stroke amount of the corresponding hydraulic cylinder, rotary encoders that detect the rotation angle around the coupling, etc.

[0019] The upper rotating body 3 is equipped with a power source such as an engine 11, a counterweight 3w, a vehicle body tilt sensor S4, and a rotational angular velocity sensor S5, and is covered by a cover 3a. The vehicle body tilt sensor S4 detects the tilt angle of the upper rotating body 3. The vehicle body tilt sensor S4 is an acceleration sensor that detects the tilt of the upper rotating body 3 by detecting the tilt relative to the horizontal plane. The rotational angular velocity sensor S5 detects 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 be a resolver or a rotary encoder, etc. The rotational angular velocity sensor S5 may detect the rotational speed. The rotational speed may be calculated from the rotational angular velocity.

[0020] The upper rotating body 3 is equipped with a cabin 10, which serves as the operator's cabin. Inside the cabin 10 are an operating device 26, a controller 30, a display device 40, a sound output device 43, an input device 45, a storage device 47, and a gate lock lever 49.

[0021] The controller 30 functions as the main control unit that controls the drive of the excavator 100. The controller 30 consists of a processing unit including a CPU and internal memory. The various functions of the controller 30 are realized by the CPU executing programs stored in the internal memory. The controller 30 also functions as a machine guidance device 50 that guides the operation of the excavator 100.

[0022] The machine guidance device 50 performs machine guidance functions and guides the operation of the shovel 100. In this embodiment, the machine guidance device 50 informs the operator of work information such as the distance between the target construction surface, which is the surface of the target terrain set by the operator, and the working area of ​​the attachment. The target construction surface may be set in a reference coordinate system. The reference coordinate system is, for example, the World Geodetic System. The World Geodetic System is a three-dimensional orthogonal XYZ coordinate system with its origin at the center of gravity of the Earth, the X-axis pointing in the direction of the intersection of the Greenwich Meridian and the equator, the Y-axis pointing in the direction of 90 degrees east longitude, and the Z-axis pointing in the direction of the North Pole. Alternatively, any point on the construction site may be designated as a reference point, and the target construction surface may be set based on its relative position to the reference point. The distance between the target construction surface and the working area of ​​the attachment is, for example, the distance between the tip (toes) of the bucket 6 as an end attachment, the back of the bucket 6, the tip of the breaker as an end attachment, etc., and the target construction surface. The machine guidance device 50 informs the operator of work information via the display device 40, sound output device 43, etc., and guides the operation of the shovel 100.

[0023] The machine guidance device 50 may perform machine control functions and automatically assist the operator in operating the shovel. For example, when the machine guidance device 50 performs machine control functions, it assists the movement of the boom 4, arm 5, and bucket 6 so that the tip position of the bucket 6 aligns with the target construction surface when the operator is performing an excavation operation. More specifically, for example, when the operator is performing an arm closing operation, it automatically extends or retracts at least one of the boom cylinder 7 and bucket cylinder 9 to align the tip position of the bucket 6 with the target construction surface. In this case, the operator can perform the excavation work by operating only one control lever to simultaneously move the boom 4, arm 5, and bucket 6 to align the tip position of the bucket 6 with the target construction surface.

[0024] In this embodiment, the machine guidance device 50 is integrated into the controller 30, but the machine guidance device 50 and the controller 30 may be provided separately. In this case, the machine guidance device 50 is composed of a processing unit including a CPU and internal memory, similar to the controller 30. The various functions of the machine guidance device 50 are realized by the CPU executing a program stored in the internal memory.

[0025] The display device 40 displays images containing various work information in response to commands from the machine guidance device 50 included in the controller 30. The display device 40 is, for example, an in-vehicle liquid crystal display connected to the machine guidance device 50.

[0026] The sound output device 43 outputs various sound information in response to sound output commands from the machine guidance device 50 included in the controller 30. The sound output device 43 includes, for example, an in-vehicle speaker connected to the machine guidance device 50. The sound output device 43 may also include an alarm device such as a buzzer.

[0027] The input device 45 is a device for the operator of the shovel 100 to input various information to the controller 30, which includes the machine guidance device 50. The input device 45 is configured to include, for example, a membrane switch provided on the surface of the display device 40. The input device 45 may also be configured to include a touch panel or the like.

[0028] The storage device 47 is a device for storing various types of information. The storage device 47 is, for example, a non-volatile storage medium such as semiconductor memory. The storage device 47 stores various types of information output by the controller 30, including the machine guidance device 50.

[0029] The gate lock lever 49 is located between the door of the cabin 10 and the driver's seat and is a mechanism to prevent accidental operation of the shovel 100. When the operator gets into the driver's seat and pulls up the gate lock lever 49, the operator is unable to exit the cabin 10, and the various control devices become operational. When the operator pushes down the gate lock lever 49, the operator is able to exit the cabin 10, and the various control devices become inoperable.

[0030] The upper rotating body 3 and the cabin are equipped with an imaging device 80, which is an imaging means. The imaging device 80 is an example of a surrounding monitoring device and is configured to image the area around the shovel 100. The imaging device 80 includes a rear camera 80B and a rear upper camera 80UB mounted on the rear end of the upper surface of the upper rotating body 3, a front camera 80F and a front upper camera 80UF mounted on the front end of the upper surface of the cabin 10, a left camera 80L and a left upper camera 80UL mounted on the left end of the upper surface of the upper rotating body 3, and a right camera 80R and a right upper camera 80UR mounted on the right end of the upper surface of the upper rotating body 3. The rear camera 80B, rear upper camera 80UB, front camera 80F, front upper camera 80UF, left camera 80L, left upper camera 80UL, right camera 80R and right upper camera 80UR are, for example, digital cameras having image sensors such as CCD or CMOS, and each sends the captured images to a display device 40 provided inside the cabin 10.

[0031] The rear camera 80B is configured to image the area behind and diagonally below the shovel 100. The rear upper camera 80UB is configured to image the area behind and diagonally above the shovel 100. The front camera 80F is configured to image the area in front and diagonally below the shovel 100. The front upper camera 80UF is configured to image the area in front and diagonally above the shovel 100. The left camera 80L is configured to image the area to the left and diagonally below the shovel 100. The upper left camera 80UL is configured to image the area to the left and diagonally above the shovel 100. The right camera 80R is configured to image the area to the right and diagonally below the shovel 100. The upper right camera 80UR is configured to image the area to the right and diagonally above the shovel 100.

[0032] Specifically, as shown in Figure 1A, the rear camera 80B is configured such that the dashed line M1, which represents the optical axis, forms an angle (depression angle) φ1 with respect to a virtual plane perpendicular to the rotation axis K (a virtual horizontal plane in the example of Figure 1A). The rear upper camera 80UB is configured such that the dashed line M2, which represents the optical axis, forms an angle (elevation angle) φ2 with respect to a virtual plane perpendicular to the rotation axis K. The front camera 80F is configured such that the dashed line M3, which represents the optical axis, forms an angle (depression angle) φ3 with respect to a virtual plane perpendicular to the rotation axis K. The front upper camera 80UF is configured such that the dashed line M4, which represents the optical axis, forms an angle (elevation angle) φ4 with respect to a virtual plane perpendicular to the rotation axis K. Although not shown in the diagram, the left camera 80L and the right camera 80R are similarly configured so that their respective optical axes form a downward angle with respect to a virtual plane perpendicular to the rotation axis K, and the upper left camera 80UL and the upper right camera 80UR are similarly configured so that their respective optical axes form an upward angle with respect to a virtual plane perpendicular to the rotation axis K.

[0033] In Figure 1C, region R1 represents the overlapping area between the monitoring range (imaging range) of the front camera 80F and the imaging range of the front upper camera 80UF, and region R2 represents the overlapping area between the imaging range of the rear camera 80B and the rear upper camera 80UB. That is, the rear camera 80B and the rear upper camera 80UB are positioned so that their imaging ranges partially overlap in the vertical direction, and the front camera 80F and the front upper camera 80UF are also positioned so that their imaging ranges partially overlap in the vertical direction. In addition, although not shown in the figure, the left camera 80L and the left upper camera 80UL are also positioned so that their imaging ranges partially overlap in the vertical direction, and the right camera 80R and the right upper camera 80UR are also positioned so that their imaging ranges partially overlap in the vertical direction.

[0034] As shown in Figure 1C, the rear camera 80B is configured such that the dashed line L1, which represents the lower boundary of the imaging range, forms an angle (depression angle) θ1 with respect to a virtual plane perpendicular to the rotation axis K (a virtual horizontal plane in the example of Figure 1C). The rear upper camera 80UB is configured such that the dashed line L2, which represents the upper boundary of the imaging range, forms an angle (elevation angle) θ2 with respect to a virtual plane perpendicular to the rotation axis K. The front camera 80F is configured such that the dashed line L3, which represents the lower boundary of the imaging range, forms an angle (depression angle) θ3 with respect to a virtual plane perpendicular to the rotation axis K. The front upper camera 80UF is configured such that the dashed line L4, which represents the upper boundary of the imaging range, forms an angle (elevation angle) θ4 with respect to a virtual plane perpendicular to the rotation axis K. The angles (depression angle) θ1 and angle (depression angle) θ3 are preferably 55 degrees or more. In Figure 1C, the downward angle θ1 is approximately 70 degrees, and the downward angle θ3 is approximately 65 degrees. The upward angles θ2 and θ4 are preferably 90 degrees or more, more preferably 135 degrees or more, and even more preferably 180 degrees. In Figure 1C, the upward angle θ2 is approximately 115 degrees, and the upward angle θ4 is approximately 115 degrees. Although not shown, the left camera 80L and the right camera 80R are similarly configured so that the lower boundary of each imaging range forms a downward angle of 55 degrees or more with respect to a virtual plane perpendicular to the rotation axis K, and the upper left camera 80UL and the upper right camera 80UR are similarly configured so that the upper boundary of each imaging range forms an upward angle of 90 degrees or more with respect to a virtual plane perpendicular to the rotation axis K.

[0035] Therefore, the shovel 100 can detect objects in the space above the cabin 10 using the front upper camera 80UF. In addition, the shovel 100 can detect objects in the space above the engine hood using the rear upper camera 80UB. Furthermore, the shovel 100 can detect objects in the space above the upper rotating body 3 using the left upper camera 80UL and the right upper camera UR. Thus, the shovel 100 can detect objects in the space above the shovel 100 using the rear upper camera 80UB, the front upper camera 80UF, the left upper camera 80UL, and the right upper camera 80UR.

[0036] In Figure 1D, region R3 represents the area where the imaging range of the front camera 80F and the left camera 80L overlap; region R4 represents the area where the imaging range of the left camera 80L and the rear camera 80B overlap; region R5 represents the area where the imaging range of the rear camera 80B and the right camera 80R overlap; and region R6 represents the area where the imaging range of the right camera 80R and the front camera 80F overlap. In other words, the front camera 80F and the left camera 80L are positioned so that their imaging ranges partially overlap in the left-right direction; the left camera 80L and the rear camera 80B are also positioned so that their imaging ranges partially overlap in the left-right direction; the rear camera 80B and the right camera 80R are also positioned so that their imaging ranges partially overlap in the left-right direction; and the right camera 80R and the front camera 80F are also positioned so that their imaging ranges partially overlap in the left-right direction. Although not shown in the diagram, the front upper camera 80UF and the left upper camera 80UL are also positioned so that their imaging ranges partially overlap in the left-right direction, the left upper camera 80UL and the rear upper camera 80UB are also positioned so that their imaging ranges partially overlap in the left-right direction, the rear upper camera 80UB and the right upper camera 80UR are also positioned so that their imaging ranges partially overlap in the left-right direction, and the right upper camera 80UR and the front upper camera 80UF are also positioned so that their imaging ranges partially overlap in the left-right direction.

