JP2019167680A - Shovel - Google Patents

Abstract

To provide a shovel capable of stopping an operation in a short time in emergency.SOLUTION: A shovel includes: a lower travel body; an upper rotating body mounted rotatably on the lower travel body; an operation chamber provided at the upper rotating body; a sound collection device arranged outside of the operation chamber, and for collecting the sound in the periphery of the operation chamber; and a control device for controlling the operation of the shovel based on audio data generated by removing noise from the sound collected by the sound collection device.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an excavator.

  2. Description of the Related Art Conventionally, there has been known a monitoring device that determines the presence or absence of a person around a shovel using a camera or a human detection sensor attached to the upper swing body of the shovel (see, for example, Patent Document 1).

JP 2014-181509 A

  However, in the above monitoring device, it is difficult to detect the presence of the worker, for example, when the worker enters the work under the lower traveling body or when the worker performs maintenance on the upper swing body. There is a case. Therefore, the above monitoring device is insufficient to stop the operation of the excavator in a short time in an emergency.

  Then, in view of the said subject, it aims at providing the shovel which can stop operation | movement for a short time in an emergency.

  An excavator according to an embodiment of the present invention is disposed on a lower traveling body, an upper revolving body that is turnably mounted on the lower traveling body, a cab provided in the upper revolving body, and an exterior of the cab. A sound collector that collects sound around the cab, and a control device that controls the operation of the excavator based on sound data generated by removing noise from the sound collected by the sound collector; Have.

  According to the embodiment of the present invention, it is possible to provide an excavator capable of stopping the operation in a short time in an emergency.

Side view of the excavator of the first embodiment Top view of the excavator of the first embodiment The figure which shows the structural example of the drive control system of an excavator Flow chart of an example of emergency stop processing The figure which shows the time change of the degree of impatience and the arm speed when there is no emotion representing danger The figure which shows the time change of the degree of impatience and the arm speed when accompanied by the emotion representing danger Side view of the excavator of the second embodiment

  Hereinafter, embodiments for carrying out the invention will be described with reference to the drawings. In the drawings, the same components are denoted by the same reference numerals, and redundant description may be omitted.

[First Embodiment]
First, with reference to FIG.1 and FIG.2, the whole structure of the shovel of 1st Embodiment is demonstrated. FIG. 1 is a side view of the excavator of the first embodiment. FIG. 2 is a top view of the excavator of the first embodiment.

  An upper swing body 3 is mounted on the lower traveling body 1 of the excavator PS so as to be swingable via a swing mechanism 2. A boom 4 is attached to the upper swing 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). As an end attachment, a slope bucket, a bucket, a breaker, or the like may be attached.

  The boom 4, the arm 5, and the bucket 6 constitute a drilling attachment as an example of the attachment, and are hydraulically driven by the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9, respectively.

  The upper swing body 3 is provided with a cabin 10 as a cab, and a power source such as an engine 11 is mounted thereon. A power source such as the engine 11 is covered with a cover 3a. In the cabin 10, a controller 30, a display device 40, an audio output device 43, an input device 45, a storage device 47, and a gate lock lever 49 are provided. At the top of the cabin 10, a GPS device (GNSS receiver) P1 and a transmission device T1 are provided.

  The controller 30 is a control device that functions as a main control unit that performs drive control of the excavator PS. The controller 30 includes an arithmetic processing unit that includes a CPU and an internal memory. Various functions of the controller 30 are realized by the CPU executing programs stored in the internal memory.

  The display device 40 displays an image including various types of work information in response to a command from the controller 30. The display device 40 is, for example, an in-vehicle liquid crystal display connected to the controller 30.

  The audio output device 43 outputs various audio information in response to an audio output command from the controller 30. The audio output device 43 is, for example, an in-vehicle speaker connected to the controller 30. The audio output device 43 may be an alarm device such as a buzzer.

  The input device 45 is a device for the operator of the excavator PS to input various information to the controller 30. The input device 45 includes, for example, a membrane switch provided on the surface of the display device 40. The input device 45 may be a touch panel or the like.

  The storage device 47 stores various information. The storage device 47 is a non-volatile storage medium such as a semiconductor memory, for example. The storage device 47 stores various information output by the controller 30 and the like.

  The gate lock lever 49 is a mechanism that is provided between the door of the cabin 10 and the driver's seat and prevents the excavator PS from being erroneously operated. When the operator gets into the driver's seat and pulls up the gate lock lever 49, the operator cannot exit the cabin 10 and can operate various operation devices. When the operator depresses the gate lock lever 49, the operator can leave the cabin 10 and the various operation devices cannot be operated.

  The GPS device P <b> 1 detects the position of the excavator PS by the GPS function and supplies position data to the controller 30.

  The transmitting device T1 transmits information to the outside of the excavator PS.

  The imaging device 80 is provided on the upper part of the cover 3 a of the upper swing body 3. The imaging device 80 includes a left camera 80 </ b> L that images the left side, a right camera 80 </ b> R that images the right side, and a rear camera 80 </ b> B that images the rear side from the upper swing body 3 toward the cabin 10. The left camera 80L, the right camera 80R, and the rear camera 80B are digital cameras having an image sensor such as a CCD or a CMOS, for example, and send captured images to the display device 40 provided in the cabin 10.

  The sound collecting device 90 includes a left microphone 90L, a right microphone 90R, a rear microphone 90B, and a front microphone 90F that are external microphones that are arranged outside the cabin 10 and collect sounds around the cabin 10. The sound collecting device 90 includes an internal microphone 90I that is disposed inside the cabin 10 and collects sounds inside the cabin 10. The sounds collected by the left microphone 90L, right microphone 90R, rear microphone 90B, front microphone 90F, and internal microphone 90I include, for example, speech sounds such as speech sounds produced by humans, excavator PS engine sounds, and work site sounds. The machine sound is included.