[0037] With this arrangement, the front-up camera 80UF can capture images of objects in the space where the tip of the boom 4 is located and the surrounding space when the boom 4 is raised to its highest position. Therefore, the controller 30 can, for example, use the images captured by the front-up camera 80UF to prevent the tip of the boom 4 from coming into contact with power lines suspended above the shovel 100.

[0038] The front upper camera 80UF may be mounted on the cabin 10 such that even if at least one of the arm 5 and the bucket 6 is rotated in the boom upper limit position, which is the position in which the boom 4 is raised to its highest position, the arm 5 and the bucket 6 remain within the imaging range of the front upper camera 80UF. In this case, even if at least one of the arm 5 and the bucket 6 is fully extended in the boom upper limit position, the controller 30 can determine whether or not there is a risk of the drilling attachment AT coming into contact with surrounding objects.

[0039] A GPS device (GNSS receiver) P1, a transmitter T1, and an obstacle detection device 90 are provided at the top of the cabin 10.

[0040] The GPS device P1 detects the position of the shovel 100 using its GPS function and supplies the position information to the machine guidance device 50 in the controller 30.

[0041] The transmitter T1 is a transmitting unit that transmits information to the outside of the shovel 100.

[0042] The obstacle detection device 90 is another example of a surrounding monitoring device and detects obstacles such as power lines, utility poles, people, animals, vehicles (dump trucks, etc.), work equipment, construction machinery, buildings, fences, etc., around the shovel 100. Furthermore, people may be identified by helmets, safety vests, work clothes, or predetermined marks attached to helmets. The obstacle detection device 90 is, for example, a camera such as a monocular camera or stereo camera, an ultrasonic sensor, a millimeter-wave radar, a laser radar (LIDAR: Light Detection Ranging), a distance image sensor, an infrared sensor, etc., and sends the detected signal to the controller 30. The obstacle detection device 90 is also configured to calculate the distance from the obstacle detection device 90 or the shovel 100 to the recognized object. In addition, the obstacle detection device 90 as a surrounding monitoring device may be configured to detect predetermined objects within a predetermined area set around the shovel 100. That is, the obstacle detection device 90 may be configured to identify at least one of the following: type, position, and shape of an object. For example, the obstacle detection device 90 may be configured to distinguish between people and objects other than people. The obstacle detection device 90 may also be configured to calculate the distance from the obstacle detection device 90 or the shovel 100 to the recognized object.

[0043] The shovel 100 does not necessarily need to be equipped with both the imaging device 80 and the obstacle detection device 90 as a surrounding monitoring device. The surrounding monitoring device may consist only of the obstacle detection device 90 if the positional relationship between the surrounding objects and the shovel 100 can be determined by the obstacle detection device 90, or it may consist only of the imaging device 80 if the positional relationship between the surrounding objects and the shovel 100 can be determined by the imaging device 80.

[0044] In this embodiment, the obstacle detection device 90 includes a rear sensor 90B and a rear upper sensor 90UB, which are LIDARs attached to the rear end of the upper surface of the upper rotating body 3; a front sensor 90F and a front upper sensor 90UF, which are LIDARs attached to the front end of the upper surface of the cabin 10; a left sensor 90L and a left upper sensor 90UL, which are LIDARs attached to the left end of the upper surface of the upper rotating body 3; and a right sensor 90R and a right upper sensor 90UR, which are LIDARs attached to the right end of the upper surface of the upper rotating body 3.

[0045] The rear sensor 90B is configured to detect objects located behind and diagonally below the shovel 100. The rear upper sensor 90UB is configured to detect objects located behind and diagonally above the shovel 100. The front sensor 90F is configured to detect objects located in front of and diagonally below the shovel 100. The front upper sensor 90UF is configured to detect objects located in front of and diagonally above the shovel 100. The left sensor 90L is configured to detect objects located to the left and diagonally below the shovel 100. The left upper sensor 90UL is configured to detect objects located to the left and diagonally above the shovel 100. The right sensor 90R is configured to detect objects located to the right and diagonally below the shovel 100. The right upper sensor 90UR is configured to detect objects located to the right and diagonally above the shovel 100.

[0046] The obstacle detection device 90 may be arranged in the same way as the imaging device 80. That is, the rear sensor 90B and the rear upper sensor 90UB may be arranged so that their monitoring ranges (detection ranges) partially overlap in the vertical direction, the front sensor 90F and the front upper sensor 90UF may also be arranged so that their detection ranges partially overlap in the vertical direction, the left sensor 90L and the left upper sensor 90UL may also be arranged so that their detection ranges partially overlap in the vertical direction, and the right sensor 90R and the right upper sensor 90UR may also be arranged so that their detection ranges partially overlap in the vertical direction. Furthermore, the front sensor 90F and the left sensor 90L may be arranged so that their detection ranges partially overlap in the left-right direction, the left sensor 90L and the rear sensor 90B may also be arranged so that their detection ranges partially overlap in the left-right direction, the rear sensor 90B and the right sensor 90R may also be arranged so that their detection ranges partially overlap in the left-right direction, and the right sensor 90R and the front sensor 90F may also be arranged so that their detection ranges partially overlap in the left-right direction. Furthermore, the front upper sensor 90UF and the left upper sensor 90UL may be arranged so that their detection ranges partially overlap in the left-right direction, the left upper sensor 90UL and the rear upper sensor 90UB may also be arranged so that their detection ranges partially overlap in the left-right direction, the rear upper sensor 90UB and the right upper sensor 90UR may also be arranged so that their detection ranges partially overlap in the left-right direction, and the right upper sensor 90UR and the front upper sensor 90UF may also be arranged so that their detection ranges partially overlap in the left-right direction.

[0047] The rear sensor 90B, front sensor 90F, left sensor 90L, and right sensor 90R are configured such that their respective optical axes form a downward angle with respect to a virtual plane perpendicular to the pivot axis K, while the rear upper sensor 90UB, front upper sensor 90UF, left upper sensor 90UL, and right upper sensor 90UR may be configured such that their respective optical axes form an upward angle with respect to a virtual plane perpendicular to the pivot axis K.

[0048] The rear sensor 90B, front sensor 90F, left sensor 90L, and right sensor 90R may be configured such that the lower boundary of each detection range forms a downward angle with respect to a virtual plane perpendicular to the pivot axis K, while the rear upper sensor 90UB, front upper sensor 90UF, left upper sensor 90UL, and right upper sensor 90UR may be configured such that the upper boundary of each detection range forms an upward angle with respect to a virtual plane perpendicular to the pivot axis K.

[0049] In this embodiment, the rear camera 80B is positioned adjacent to the rear sensor 90B, the front camera 80F is positioned adjacent to the front sensor 90F, the left camera 80L is positioned adjacent to the left sensor 90L, and the right camera 80R is positioned adjacent to the right sensor 90R. Additionally, the rear upper camera 80UB is positioned adjacent to the rear upper sensor 90UB, the front upper camera 80UF is positioned adjacent to the front upper sensor 90UF, the left upper camera 80UL is positioned adjacent to the left upper sensor 90UL, and the right upper camera 80UR is positioned adjacent to the right upper sensor 90UR.

[0050] In this embodiment, both the imaging device 80 and the obstacle detection device 90 are mounted on the upper rotating body 3 such that they do not extend beyond the contour of the upper rotating body 3 when viewed from above, as shown in Figure 1D. However, at least one of the imaging device 80 and the obstacle detection device 90 may be mounted on the upper rotating body 3 such that it extends beyond the contour of the upper rotating body 3 when viewed from above.

[0051] The rear-upper camera 80UB may be omitted or integrated into the rear camera 80B. The rear camera 80B, into which the rear-upper camera 80UB is integrated, may be configured to cover a wider imaging range, including the imaging range that the rear-upper camera 80UB covered. The same applies to the front-upper camera 80UF, the upper-left camera 80UL, and the upper-right camera 80UR. The rear-upper sensor 90UB may also be omitted or integrated into the rear sensor 90B. The same applies to the front-upper sensor 90UF, the upper-left sensor 90UL, and the upper-right sensor 90UR. At least two of the rear-upper camera 80UB, front-upper camera 80UF, upper-left camera 80UL, and upper-right camera 80UR may be integrated as one or more 360-degree or hemispherical cameras.

[0052] Next, with reference to Figure 2, an example of the configuration of the drive control system for the shovel 100 will be described. Figure 2 is a diagram showing an example of the configuration of the drive control system for the shovel 100.

[0053] The display device 40 is installed in the cabin 10 and displays images including work information supplied from the machine guidance device 50. The display device 40 is connected to the controller 30, including the machine guidance device 50, via a communication network such as CAN (Controller Area Network) or LIN (Local Interconnect Network), or a dedicated line.

[0054] The display device 40 has a conversion processing unit 40a that generates an image to be displayed on the image display unit 41. The conversion processing unit 40a generates an image including the captured image to be displayed on the image display unit 41 based on image data obtained from the imaging device 80. Image data is input to the display device 40 from the left camera 80L, the right camera 80R, and the rear camera 80B, respectively.

[0055] Furthermore, the conversion processing unit 40a converts data to be displayed on the image display unit 41 from among the various data input from the controller 30 to the display device 40 into image signals. The data input from the controller 30 to the display device 40 includes, for example, data indicating the temperature of the engine coolant, data indicating the temperature of the hydraulic oil, data indicating the remaining amount of urea solution, data indicating the remaining amount of fuel, etc.

[0056] The conversion processing unit 40a outputs the converted image signal to the image display unit 41, and displays the image generated based on the captured image and various data on the image display unit 41.

[0057] The conversion processing unit 40a may be located in the controller 30, for example, instead of the display device 40. In this case, the imaging device 80 is connected to the controller 30.

[0058] The display device 40 has a switch panel 42 as an input unit. The switch panel 42 is a panel that includes various hardware switches. The switch panel 42 has a light switch 42a, a wiper switch 42b, and a window washer switch 42c.

[0059] The light switch 42a is a switch for turning the lights mounted on the outside of the cabin 10 on and off. The wiper switch 42b is a switch for turning the wipers on and off. The windshield washer switch 42c is a switch for spraying windshield washer fluid.

[0060] The display device 40 operates by receiving power from the storage battery 70. The storage battery 70 is charged with electricity generated by the alternator 11a (generator) of the engine 11. The power from the storage battery 70 is also supplied to the electrical components 72 of the shovel 100 other than the controller 30 and the display device 40. In addition, the starter 11b of the engine 11 is driven by power from the storage battery 70 to start the engine 11.

[0061] The engine 11 is connected to the main pump 14 and the pilot pump 15 and controlled by the engine control unit (ECU) 74. The ECU 74 constantly transmits various data indicating the status of the engine 11 (for example, data indicating the coolant temperature (physical quantity) detected by the water temperature sensor 11c) to the controller 30. The controller 30 stores this data in its internal memory unit 30a and can transmit it to the display device 40 as needed.

[0062] The main pump 14 is a hydraulic pump for supplying hydraulic fluid to the control valve 17 via a high-pressure hydraulic line. The main pump 14 is, for example, a swashplate type variable displacement hydraulic pump.

[0063] The pilot pump 15 is a hydraulic pump that supplies hydraulic fluid to various hydraulic control devices via a pilot line. The pilot pump 15 is, for example, a fixed-displacement hydraulic pump. However, the pilot pump 15 may be omitted. In this case, the function that the pilot pump 15 performed may be realized by the main pump 14. That is, the main pump 14 may have a function other than supplying hydraulic fluid to the control valve 17, which is to reduce the pressure of the hydraulic fluid by throttling or the like before supplying hydraulic fluid to the operating device 26 (for example, operating levers 26A to 26C).

[0064] The control valve 17 is a hydraulic control device that controls the hydraulic system in the excavator 100. The control valve 17 selectively supplies the hydraulic fluid discharged by the main pump 14 to, for example, the boom cylinder 7, arm cylinder 8, bucket cylinder 9, travel hydraulic motor, and swing hydraulic motor. In the following text, the boom cylinder 7, arm cylinder 8, bucket cylinder 9, travel hydraulic motor, and swing hydraulic motor may be referred to as "hydraulic actuators."

[0065] The operating levers 26A to 26C are located inside the cabin 10 and are used by the operator to operate the hydraulic actuators. When the operating levers 26A to 26C are operated, hydraulic fluid is supplied from the pilot pump to the pilot ports of the flow control valves corresponding to each hydraulic actuator. Each pilot port is supplied with hydraulic fluid at a pressure corresponding to the operating direction and amount of the operating lever 26A to 26C.

[0066] In this embodiment, the operating lever 26A is the boom operating lever. When the operator operates the operating lever 26A, the boom cylinder 7 is hydraulically driven, allowing the boom 4 to be operated. The operating lever 26B is the arm operating lever. When the operator operates the operating lever 26B, the arm cylinder 8 is hydraulically driven, allowing the arm 5 to be operated. The operating lever 26C is the bucket operating lever. When the operator operates the operating lever 26C, the bucket cylinder 9 is hydraulically driven, allowing the bucket 6 to be operated. In addition to the operating levers 26A to 26C, the shovel 100 may also be provided with operating levers for driving a hydraulic motor for travel, a hydraulic motor for slewing, operating pedals, etc.

[0067] The controller 30 acquires various types of data, such as those described below. The data acquired by the controller 30 is stored in the storage unit 30a.

[0068] The regulator 14a of the main pump 14, which is a variable displacement hydraulic pump, sends data indicating the swash plate angle to the controller 30. The discharge pressure sensor 14b also sends data indicating the discharge pressure of the main pump 14 to the controller 30. This data (data representing physical quantities) is stored in the memory unit 30a. In addition, the oil temperature sensor 14c, which is installed in the pipeline between the tank where the hydraulic fluid that the main pump 14 draws in is stored and the main pump 14, sends data indicating the temperature of the hydraulic fluid flowing through the pipeline to the controller 30.

[0069] Pressure sensors 15a and 15b detect the pilot pressure sent to the control valve 17 when the operating levers 26A to 26C are operated, and send data indicating the detected pilot pressure to the controller 30. Switch buttons 27 are provided on the operating levers 26A to 26C. The operator can send a command signal to the controller 30 by operating the switch buttons 27 while operating the operating levers 26A to 26C.

[0070] An engine speed adjustment dial 75 is provided inside the cabin 10 of the shovel 100. The engine speed adjustment dial 75 is a dial for adjusting the engine speed, and for example, it can switch the engine speed in stages. In this embodiment, the engine speed adjustment dial 75 is provided so that the engine speed can be switched in four stages: SP mode, H mode, A mode, and idling (IDLE) mode. The engine speed adjustment dial 75 sends data indicating the set state of the engine speed to the controller 30. Figure 2 shows the state in which H mode is selected by the engine speed adjustment dial 75.

[0071] SP mode is the rotation speed mode selected when prioritizing work volume, and utilizes the highest engine speed. H mode is the rotation speed mode selected when balancing work volume and fuel efficiency, and utilizes the second highest engine speed. A mode is the rotation speed mode selected when prioritizing fuel efficiency and operating the Shovel 100 with low noise, and utilizes the third highest engine speed. Idling mode is the rotation speed mode selected when the engine is idle, and utilizes the lowest engine speed. Engine 11 is controlled to a constant rotation speed at the engine speed mode set by the engine speed adjustment dial 75.

[0072] The obstacle detection device 90 sends data on obstacles such as power lines and utility poles around the detected shovel 100 to the controller 30. The obstacle data includes the size and location information of the obstacles.

[0073] Furthermore, although the description of the operating lever 26A includes a hydraulic pilot circuit, an electric operating lever equipped with an electric pilot circuit may be used instead of a hydraulic operating lever. In this case, the amount of lever operation of the electric operating lever is input to the controller 30 as an electrical signal. Also, a solenoid valve is placed between the pilot pump 15 and the pilot port of each control valve. The solenoid valve is configured to operate in response to an electrical signal from the controller 30. With this configuration, when manual operation is performed using the electric operating lever, the controller 30 can move each control valve by controlling the solenoid valve with an electrical signal corresponding to the amount of lever operation to increase or decrease the pilot pressure. Note that each control valve may be composed of an electromagnetic spool valve. In this case, the electromagnetic spool valve operates in response to an electrical signal from the controller 30 corresponding to the amount of lever operation of the electric operating lever.

[0074] Next, referring to Figure 3, the various functions provided in the controller 30 and machine guidance device 50 of the excavator 100 will be described. Figure 3 is a block diagram showing an example configuration of the controller 30 and machine guidance device 50.

[0075] The controller 30 controls the operation of the entire excavator 100, including the ECU 74. The controller 30 controls the gate lock valve 49a to be closed when the gate lock lever 49 is pushed down, and to be open when the gate lock lever 49 is pulled up. The gate lock valve 49a is a switching valve provided in the oil passage between the control valve 17 and the operating levers 26A to 26C, etc. (see Figure 2). Although the gate lock valve 49a is configured to open and close in response to commands from the controller 30, it may also be mechanically connected to the gate lock lever 49 and configured to open and close in accordance with the operation of the gate lock lever 49.

[0076] When the gate lock valve 49a is closed, it blocks the flow of hydraulic fluid between the control valve 17 and the operating levers 26A to 26C, etc., thereby disabling the operation of the operating levers 26A to 26C, etc. When the gate lock valve 49a is open, it allows hydraulic fluid to flow between the control valve 17 and the operating levers, etc., thereby enabling the operation of the operating levers 26A to 26C, etc.

[0077] When the gate lock valve 49a is open and the operation of the operating levers 26A to 26C is enabled, the controller 30 detects the amount of operation of each lever from the pilot pressure detected by the pressure sensors 15a and 15b.

[0078] In addition to controlling the overall operation of the excavator 100, the controller 30 also controls whether or not to provide guidance by the machine guidance device 50. Specifically, when the controller 30 determines that the excavator 100 is idle, it sends a guidance cancellation command to the machine guidance device 50 to stop providing guidance.

[0079] Furthermore, when the controller 30 outputs an auto idle stop command to the ECU 74, it may also output a guidance cancellation command to the machine guidance device 50. Alternatively, the controller 30 may output a guidance cancellation command to the machine guidance device 50 when it determines that the gate lock lever 49 is in a depressed state.

[0080] The controller 30 includes a posture recognition unit 301, a position relationship recognition unit 302, an entry restriction area setting unit 303, an entry determination unit 304, an operation control unit 305, an entry restriction area release unit 306, and a display control unit 307.

[0081] The attitude sensing unit 301 grasps the position and attitude of the shovel 100. In this embodiment, the attitude sensing unit 301 grasps the position of the shovel 100 based on the position information of the shovel 100 detected by the GPS device P1. The attitude sensing unit 301 also grasps the attitude of the shovel 100 based on the rotation angle of the boom 4 detected by the boom angle sensor S1, the rotation angle of the arm 5 detected by the arm angle sensor S2, and the rotation angle of the bucket 6 detected by the bucket angle sensor S3. The attitude sensing unit 301 may also grasp the attitude of the shovel 100 based on the vehicle body tilt sensor S4. The relative position of the lower traveling body 1 and the upper slewing body 3 may also be grasped by the orientation detection device. For example, the orientation detection device consists of a combination of an orientation sensor attached to the lower traveling body 1 and an orientation sensor attached to the upper slewing body 3, or a slewing angular velocity sensor S5. The slewing angular velocity sensor S5 may be located, for example, at a center joint provided in relation to a mechanism that realizes relative rotation between the lower traveling body 1 and the upper slewing body 3. Furthermore, in a configuration where the upper rotating body 3 is driven to rotate by a rotating motor-generator, the orientation detection device may be composed of a resolver.

[0082] The position relationship recognition unit 302 recognizes the positional relationship between the shovel 100 and obstacles installed within the work area. In this embodiment, the position relationship recognition unit 302 recognizes the positional relationship between the obstacles and the shovel 100 based on the positional information of the obstacles detected by the obstacle detection device 90 and the positional information of the shovel 100 recognized by the attitude recognition unit 301. Furthermore, the positional relationship between the obstacles and the shovel 100 recognized by the position relationship recognition unit 302 is configured to be transmitted by the transmission device T1 to an external device (for example, a management device that can communicate with the shovel 100 via a network).

[0083] The no-entry area setting unit 303 sets no-entry areas based on the positional relationship between the obstacle and the shovel 100, as determined by the positional relationship recognition unit 302. The no-entry area can be, for example, a predetermined range including the obstacle. The no-entry area may be set for each individual obstacle, or it may be set as a predetermined range from the outer shape of each obstacle. In other words, the no-entry area is set up to a predetermined distance from the obstacle. Furthermore, the predetermined range set as the no-entry area may be changed depending on the type of obstacle. In addition, the no-entry area may be set for the space between each obstacle and the shovel. In this way, no-entry areas are set for obstacles installed on the ground surface within the work area.

[0084] The entry determination unit 304 determines whether the shovel 100 has entered an inaccessible area set by the inaccessible area setting unit 303, based on the positional relationship between the obstacle and the shovel 100 as determined by the positional relationship recognition unit 302.

[0085] If the entry determination unit 304 determines that the shovel 100 has entered an area where entry is prohibited, the operation control unit 305 will slow down or stop the operation of the shovel 100. In addition, if the entry determination unit 304 determines that the shovel 100 has entered an area where entry is prohibited, the operation control unit 305 may issue an alarm to the operator via the sound output device 43.

[0086] The No-Entry Area Release Unit 306 releases the setting of a no-entry area. For example, when a no-entry area to be released is selected by the input device 45, the No-Entry Area Release Unit 306 releases the setting of the selected no-entry area. In addition, if there are no obstacles in the location where a no-entry area is set, the no-entry area may be displayed with a dashed line or a different color to distinguish it from other no-entry areas. In this case, when the no-entry area where the obstacle has been removed is selected by the input device 45, the No-Entry Area Release Unit 306 may release the setting of the no-entry area where the obstacle has been removed.

[0087] The display control unit 307 controls the image to be displayed on the image display unit 41 of the display device 40. In this embodiment, for example, the display control unit 307 displays the restricted area set by the restricted area setting unit 303 superimposed on the layout diagram displayed on the image display unit 41 of the display device 40. The display control unit 307 may also simultaneously display the layout diagrams before and after the display of the restricted area on the image display unit 41 of the display device 40. Here, the layout diagram may include information regarding stakeouts, two-dimensional or three-dimensional construction drawing data, etc.

[0088] Next, the machine guidance device 50 will be described. The machine guidance device 50 receives various signals and data supplied to the controller 30 from the boom angle sensor S1, arm angle sensor S2, bucket angle sensor S3, vehicle body tilt sensor S4, GPS device P1, input device 45, etc.

[0089] The machine guidance device 50 calculates the actual operating position of attachments such as the bucket 6 based on the received signals and data. The machine guidance device 50 then compares the actual operating position of the attachments with the target construction surface and calculates, for example, the distance between the bucket 6 and the target construction surface. The machine guidance device 50 also calculates the distance from the pivot axis of the shovel 100 to the tip of the bucket 6, the inclination angle of the target construction surface, and transmits these as work information to the display device 40.

[0090] If the machine guidance device 50 and the controller 30 are provided separately, the machine guidance device 50 and the controller 30 are connected to each other via CAN so that they can communicate with each other.

[0091] The machine guidance device 50 includes a height calculation unit 503, a comparison unit 504, a display control unit 505, and a guidance data output unit 506.

[0092] The height calculation unit 503 calculates the height of the tip (toe) of the bucket 6 from the angles of the boom 4, arm 5, and bucket 6, which are obtained from the detection signals of the boom angle sensor S1, arm angle sensor S2, and bucket angle sensor S3.

[0093] The comparison unit 504 compares the height of the tip (toe) of the bucket 6 calculated by the height calculation unit 503 with the position of the target construction surface indicated in the guidance data output from the guidance data output unit 506. The comparison unit 504 also determines the inclination angle of the target construction surface relative to the shovel 100. The various data obtained by the height calculation unit 503 and the comparison unit 504 are stored in the storage device 47.

[0094] The display control unit 505 transmits the height of the bucket 6 and the inclination angle of the target construction surface, etc., determined by the comparison unit 504, to the display device 40 as work information. The display device 40 displays the work information sent from the display control unit 505 on its screen along with the captured image sent from the imaging device 80. The display screen configuration of the display device 40 will be described later. In addition, the display control unit 505 can issue an alarm to the operator via the sound output device 43 if the bucket 6 is lower than the target construction surface, etc.

[0095] Next, with reference to Figures 4 and 5, an example of an image to be displayed on the image display unit 41 of the display device 40 will be described. Figure 4 is an example of an image of the layout diagram before an access-restricted area is set for the shovel 100 placed on the roadway. Figure 5 is an example of an image of the layout diagram after an access-restricted area has been set.

[0096] As shown in Figure 4, the image display unit 41 displays a layout diagram with the viewpoint transformed from the shovel to the construction site. The viewpoint transformation can be generated from any viewpoint within the captured range. The layout diagram in Figure 4 is a viewpoint-transformed image showing the layout relationship from outside the road boundary fence (sidewalk side). This allows the layout relationship of the shovel and its surroundings to be visually confirmed. The layout diagram includes a utility pole image 411, a power line image 412, a road boundary fence image 413, a road cone image 414, an embedded object image 415, and a shovel image 416. Furthermore, as shown in Figure 5, the image display unit 41 displays predetermined areas including the utility pole image 411, the power line image 412, the road boundary fence image 413, and the road cone image 414 as restricted areas 421, 422, 423, and 424, respectively.

[0097] Image 411 of the utility pole shows the location of a utility pole, which is an example of an obstacle. Image 412 of the power lines shows the location of power lines, which is an example of an obstacle. Image 413 of the road boundary fence shows the location of a road boundary fence, which is an example of an obstacle. Image 414 of the road cone shows the location of a road cone, which is an example of an obstacle. Image 415 of the buried object shows the location of a buried object, which is an example of an obstacle.

[0098] The layout diagram is generated based on the detection data from the obstacle detection device 90. Alternatively, the layout diagram may be generated by combining the detection data from the obstacle detection device 90 and the detection data from the imaging device 80.

[0099] Furthermore, the GPS device (GNSS receiver) P1 can determine the placement position (placement coordinates) of the shovel 100 in the reference coordinate system used in the construction plan drawing. The reference coordinate system is, for example, the World Geodetic System. The World Geodetic System is a three-dimensional orthogonal XYZ coordinate system with its origin at the Earth's center of mass, the X-axis pointing in the direction of the intersection of the Greenwich Meridian and the equator, the Y-axis pointing in the direction of 90 degrees east longitude, and the Z-axis pointing in the direction of the North Pole. In addition, since the positional relationship between the obstacles and the shovel 100 can be determined, the placement coordinates in the reference coordinate system of each obstacle detected by the obstacle detection device 90 can also be calculated. For this reason, the placement position of each obstacle can also be input into the construction plan drawing. This makes it possible to generate not only a plan for the construction target surface in the construction plan drawing, but also the placement position of each obstacle relative to the construction target surface, and to superimpose each obstacle on the construction plan drawing.

[0100] The restricted area may be superimposed on the layout diagram or construction plan displayed on the display device 40. The restricted area is set, for example, by the operator pressing the setting button after the controller 30 has confirmed the displayed image of the restricted area on the display device 40. Alternatively, the restricted area may be set automatically when the controller 30 recognizes the restricted area. Furthermore, information about obstacles such as utility poles or fences FS that can be known in advance may be set in advance as data related to the construction plan. In this case, when the controller 30 acquires the construction plan, it can associate the position of the target construction surface with the position of the obstacles in advance. Then, when construction is carried out, the restricted area can be generated based on the positional relationship between the target construction surface and the obstacles. The controller 30 can also generate the restricted area by associating the placement of road cones RC, whose positional relationship changes as needed according to the construction situation, with the placement of each obstacle that has been entered in advance.

[0101] Shovel image 416 is an image showing the location of shovel 100. The location of shovel 100 is determined based on the location information of shovel 100 detected by GPS device P1.

[0102] Next, with reference to Figures 4 to 6, an example of the process by which the controller 30 sets an inaccessible area based on information about obstacles detected by the obstacle detection device 90 (hereinafter referred to as the "inaccessible area setting process") will be described. Figure 6 is a flowchart of an example of the inaccessible area setting process.

[0103] In step ST1, the attitude sensing unit 301 grasps the position and attitude of the shovel 100. In this embodiment, the attitude sensing unit 301 grasps the position of the shovel 100 based on the position information of the shovel 100 detected by the GPS device P1. The attitude sensing unit 301 also grasps the attitude of the shovel 100 based on the rotation angle of the boom 4 detected by the boom angle sensor S1, the rotation angle of the arm 5 detected by the arm angle sensor S2, and the rotation angle of the bucket 6 detected by the bucket angle sensor S3. The attitude sensing unit 301 may also grasp the attitude of the shovel 100 based on the vehicle body tilt sensor S4. Alternatively, the relative position of the lower traveling body 1 and the upper slewing body 3 may be grasped by a direction detection device. For example, the direction detection device may consist of a combination of an orientation sensor attached to the lower traveling body 1 and an orientation sensor attached to the upper slewing body 3, or a slewing angular velocity sensor. The slewing angular velocity sensor may be located, for example, at a center joint provided in relation to a mechanism that realizes relative rotation between the lower traveling body 1 and the upper slewing body 3. Furthermore, in a configuration where the upper rotating body 3 is driven to rotate by a rotating motor-generator, the orientation detection device may be composed of a resolver.

[0104] In step ST2, the obstacle detection device 90 detects obstacles around the shovel 100. In this embodiment, the obstacle detection device 90 detects utility poles, power lines, road boundary fences, and road cones as obstacles, and for example, as shown in Figure 4, the layout diagram displayed on the image display unit 41 of the display device 40 shows an image of a utility pole 411, an image of power lines 412, an image of a road boundary fence 413, and an image of a road cone 414.

[0105] In step ST3, the position relationship recognition unit 302 recognizes the positional relationship between the obstacle and the shovel 100. In this embodiment, the position relationship recognition unit 302 recognizes the positional relationship between the obstacle and the shovel 100 based on the position information of the obstacle detected by the obstacle detection device 90 and the position information of the shovel 100 recognized by the attitude recognition unit 301. The positional relationship between the obstacle and the shovel 100 recognized by the position relationship recognition unit 302 may also be transmitted to the outside of the shovel 100 by the transmission device T1. In this embodiment, the positional relationship between the obstacle and the shovel 100 recognized by the position relationship recognition unit 302 is transmitted by the transmission device T1 to a management device 200 that can communicate with the shovel 100 via the network 300, for example, as shown in Figure 8.

[0106] In step ST4, the no-entry area setting unit 303 sets no-entry areas based on the positional relationship between the obstacles and the shovel 100 as determined by the positional relationship recognition unit 302. In this embodiment, for example, as shown in Figure 5, a predetermined range including the obstacles detected by the obstacle detection device 90, namely utility poles, power lines, road boundary fences, and road cones, is set as a no-entry area, and predetermined ranges including the utility pole image 411, power line image 412, road boundary fence image 413, and road cone image 414 are displayed as no-entry areas 421, 422, 423, and 424 on the layout diagram displayed on the image display unit 41 of the display device 40. In this embodiment, the no-entry areas set in the layout diagram and construction plan diagram by the no-entry area setting unit 303 may be transmitted by the transmission device T1 to a management device 200 that can communicate with the shovel 100 via the network 300, as shown in Figure 8. Alternatively, a layout diagram showing restricted access areas may be transmitted from the control device 200 to other excavators 100.

[0107] In step ST5, the entry determination unit 304 determines whether the shovel 100 has entered the no-entry area set by the no-entry area setting unit 303. If it is determined that the shovel 100 has entered the no-entry area, the process proceeds to step ST6. On the other hand, if it is determined that the shovel 100 has not entered the no-entry area, the process ends.

[0108] In step ST6, the motion control unit 305 slows down or stops the movement of the shovel 100. After that, the process ends.

[0109] In the excavator 100 according to this embodiment, the controller 30 slows down or stops the operation of the excavator 100 if it enters an area where it cannot enter. This allows the operator to drive the excavator 100 without having to pay excessive attention to obstacles such as utility poles and power lines present at the work site. As a result, work efficiency is improved.

[0110] Furthermore, the restricted areas set in the above restricted area setting process may be configured to be released by the restricted area release unit 306. In this embodiment, when a restricted area to be released is selected by the input device 45, the restricted area release unit 306 releases the setting of the selected restricted area. Also, when there are no longer any obstacles in the location where a restricted area is set, the restricted area may be displayed with a dashed line or a different color to distinguish it from other restricted areas. In this case, when the restricted area release unit 306 selects a restricted area where there are no longer any obstacles by the input device 45, it may release the setting of the restricted area where there are no longer any obstacles.

[0111] Next, with reference to Figure 7, another example of an image to be displayed on the image display unit 41 of the display device 40 will be described. Figure 7 shows another example of an image of the layout diagram after the no-entry area has been set.

[0112] In the example shown in Figure 7, the image display unit 41 of the display device 40 simultaneously displays both an image 41A of the layout diagram before the restricted area was set and an image 41B of the layout diagram after the restricted area was set. This allows the operator to easily confirm the newly set restricted area by the restricted area setting process by checking the image displayed on the image display unit 41.

[0113] The controller 30 may be configured to determine, for example, that if a point on the outer surface of the shovel 100 enters an area where entry is prohibited, there is a risk that a part of the machine may enter an area where entry is prohibited. The outer surface of the shovel 100 includes, for example, the outer surface of the lower traveling body 1, the outer surface of the upper rotating body 3, and the outer surface of the digging attachment AT. The controller 30 has pre-set positional relationships between the mounting position of the attitude sensor and the outer surface of the lower traveling body 1, the outer surface of the upper rotating body 3, and the outer surface of the digging attachment AT. Therefore, by calculating the change in the position of the attitude sensor at a predetermined period, the controller 30 can also calculate the change in the position of the outer surface of the lower traveling body 1, the outer surface of the upper rotating body 3, and the outer surface of the digging attachment AT.

[0114] Specifically, the controller 30 recognizes the overall and three-dimensional shape (outer surface) of the shovel 100 using a virtual three-dimensional model such as a polygon model or a wireframe model, and calculates the coordinates of points on the outer surface. The outer surface of the lower traveling body 1 includes, for example, the front, top, bottom, and rear surfaces of the crawler 1C. The outer surface of the upper slewing body 3 includes, for example, the surface of the side cover, the top surface of the engine hood, and the top, left, right, and rear surfaces of the counterweight. The outer surface of the excavation attachment AT includes, for example, the back, left, right, and underside of the boom 4, and the back, left, right, and underside of the arm 5.

[0115] Figure 9 shows an example of the overall and three-dimensional external surface configuration of the excavator 100 as recognized using a polygon model. Figure 9A is a top view of the polygon model of the upper rotating body 3 and the digging attachment AT, Figure 9B is a top view of the polygon model of the lower traveling body 1, and Figure 9C is a left side view of the polygon model of the excavator 100. In Figure 9, the external surface of the lower traveling body 1 is represented by a diagonal line pattern, the external surface of the upper rotating body 3 is represented by a coarse dot pattern, and the external surface of the digging attachment AT is represented by a fine dot pattern.

[0116] The outer surface of the shovel 100 as a polygon model may be recognized as a surface located a predetermined margin distance further out than the actual outer surface of the shovel 100. That is, the shovel 100 as a polygon model may be recognized as, for example, a similarly scaled-up version of the actual lower traveling body 1, upper rotating body 3, and digging attachment AT. In this case, the margin distance may vary depending on the movement of the shovel 100 (for example, the movement of the digging attachment AT). The controller 30 may output an alarm if an inaccessible area enters the space represented by this similarly scaled-up polygon model, and may decelerate or stop the movement of the shovel 100 by braking control or the like.

[0117] The controller 30 may separately determine, for example, whether there is a risk of a part of the machine entering an inaccessible area for each of the three parts that make up the outer surface of the shovel 100 (the outer surface of the lower traveling body 1, the outer surface of the upper rotating body 3, and the outer surface of the excavation attachment AT). Alternatively, depending on the work being performed by the shovel 100, the controller 30 may omit determining whether there is a risk of a part of the machine entering an inaccessible area for at least one of the three parts.

[0118] For example, in the example shown in Figure 5, the controller 30 may calculate the distance between each point on the outer surface of the drilling attachment AT and each of the restricted areas 421, 422, 423, and 424 at predetermined control cycles, and determine whether or not there is a risk of the bucket 6 entering the restricted areas 421, 422, 423, and 424 based on the calculated distance. In this case, the controller 30 may omit calculating the distance between each point on the outer surface of the lower traveling body 1 and each point on the outer surface of the upper slewing body 3 and each of the restricted areas 421, 422, 423, and 424.

[0119] Here, referring to Figure 10, we will describe yet another example of a limiting function that restricts the movement of the shovel 100 (swing hydraulic motor 2A) based on the distance between each of the three parts constituting the outer surface of the shovel 100 and an object detected by the obstacle detection device 90, which acts as a surrounding monitoring device. Figure 10 is a diagram showing another example of the configuration of the controller 30. Note that the surrounding monitoring device may be an imaging device 80.

[0120] In the example shown in Figure 10, the controller 30 has the following functional elements: an entry-restricted area setting unit 303, a speed command generation unit 308, a state recognition unit 309, a distance determination unit 310, a restriction target determination unit 311, and a speed limiting unit 312. The controller 30 is configured to receive signals output by the boom angle sensor S1, arm angle sensor S2, bucket angle sensor S3, vehicle body tilt sensor S4, slewing angular velocity sensor S5, electric left operation lever 26L, imaging device 80, and obstacle detection device 90, perform various calculations, and output control commands to the proportional valve 31, etc. The entry-restricted area setting unit 303 operates in the same way as the entry-restricted area setting unit 303 in the controller 30 shown in Figure 3.

[0121] The speed command generation unit 308 is configured to generate commands relating to the operating speed of the actuator based on the signals output by the operating device 26. In the example shown in Figure 10, the speed command generation unit 308 is configured to generate commands relating to the rotational speed of the slewing hydraulic motor 2A based on the electrical signals output by the left operating lever 26L which is operated in the left-right direction.

[0122] The state recognition unit 309 is configured to recognize the current state of the shovel 100. Specifically, the state recognition unit 309 includes an attachment state recognition unit 309A, an upper rotating body state recognition unit 309B, and a lower traveling body state recognition unit 309C.

[0123] The attachment state recognition unit 309A is configured to recognize the current state of the drilling attachment AT. Specifically, the attachment state recognition unit 309A is configured to calculate the coordinates of predetermined points on the outer surface of the drilling attachment AT. These predetermined points include, for example, all the vertices of the drilling attachment AT.

[0124] The upper rotating body state recognition unit 309B is configured to recognize the current state of the upper rotating body 3. Specifically, the upper rotating body state recognition unit 309B is configured to calculate the coordinates of predetermined points on the outer surface of the upper rotating body 3. These predetermined points include, for example, all the vertices of the upper rotating body 3.

[0125] The lower vehicle state recognition unit 309C is configured to recognize the current state of the lower vehicle 1. Specifically, the lower vehicle state recognition unit 309C is configured to calculate the coordinates of predetermined points on the outer surface of the lower vehicle 1. These predetermined points include, for example, all vertices of the lower vehicle 1.

[0126] The state recognition unit 309 may recognize the state of one of the three parts that make up the outer surface of the shovel 100 (the outer surface of the lower traveling body 1, the outer surface of the upper rotating body 3, and the outer surface of the excavation attachment AT) and decide which state to omit recognition of, depending on the work being performed by the shovel 100.

[0127] The distance determination unit 310 is configured to determine whether the distance between each point on the outer surface of the shovel 100 calculated by the state recognition unit 309 and the no-entry area setting unit 303 falls below a predetermined value.

[0128] The restriction target determination unit 311 is configured to determine the targets for restriction. In the example shown in Figure 10, the restriction target determination unit 311 determines which actuators should have their movement restricted (hereinafter referred to as "restricted actuators") based on the output of the distance determination unit 310, that is, whether the distance between any point on the outer surface of the shovel 100 and the area where entry is prohibited falls below a predetermined value.

[0129] The speed limiting unit 312 is configured to limit the operating speed of one or more actuators. In the example shown in Figure 10, the speed limiting unit 312 modifies the speed command generated by the speed command generation unit 308 for the actuator that has been determined to be the actuator to be limited by the limiting target determination unit 311, and outputs a control command corresponding to the modified speed command to the proportional valve 31.

[0130] Specifically, the speed limiting unit 312 modifies the speed command for the slewing hydraulic motor 2A, which has been determined as the actuator to be limited by the limiting target determination unit 311, and outputs a control command corresponding to the modified speed command to the proportional valve 31BL or proportional valve 31BR. This is to reduce or stop the rotational speed of the slewing hydraulic motor 2A.

[0131] This limiting function allows the controller 30 shown in Figure 10 to slow down or stop the actuator's movement in order to prevent any part of the excavator 100 from entering an area where entry is prohibited.

[0132] Next, referring to Figure 11, we will describe yet another example of a limiting function that restricts the movement of the shovel 100 (swing hydraulic motor 2A) based on the distance between each of the three parts constituting the outer surface of the shovel 100 and an object detected by the obstacle detection device 90, which acts as a surrounding monitoring device. Figure 11 is a diagram showing yet another example of the configuration of the controller 30. Note that the surrounding monitoring device may be an imaging device 80.

[0133] The controller 30 shown in Figure 11 differs from the controller 30 shown in Figure 10, which is connected to an electric operating lever equipped with a hydraulic pilot circuit, in that it is connected to a hydraulic operating lever equipped with a hydraulic pilot circuit. Specifically, the speed limiting unit 312 of the controller 30 shown in Figure 11 generates a speed command based on the output of the operating pressure sensor 29, modifies the speed command for the actuator determined as the actuator to be limited by the limiting target determination unit 311 from among the generated speed commands, and outputs a control command corresponding to the modified speed command to the solenoid valve 60 for that actuator.

[0134] Solenoid valve 60 includes solenoid valve 60L and solenoid valve 60R. In the example shown in Figure 11, solenoid valve 60L is a solenoid proportional valve located in the pipeline connecting the left port of the remote control valve, which discharges hydraulic fluid when the left operating lever 26L is operated in the left or right direction, and the left pilot port of the control valve 173. Solenoid valve 60R is a solenoid proportional valve located in the pipeline connecting the right port of the remote control valve, which discharges hydraulic fluid when the left operating lever 26L is operated in the left or right direction, and the right pilot port of the control valve 173.

[0135] Specifically, the speed limiting unit 312 modifies the speed command for the slewing hydraulic motor 2A, which has been determined as the actuator to be limited by the limiting target determination unit 311, and outputs a control command corresponding to the modified speed command to the solenoid valve 60L or solenoid valve 60R. This is to reduce or stop the rotational speed of the slewing hydraulic motor 2A.

[0136] This limiting function allows the controller 30 shown in Figure 11, similar to the controller 30 shown in Figure 10, to slow down or stop the movement of the actuators to prevent any part of the excavator 100 from entering an area where entry is prohibited. This allows the excavator to stop its movement, for example, if the bucket approaches a utility pole while the operator is monitoring the crawler tracks during the excavation. Furthermore, a predetermined actuator may be driven to perform avoidance control to prevent entry into the area where entry is prohibited. In this case, for example, if the bucket approaches a utility pole while the operator is monitoring the crawler tracks during the excavation, the bucket may be automatically rotated to move away from the utility pole.

[0137] [Second Embodiment] Next, the overall configuration of an example of a shovel 100A according to the second embodiment of the present invention will be described. Figure 12 is a side view showing an example of a shovel 100A according to the second embodiment of the present invention.

[0138] The shovel 100A according to this embodiment is characterized by being equipped with an obstacle detection device 90 that detects obstacles within a range including the top of the cabin 10 and an area that is a blind spot from the top of the cabin 10. Note that the other configurations are the same as those of the shovel 100 according to the first embodiment, so a description of the configurations similar to those of the shovel 100 will be omitted.

[0139] The obstacle detection device 90 includes sensors 90U, 90D, 90F, and 90L, 90R, and 90B.

[0140] Sensor 90U is located at the top of the cabin 10 and detects obstacles around the shovel 100A. Sensor 90D is located at the bottom of the boom 4 and detects obstacles within a range including a blind spot from the top of the cabin 10 in front of the shovel 100A. Sensor 90F is located in front of the cabin 10 and detects obstacles within a range including a blind spot from the top of the cabin 10 in front of the shovel 100A. Sensors 90L, 90R, and 90B are located on the top of the cover 3a of the upper slewing body 3 and detect obstacles within a range including a blind spot from the top of the cabin 10 on the left, right, and rear sides, respectively, from the upper slewing body 3 toward the cabin 10. Sensors 90U, 90D, 90F, and sensors 90L, 90R, and 90B are, for example, cameras such as monocular cameras and stereo cameras, millimeter-wave radar, laser radar, etc., and each sends the detected signal to the controller 30.

[0141] In this embodiment of the shovel 100A, the controller 30 slows down or stops the operation of the shovel 100A if it enters an area where entry is prohibited. This allows the operator to drive the shovel 100A without having to pay excessive attention to obstacles such as utility poles and power lines present at the work site. As a result, work efficiency is improved.

[0142] In particular, in this embodiment, in addition to the sensor 90U provided at the top of the cabin 10, sensors 90D, 90F, and 90L, 90R, and 90B are provided to detect obstacles within a range that includes a blind spot from the top of the cabin 10, so that obstacles near the shovel 100A, which are often in the operator's blind spot, can be detected.

[0143] The embodiments for carrying out the present invention have been described above, but the above description does not limit the scope of the invention, and various modifications and improvements are possible within the scope of the present invention.

[0144] For example, in the above embodiment, the controller 30 sets an inaccessible area for obstacles displayed on the layout diagram or construction plan diagram, but it may also be possible to set an inaccessible area even when there is no layout diagram. Specifically, the image captured by the imaging device 80 is displayed on the screen, and obstacles detected by the obstacle detection device 90 are displayed on the captured image. An inaccessible area is set for obstacles superimposed on this captured image.

[0145] Furthermore, the information acquired by the shovel 100 may be shared with the administrator and other shovel operators, etc., through the shovel management system SYS as shown in Figure 13. Figure 13 is a schematic diagram showing an example configuration of the shovel management system SYS. The management system SYS is a system for managing the shovel 100. In this embodiment, the management system SYS mainly consists of the shovel 100, the support device 400, and the management device 500. Each of the shovel 100, the support device 400, and the management device 500 is equipped with a communication device and is directly or indirectly connected to each other via a mobile phone communication network, satellite communication network, or short-range wireless communication network, etc. The shovel 100, the support device 400, and the management device 500 that constitute the management system SYS may be one unit each or multiple units each. In the example of Figure 13, the management system SYS includes one shovel 100, one support device 400, and one management device 500.

[0146] The support device 400 is typically a portable terminal device, such as a laptop, tablet PC, or smartphone, carried by a worker at a construction site. The support device 400 may also be a computer carried by the operator of the shovel 100. However, the support device 400 may also be a fixed terminal device.

[0147] The management device 500 is typically a fixed terminal device, such as a server computer installed in a management center outside the construction site. The management device 500 may also be a portable computer (for example, a laptop PC, tablet PC, or smartphone).

[0148] At least one of the support device 400 and the management device 500 (hereinafter referred to as "support device 400, etc.") may be equipped with a monitor and a remote control device. In this case, the operator operates the shovel 100 using the remote control device. The remote control device is connected to the controller 30 via a communication network such as a mobile phone network, satellite network, or short-range wireless communication network.

[0149] In the excavator management system SYS described above, the controller 30 of the excavator 100 may transmit information regarding areas that cannot be entered to the support device 400, etc. The information regarding areas that cannot be entered includes, for example, at least one of the following: information regarding the location of the areas that cannot be entered; information regarding the time at which it was determined that a part of the excavator 100 was likely to enter the areas that cannot be entered (hereinafter referred to as the "determination time"); information regarding the position of that part of the excavator at the determination time; information regarding the work being done by the excavator 100 at the determination time; information regarding the working environment at the determination time; and information regarding the movement of the excavator 100 measured at the determination time and the period before and after it. The information regarding the working environment includes, for example, at least one of the following: information regarding the slope of the ground and information regarding the weather. The information regarding the movement of the excavator 100 includes, for example, at least one of the following: pilot pressure and the pressure of the hydraulic fluid in the hydraulic actuator.

[0150] The controller 30 may transmit the images captured by the imaging device 80 to the support device 400 or the like. The images may be, for example, multiple images captured during a predetermined period including the determination time. The predetermined period may include a period preceding the determination time.

[0151] Furthermore, the controller 30 may transmit at least one of the following to the support device 400, etc.: information regarding the work performed by the shovel 100 during a predetermined period including the determination time; information regarding the posture of the shovel 100; and information regarding the posture of the excavation attachment. This is to enable the manager using the support device 400, etc., to obtain information about the work site. In other words, it is to enable the manager to analyze the cause of a situation in which the movement of the shovel 100 had to be slowed down or stopped, and furthermore, to enable the manager to improve the working environment of the shovel 100 based on the results of such analysis.

[0152] Furthermore, the controller 30 may be configured to allow the operator to change the location of the restricted area or to create a new restricted area.

[0153] Information regarding the inaccessible area is typically temporarily stored in a volatile or non-volatile memory device in the controller 30 and transmitted to the management device 500 at any time.

[0154] The management device 500 is configured to present information about the restricted area that it has received to the user, so that the user can understand the situation at the work site. In this embodiment, the management device 500 is configured to visually reproduce the situation at the work site when an object is detected within the detection space. Specifically, the management device 500 generates a computer graphics animation using the information about the restricted area that it has received. Hereinafter, computer graphics will be referred to as "CG".

[0155] Figure 14 shows an example of a CG animation generated by the control device 500. The CG animation is an example of a playback image of the work site and is displayed on the display device DS connected to the control device 500. The display device DS is, for example, a touch panel monitor.

[0156] In the example shown in Figure 14, the CG animation reproduces the appearance of the shovel 100 shown in Figure 5 from a top-down perspective and includes images G1 to G12. The shovel 100 shown in Figure 5 is equipped with multiple obstacle detection devices 90 so that it can monitor its surroundings. Therefore, the controller 30 and the management device 500 that receives information from the controller 30 can accurately acquire information regarding the positional relationship between the shovel 100 and objects present around it.

[0157] Image G1 is a CG image representing Shovel 100. Image G2 is a CG image representing a utility pole. Image G3 is a CG image representing power lines and a road boundary fence. Image G4 is a CG image representing a road cone. Image G5 is a CG image representing buried objects. Image G6 is a frame image surrounding Image G2, representing an area where entry is prohibited due to the obstacle, the utility pole. Image G7 is an image extending along Image G3 towards Shovel 100, representing an area where entry is prohibited due to the obstacle, the power lines and road boundary fence. Image G8 is a frame image surrounding Image G4, representing an area where entry is prohibited due to the obstacle, the road cone. Image G10 is a seek bar that displays the playback position of the CG animation. Image G11 is a slider that indicates the current playback position of the CG animation. Image G12 is a text image that displays various information. Images G2 to G8 may be images generated by applying viewpoint transformation processing to images captured by the imaging device 80. In other words, the management device 500 may play back moving images captured by the imaging device 80 on the display device DS as another example of a playback image of the work site, rather than a CG animation. Also, in the example in Figure 14, the CG representing the power lines and the road boundary fence is shown as a single image in image G3, but the CG representing the power lines and the CG representing the road boundary fence may be shown as separate images. Also, the restricted areas for power lines and road boundary fences are shown as a single image in image G7, but the restricted areas for power lines and road boundary fences may be shown as separate images.

[0158] In the example in Figure 14, image G12 includes a text image "October 26, 2016" indicating the date the work was performed, a text image "Longitude** North Latitude**" indicating the location where the work was performed, a text image "Crane lifting operation" indicating the type of work performed, and a text image "Lifting and swiveling" indicating the detection operation, which is the operation of the shovel 100 when an object is detected.

[0159] Image G1 is displayed to move based on data regarding the posture of the shovel 100 and the posture of the digging attachment, which are included in the information regarding the inaccessible area. The data regarding the posture of the shovel 100 includes, for example, the pitch angle, roll angle, and yaw angle (slewing angle) of the upper slewing body 3. The data regarding the posture of the digging attachment includes the boom angle, arm angle, and bucket angle.

[0160] Users of the control device 500 can change the playback position of the CG animation to a desired position (time) by, for example, touching the desired position on the image G10 (seek bar). Figure 14 shows that the CG animation is playing back the scene of the work site at 10:08 AM, as indicated by the slider.

[0161] Such CG animations allow administrators, who are users of the control device 500, to easily understand, for example, the conditions at the work site when an object is detected. In other words, the management system SYS enables administrators to analyze the causes of restricted movement of the shovel 100, and furthermore, to improve the working environment of the shovel 100 based on such analysis results.

[0162] Furthermore, the playback images of the work site, such as CG animations or moving images, may be displayed not only on the display device DS connected to the management device 500, but also on a display device mounted on the support device 400, or on a display device 40 installed inside the cabin 10 of the shovel 100.

[0163] Next, with reference to Figure 15, an example of an image displayed during the execution of the no-entry area setting process will be described. As shown in Figure 15, the image Gx1 displayed on the display device 40 includes a time display unit 1411, a rotation speed mode display unit 1412, a driving mode display unit 1413, an attachment display unit 1414, an engine control status display unit 1415, a urea water level display unit 1416, a fuel level display unit 1417, a coolant temperature display unit 1418, an engine operating time display unit 1419, a camera image display unit 1420, and a work status display unit 1430 (top view work status display unit and side view work status display unit). The rotation speed mode display unit 1412, the driving mode display unit 1413, the attachment display unit 1414, and the engine control status display unit 1415 are display units that display information regarding the setting status of the shovel 100. The urea solution level indicator 1416, fuel level indicator 1417, coolant temperature indicator 1418, and engine operating time indicator 1419 are display units that display information related to the operating status of the shovel 100. The images displayed on each unit are generated by the display device 40 using various data transmitted from the controller 30 and image data transmitted from the imaging device 80.

[0164] The time display unit 1411 displays the current time. The rotation speed mode display unit 1412 displays the rotation speed mode set by the engine rotation speed adjustment dial (not shown) as operating information for the shovel 100. The travel mode display unit 1413 displays the travel mode as operating information for the shovel 100. The travel mode represents the setting status of the hydraulic motor used for travel, which uses a variable displacement motor. For example, the travel mode has a low-speed mode and a high-speed mode, with a mark shaped like a "turtle" displayed in low-speed mode and a mark shaped like a "rabbit" displayed in high-speed mode. The attachment display unit 1414 is an area that displays icons representing the type of attachment currently installed. The engine control status display unit 1415 displays the control status of the engine 11 as operating information for the shovel 100. In the example in Figure 15, "automatic deceleration / automatic stop mode" is selected as the control status of the engine 11. "Automatic deceleration / automatic stop mode" means a control state in which the engine rotation speed is automatically reduced according to the duration of non-operation, and the engine 11 is also automatically stopped. Other control states for engine 11 include "automatic deceleration mode," "automatic stop mode," and "manual deceleration mode."

[0165] The urea solution level indicator 1416 displays the remaining amount of urea solution stored in the urea solution tank as an image of the operation information of the shovel 100. In the example in Figure 15, the urea solution level indicator 1416 displays a bar gauge representing the current remaining amount of urea solution. The remaining amount of urea solution is displayed based on data output by a urea solution level sensor installed in the urea solution tank.

[0166] The fuel level indicator 1417 displays the remaining fuel level in the fuel tank as operational information. In the example shown in Figure 15, the fuel level indicator 1417 displays a bar gauge representing the current fuel level. The remaining fuel level is displayed based on data output by a fuel level sensor installed in the fuel tank.

[0167] The coolant temperature display unit 1418 displays the engine coolant temperature status as operating information for the shovel 100. In the example shown in Figure 15, the coolant temperature display unit 1418 displays a bar gauge representing the engine coolant temperature status. The engine coolant temperature is displayed based on data output by a water temperature sensor installed in the engine 11.

[0168] The engine operating time display unit 1419 displays the cumulative operating time of the engine 11 as operating information for the shovel 100. In the example in Figure 15, the engine operating time display unit 1419 displays the cumulative operating time since the count was restarted by the operator, along with the unit "hr (hours)". The engine operating time display unit 1419 may also display the lifetime operating time for the entire period after the shovel was manufactured, or the operating time for a specific section since the count was restarted by the operator.

[0169] The camera image display unit 1420 displays images captured by the imaging device 80. In the example shown in Figure 15, the camera image display unit 1420 displays an image captured by the rear camera 80B, which is mounted on the upper rear end of the upper surface of the upper rotating body 3. The camera image display unit 1420 may also display camera images captured by the left camera 80L, which is mounted on the upper left end of the upper surface of the upper rotating body 3, or the right camera 80R, which is mounted on the upper right end of the upper surface. The camera image display unit 1420 may also display images captured by multiple cameras, including the left camera 80L, the right camera 80R, and the rear camera 80B, arranged side by side. Furthermore, the camera image display unit 1420 may display a composite image of multiple camera images captured by at least two of the left camera 80L, the right camera 80R, and the rear camera 80B. The composite image may be, for example, an overhead view image.

[0170] Each camera may be positioned so that a portion of the upper rotating body 3 is included in the camera image. Including a portion of the upper rotating body 3 in the displayed image makes it easier for the operator to grasp the sense of distance between the object displayed on the camera image display unit 1420 and the shovel 100. In the example in Figure 15, the camera image display unit 1420 displays an image of the counterweight 3w of the upper rotating body 3.

[0171] As shown in the example in Figure 15, by providing a side-view status display unit, the operator can easily visually confirm the approach of obstacles to the attachment in the outer region of the attachment, i.e., in the boom raising direction, arm opening direction, and bucket opening direction. This also allows the operator to easily confirm which part is approaching an obstacle in the vertical direction. Furthermore, by providing a top-view status display unit, the operator can also confirm the approach of obstacles to the rear and left and right directions of the shovel 100. Although Figure 15 shows the approach of obstacles in the outer region of the attachment, the status display unit may also display obstacles approaching the attachment in the inner region of the attachment, i.e., in the boom lowering direction, arm closing direction, and bucket closing direction. In addition, if the crawler of the lower vehicle is approaching an obstacle such as a road cone, the position of the obstacle may also be displayed on the top-view status display unit.

[0172] The camera image display unit 1420 displays a figure 1421 that represents the orientation of the imaging device 80 that captured the currently displayed camera image. Figure 1421 consists of a shovel figure 1421a representing the shape of the shovel 100 and a strip-shaped direction indicator figure 1421b representing the shooting direction of the imaging device 80 that captured the currently displayed camera image. Figure 1421 is a display unit that displays information regarding the settings of the shovel 100.

[0173] In the example in Figure 15, the direction indicator figure 1421b is displayed below the shovel figure 1421a (on the opposite side of the figure representing the excavation attachment AT). This indicates that the image of the rear of the shovel 100, captured by the rear camera 80B, is being displayed on the camera image display unit 1420. For example, if the camera image display unit 1420 is displaying an image captured by the right camera 80R, the direction indicator figure 1421b will be displayed to the right of the shovel figure 1421a. Also, for example, if the camera image display unit 1420 is displaying an image captured by the left camera 80L, the direction indicator figure 1421b will be displayed to the left of the shovel figure 1421a.

[0174] The operator can switch the image displayed on the camera image display unit 1420 to an image captured by another camera, for example, by pressing an image switching switch (not shown) located inside the cabin 10.

[0175] If the shovel 100 is not equipped with an imaging device 80, different information may be displayed instead of the camera image display unit 1420.

[0176] The work status display unit 1430 displays the work status of the shovel 100. In the example shown in Figure 15, the work status display unit 1430 includes figures 1431 and 1432 of the shovel 100, a figure 1433 indicating the screen type, and figures 1434 and 1435 indicating the position of the detected object. These figures 1431 to 1435 are displayed simultaneously with the image of the rear of the shovel 100 displayed on the camera image display unit 1420.

[0177] Figure 1431 shows the state of the shovel 100 when viewed from the side. Figure 1432 shows the state of the shovel 100 when viewed from above. Figure 1433 is a text message indicating the type of screen displayed on the work status display unit 1430. Figure 1434 shows the position of the detected object, and in the example of Figure 15, it is a circular figure located above Figure 1431. Figure 1435 is a text message indicating the position of the detected object, and in the example of Figure 15, it displays "1m above boom" and is highlighted with an underline.

[0178] The controller 30 may be configured to generate figures 1431 to 1435 based on information regarding areas that cannot be entered. Specifically, figures 1431 and 1432 may be generated to represent the actual posture of the shovel 100. In this case, figures 1431 and 1432 may be animated displays that correspond to the actual operation of the shovel 100, or they may be fixed images. The controller 30 may also detect the position of a detected object based on the output of at least one of the imaging device 80 and the obstacle detection device 90, and change the position and size of figure 1434 according to the detected position.

[0179] This configuration allows the operator of the shovel 100 to determine whether or not an object has been detected by looking at image Gx1, and if an object has been detected, to determine the object's position relative to the shovel 100. In the example shown in Figure 15, the operator of the shovel 100 can determine that an object has been detected at a position 1m above the boom.

[0180] In the example shown in Figure 15, the work status display unit 1430 displays a figure 1431 showing the side of the shovel 100 and a figure 1432 showing the top of the shovel 100. However, instead of at least one of figures 1431 or 1432, a perspective view of the shovel 100 from an oblique angle may be displayed. This allows the shovel to stop its movement, for example, if the boom approaches a power line while the operator is focusing on the crawler tracks during the driving operation. The operator can then easily confirm that the reason for the stoppage is that the boom has approached an object surrounding the shovel 100 by checking the display screen. Furthermore, a predetermined actuator may be driven to perform avoidance control to prevent the shovel from entering an area where entry is prohibited. In this case, for example, if the boom approaches a power line while the operator is focusing on the crawler tracks during the driving operation, the boom may be automatically lowered to move it away from the utility pole. Even in this case, the operator can easily understand that the boom is approaching an object surrounding the shovel 100 by checking the display screen.

[0181] Next, with reference to Figure 16, another example of an image displayed during the execution of the no-entry area setting process will be described. In the example in Figure 16, the work status display unit 1430 of image Gx2 includes figures 1431 and 1432 of the shovel 100, a figure 1433 indicating the type of screen, and figures 1436 to 1438 indicating parts of the shovel 100 that may be in contact. These figures 1431 to 1433 and 1436 to 1438 are displayed simultaneously with the image of the rear of the shovel 100 displayed on the camera image display unit 1420.

[0182] Figure 1431 shows the state of the shovel 100 when viewed from the side. Figure 1432 shows the state of the shovel 100 when viewed from above. Figure 1433 is a text message indicating the type of screen displayed on the work status display unit 1430. Figure 1436 shows the location of the part of the shovel 100 that may be in contact with something, and in the example of Figure 16, it is a frame image surrounding the arm of the shovel 100 in Figure 1431. Figure 1437 shows the location of the part of the shovel 100 that may be in contact with something, and in the example of Figure 16, it is a frame image surrounding the arm of the shovel 100 in Figure 1432. Figure 1438 is a text message indicating the part of the shovel 100 that may be in contact with something, displaying "1m in front of arm" and highlighted with an underline.

[0183] The controller 30 may be configured to generate figures 1431-1433 and 1436-1438 based on information regarding areas that cannot be entered. Specifically, figures 1431 and 1432 may be generated to represent the actual posture of the shovel 100. In this case, figures 1431 and 1432 may be animated displays that correspond to the actual operation of the shovel 100, or they may be fixed images. The controller 30 may also detect the position of a detected object based on the output of at least one of the imaging device 80 and the obstacle detection device 90, and change the position and size of figures 1436 and 1437 according to the detected position.

[0184] This configuration allows the operator of the shovel 100 to determine whether a part of the shovel 100 that is at risk of contact has been detected by looking at image Gx2, and if a part of the shovel 100 that is at risk of contact has been detected, to determine the location of that part. In the example in Figure 16, the operator of the shovel 100 can detect an object 1m in front of the arm and determine that there is a risk of contact with the arm. Furthermore, if the crawler of the lower traveling body is approaching an obstacle such as a road cone, the top view status display unit may highlight the part of the crawler that is closest to the obstacle.

[0185] In the example shown in Figure 16, the work status display unit 1430 displays a figure 1431 showing the side of the shovel 100 and a figure 1432 showing the top of the shovel 100. However, instead of at least one of figures 1431 or 1432, a perspective view of the shovel 100 from an oblique angle may be displayed.

[0186] Next, referring to Figure 17, we will describe yet another example of an image displayed during the execution of the no-entry area setting process.

[0187] As shown in Figure 17, 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, and a camera image display area 41m.

[0188] The date and time display area 41a is the area that displays the current date and time. In the example shown in Figure 17, a digital display is used, showing the date (April 1, 2014) and time (10:05).

[0189] The driving mode display area 41b is the area that displays the current driving mode. The driving mode represents the setting status of the hydraulic motor used for driving with a variable displacement pump. Specifically, there are two driving modes: a low-speed mode and a high-speed mode. In low-speed mode, a mark shaped like a "turtle" is displayed, and in high-speed mode, a mark shaped like a "rabbit" is displayed. In the example shown in Figure 17, a mark shaped like a "turtle" is displayed, allowing the driver to recognize that low-speed mode is set.

[0190] The attachment display area 41c is an area that displays images representing the attachments currently attached. Various attachments such as buckets, rock drills, grapples, and lifting magnets can be attached to the shovel 100. The attachment display area 41c displays, for example, marks representing these attachments and numbers corresponding to the attachments. In the example shown in Figure 17, a mark representing a rock drill is displayed, and the number "1" is displayed as the number indicating the output level of the rock drill.

[0191] 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.

[0192] In the example shown in Figure 17, the average fuel consumption display area 41d1 shows the average fuel consumption for the section numerically, along with its unit [L / hr (liters per hour)]. The instantaneous fuel consumption display area 41d2 displays a bar graph consisting of nine segments, each individually controlled to be lit or extinguished according to the instantaneous fuel consumption. As the instantaneous fuel consumption increases, the number of lit segments increases, and as the instantaneous fuel consumption decreases, the number of lit segments decreases, allowing the driver to visually recognize the magnitude of the instantaneous fuel consumption.

[0193] The engine operating time display area 41f is an area that displays the cumulative operating time of the engine 11. In the example shown in Figure 17, the cumulative operating time since the count was restarted by the operator is displayed along with the unit "hr (hours)". The engine operating time display area 41f displays at least one of the lifetime operating time of the excavator 100 over the entire period since its manufacture and the operating time for the section since the count was restarted by the operator.

[0194] When the driver presses the operating time display switch (not shown), the operating time information displayed in the engine operating time display area 41f and the fuel consumption information displayed in the average fuel consumption display area 41d1 switch. For example, if the operating time for a specific section is displayed in the engine operating time display area 41f, the average fuel consumption for that section will be displayed in the average fuel consumption display area 41d1. Also, if the lifetime operating time is displayed in the engine operating time display area 41f, the lifetime average fuel consumption will be displayed in the average fuel consumption display area 41d1. Furthermore, if both the operating time for a specific section and the lifetime operating time are displayed in the engine operating time display area 41f, both the average fuel consumption for that section and the lifetime average fuel consumption will be displayed in the average fuel consumption display area 41d1.

[0195] In this way, each time the operating time display switch is pressed, the fuel consumption information displayed in the average fuel consumption display area 41d1 is switched between "section average fuel consumption," "lifetime average fuel consumption," or "section average fuel consumption and lifetime average fuel consumption." Therefore, by pressing the operating time display switch, the driver can understand the section average fuel consumption and lifetime average fuel consumption, recognize whether the fuel consumption is good or bad in the current work, and proceed with the work in a way that further improves fuel consumption.

[0196] The lifetime average fuel consumption or segment average fuel consumption displayed in the average fuel consumption display area 41d1 may be displayed in units different from the example shown in Figure 17, and may also be displayed as a bar graph. In addition, the instantaneous fuel consumption may be displayed numerically in the instantaneous fuel consumption display area 41d2.

[0197] The engine control status display area 41e is an area that displays the control status of the engine 11. In the example shown in Figure 17, "automatic deceleration / automatic stop mode" is selected as the control status of the engine 11. "Automatic deceleration / automatic stop mode" means a control status in which the engine speed is automatically reduced according to the duration of a low engine load, and the engine 11 is also automatically stopped. Other control statuses for the engine 11 include "automatic deceleration mode," "automatic stop mode," and "manual deceleration mode."

[0198] The coolant temperature display area 41g is the area that displays the current engine coolant temperature. In the example shown in Figure 17, a bar graph representing the engine coolant temperature is displayed. The engine coolant temperature is displayed based on data output by the water temperature sensor 11c attached to the engine 11. Specifically, the coolant temperature display area 41g includes an abnormal range display 41g1, a warning range display 41g2, a normal range display 41g3, a segment display 41g4, and an icon display 41g5.

[0199] The abnormal range indicator 41g1, the caution range indicator 41g2, and the normal range indicator 41g3 are displays that inform the driver when the engine coolant temperature is abnormally high, requires caution, or is normal, respectively. The segment display 41g4 is a display that informs the driver whether the engine coolant temperature is high or low. The icon display 41g5 is an icon such as a symbolic graphic that indicates that the abnormal range indicator 41g1, the caution range indicator 41g2, the normal range indicator 41g3, and the segment display 41g4 are displays related to engine coolant temperature. The icon display 41g5 may also be text or other symbols that indicate that it is a display related to engine coolant temperature.

[0200] In the example shown in Figure 17, the segment display 41g4 consists of eight segments whose on / off states are individually controlled, and the number of lit segments increases as the coolant temperature rises. In the example shown in Figure 17, four segments are lit. In the example shown in Figure 17, the temperature range represented by each segment is the same, but the temperature range may be different for each segment.

[0201] Furthermore, in the example shown in Figure 17, the abnormal range indicator 41g1, the caution range indicator 41g2, and the normal range indicator 41g3 are arc-shaped figures arranged along the segment indicator 41g4, and are constantly illuminated, for example, in red, yellow, and green. In the segment indicator 41g4, the 1st (lowest) to 6th segments belong to the normal range, the 7th segment belongs to the caution range, and the 8th (highest) segment belongs to the abnormal range.

[0202] In addition, instead of displaying the abnormal range indicator 41g1, warning range indicator 41g2, and normal range indicator 41g3 as arc-shaped figures in the coolant temperature display area 41g, characters, symbols, etc., representing the abnormal level, warning level, and normal level may be displayed at their respective boundaries.

[0203] Furthermore, the above configuration, including abnormal range display, warning range display, normal range display, segment display, and icon display, is also adopted in the fuel level display area 41h, the urea solution level display area 41j, and the hydraulic oil temperature display area 41k. In addition, in the fuel level display area 41h and the urea solution level display area 41j, instead of displaying arc-shaped figures representing the abnormal range, warning range, and normal range, the letter "F" or a black circle (filled circle) representing "Full" or the letter "E" or a white circle (unfilled circle) representing "Empty" may be displayed at their respective boundaries.

[0204] The fuel level display area 41h is the area that displays the remaining fuel level stored in the fuel tank. In the example shown in Figure 17, a bar graph representing the current fuel level is displayed. The remaining fuel level is displayed based on data output from the fuel level sensor.

[0205] The rotation speed mode display area 41i is an area that displays an image of the current rotation speed mode set by the engine speed adjustment dial 75. The rotation speed modes include, for example, the four modes described above: SP mode, H mode, A mode, and idling mode. In the example shown in Figure 17, the symbol "SP" representing the SP mode is displayed.

[0206] The urea solution remaining amount display area 41j is an area that displays an image of the remaining amount of urea solution stored in the urea solution tank. In the example shown in Figure 17, a bar graph representing the current remaining amount of urea solution is displayed. The remaining amount of urea solution is displayed based on data output by a urea solution remaining amount sensor installed in the urea solution tank.

[0207] The hydraulic oil temperature display area 41k is the area that displays the temperature status of the hydraulic oil in the hydraulic oil tank. In the example shown in Figure 17, a bar graph representing the hydraulic oil temperature status is displayed. The hydraulic oil temperature is displayed based on the data output by the oil temperature sensor 14c.

[0208] Furthermore, in the example shown in Figure 17, the segments of the coolant temperature display area 41g, fuel level display area 41h, urea solution level display area 41j, and hydraulic oil temperature display area 41k are displayed so as to expand and contract along the circumference of the same predetermined circle. Specifically, the coolant temperature display area 41g, fuel level display area 41h, urea solution level display area 41j, and hydraulic oil temperature display area 41k are located on the left, upper, lower, and right sides of the predetermined circle, respectively. In addition, in the coolant temperature display area 41g and the hydraulic oil temperature display area 41k, the abnormal range display, warning range display, and normal range display are arranged from top to bottom, while in the fuel level display area 41h and the urea solution level display area 41j, the abnormal range display, warning range display, and normal range display are arranged from left to right. Furthermore, in the fuel level display area 41h and the urea solution level display area 41j, the segment display is arranged so that the number of lit segments increases as the remaining amount increases, from the 1st (rightmost) to the 6th The segment belongs to the normal range, the 7th segment belongs to the attention range, and the 8th (leftmost) The segment falls within the abnormal range.

[0209] Furthermore, in the coolant temperature display area 41g, fuel level display area 41h, urea solution level display area 41j, and hydraulic oil temperature display area 41k, needle displays may be used instead of bar graph displays.

[0210] The camera image display area 41m is the area that displays the captured image taken by the imaging device 80. In the example shown in Figure 17, the camera image display area 41m displays an overhead view image, which is a composite image of multiple camera images taken by the front camera 80F, left camera 80L, right camera 80R, and rear camera 80B. Specifically, the camera image display area 41m includes a figure 41m1 showing the shovel 100 from above, and figures 41m2 and 41m3 showing the position of the detected object. Figure 41m1 is a figure showing the shovel 100 from above. Figure 41m2 is a figure showing the position of the detected object, and is a frame image shown overlapping the boom. Figure 41m3 is a text message showing the position of the detected object, displaying "1m above boom" and highlighted with an underline.

[0211] This configuration allows the operator of the shovel 100 to determine whether or not an object has been detected by looking at the display screen 41V, and if an object has been detected, to determine the object's position relative to the shovel 100. In the example shown in Figure 17, the operator of the shovel 100 can determine that an object has been detected at a position 1m above the boom. The same applies not only above the boom, but also in the arm opening direction, bucket opening direction, below the boom, arm closing direction, and bucket closing direction. Furthermore, if the shovel 100 approaches an obstacle located behind or to the left or right, that obstacle may be highlighted in the camera image display area 41m. This allows the operator to also confirm the approach of obstacles to the rear and left or right of the shovel 100 (whether or not there are objects entering the area around the shovel 100).

[0212] This international application claims priority based on Japanese Patent Application No. 2018-058913, filed on 26 March 2018, and the entire contents of said application are incorporated herein by reference. [Explanation of Symbols]

[0213] 1. Lower running body 3. Upper rotating body 4 Boom 5 Arms 6 buckets 30 controllers 301 Posture grasping unit 302 Positional relationship recognition unit 303 No entry area setting section 304 Entry Judgment Section 305 Operation Control Unit 306 No entry area release section 307 Display Control Unit 40 Display device 41 Image display section 80 Imaging device 90 Obstacle detection device 100 Shovel T1 Transmitter

Claims

1. Lower running body and An upper slewing body is mounted on the lower traveling body so as to be rotatable, An actuator mounted on the lower traveling body or the upper slewing body, An obstacle detection device attached to the upper rotating body for detecting the positional information of multiple obstacles installed within the work area, An excavator having a control device capable of limiting the movement of the actuator, The control device, based on the positional information of the multiple obstacles detected by the obstacle detection device and the positional information of the shovel, determines the positional relationship between each of the multiple obstacles and the shovel, sets multiple no-entry zones according to the shape and type of each of the multiple obstacles based on the positional relationship, determines whether the shovel has entered at least one of the set no-entry zones, and if it determines that the shovel has entered any of the no-entry zones, slows down or stops the operation of the shovel. Each of the plurality of inaccessible areas is a predetermined range from the outer shape of each of the obstacles, and the predetermined range is changed according to the type of each of the obstacles. Shovel.

2. Each of the aforementioned multiple inaccessible areas is set between the individual obstacle and the shovel, The shovel according to claim 1.

3. The control device sets the no-entry area based on the individual obstacles detected based on the output of the obstacle detection device. The shovel according to claim 1.

4. The system includes an inaccessible area release unit that releases the setting for each of the aforementioned plurality of inaccessible areas. The shovel according to claim 1.

5. It has a transmitting unit that transmits to the outside the positional relationship between each of the aforementioned obstacles and the shovel, The shovel according to claim 1.

6. The upper rotating body is provided with an imaging means. The shovel according to claim 1.

7. The control device restricts the movement of the actuator based on the positional relationship between each of the plurality of inaccessible areas, which are set based on data regarding obstacles entered into the construction plan drawing, and the excavator. The shovel according to claim 1.

8. The attachment provided on the upper rotating body, The attachment is equipped with a display unit that indicates the approach of individual obstacles to the attachment in the area outside the attachment. The shovel according to claim 1.

9. The display unit indicates the approach of each obstacle to the attachment in a side view. The shovel according to claim 8.

10. The display unit indicates the approach of each obstacle to the attachment when viewed from above. The shovel according to claim 8.

Images