  The left microphone 90L, the right microphone 90R, and the rear microphone 90B capture sound from the left, right, and rear directions from the upper swing body 3 toward the cabin 10, respectively. In the present embodiment, the left microphone 90L, the right microphone 90R, and the rear microphone 90B are provided in the upper part of the cover 3a of the upper swing body 3, and are arranged in the vicinity of the left camera 80L, the right camera 80R, and the rear camera 80B, respectively. Has been. The left microphone 90L, the right microphone 90R, and the rear microphone 90B are connected to the controller 30 via the wiring 91L, the wiring 91R, and the wiring 91B, respectively, and transmit the collected sound to the controller 30. As described above, the left microphone 90L, the right microphone 90R, and the rear microphone 90B are arranged in the vicinity of the left camera 80L, the right camera 80R, and the rear camera 80B, respectively, so that wiring is easy. Note that the left microphone 90L, the right microphone 90R, and the rear microphone 90B may be disposed on the cabin 10, for example.

  The front microphone 90 </ b> F captures sound from the front direction from the upper swing body 3 toward the cabin 10. In the present embodiment, the front microphone 90 </ b> F is disposed on the arm 5. The front microphone 90F is connected to the controller 30 via the wiring 91F, and transmits the collected sound to the controller 30. In addition, the front microphone 90F may be arrange | positioned at the boom 4 and the bucket 6, for example, and may be arrange | positioned at the cabin 10 upper part.

  The internal microphone 90I captures sound inside the cabin 10, for example, sound emitted by the operator. In the present embodiment, the internal microphone 90I is disposed on the inner wall surface of the cabin 10. The internal microphone 90I is connected to the controller 30 via the wiring 91I, and transmits the collected sound to the controller 30. The internal microphone 90I may be built in the display device 40, for example.

  The left microphone 90L, the right microphone 90R, the rear microphone 90B, the front microphone 90F, and the internal microphone 90I may be, for example, unidirectional microphones that can easily capture sound in a specific direction. However, the function of two or more microphones of the left microphone 90L, the right microphone 90R, the rear microphone 90B, and the front microphone 90F using an omnidirectional microphone that captures sound from all directions equally. May be realized with a single microphone. Thereby, the number of microphones that collect sound around the excavator PS can be reduced.

  Next, a configuration example of the drive control system of the excavator PS will be described with reference to FIG. FIG. 3 is a diagram illustrating a configuration example of a drive control system of the excavator PS. In FIG. 3, the mechanical power system, the high-pressure hydraulic line, the pilot line, and the electric drive / control system are indicated by a double line, a thick solid line, a broken line, and a thin solid line, respectively.

  The display device 40 displays an image including work information supplied from the controller 30. The display device 40 is connected to the controller 30 via a communication network such as CAN (Controller Area Network) and LIN (Local Interconnect Network), a dedicated line, and the like. The display device 40 includes a conversion processing unit 40a that generates an image to be displayed on the image display unit 41, and a switch panel 42 as an input unit.

  The conversion processing unit 40 a generates an image including a 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 each of the left camera 80L, the right camera 80R, and the rear camera 80B. The conversion processing unit 40a converts data to be displayed on the image display unit 41 among various data input from the controller 30 to the display device 40 into an image signal. Data input from the controller 30 to the display device 40 includes, for example, data indicating the temperature of engine cooling water, data indicating the temperature of hydraulic oil, data indicating the remaining amount of urea water, data indicating the remaining amount of fuel, and the like. Including. The conversion processing unit 40a outputs the converted image signal to the image display unit 41, and causes the image display unit 41 to display a captured image and an image generated based on various data. Note that the conversion processing unit 40a may be provided in the controller 30 instead of the display device 40, for example. In this case, as illustrated in FIG. 2, the imaging device 80 (the left camera 80L, the right camera 80R, and the rear camera 80B) is connected to the controller 30.

  The switch panel 42 is a panel including various hardware switches. The switch panel 42 includes a light switch 42a, a wiper switch 42b, and a window washer switch 42c.

  The light switch 42 a is a switch for switching on / off of a light attached to the outside of the cabin 10. The wiper switch 42b is a switch for switching operation / stop of the wiper. The window washer switch 42c is a switch for injecting window washer fluid.

  The display device 40 operates by receiving power from the storage battery 70. The storage battery 70 is charged with electric power generated by the alternator 11a (generator) of the engine 11. The electric power of the storage battery 70 is also supplied to the electrical equipment 72 of the excavator PS other than the controller 30 and the display device 40. The starter 11 b of the engine 11 is driven by the power from the storage battery 70 to start the engine 11.

  The engine 11 is connected to the main pump 14 and the pilot pump 15 and is controlled by an engine control unit (ECU) 74. Various data indicating the state of the engine 11 (for example, data indicating the cooling water temperature (physical quantity) detected by the water temperature sensor 11c) is constantly transmitted from the ECU 74 to the controller 30. The controller 30 accumulates this data in the internal storage unit 30a and can transmit it to the display device 40 as appropriate.

  The main pump 14 is a hydraulic pump for supplying hydraulic oil to the control valve 17 through a high pressure hydraulic line. The main pump 14 is, for example, a swash plate type variable displacement hydraulic pump.

  The pilot pump 15 is a hydraulic pump for supplying hydraulic oil to various hydraulic control devices via a pilot line. The pilot pump 15 is, for example, a fixed displacement hydraulic pump.

  The control valve 17 is a hydraulic control device that controls a hydraulic system in the excavator PS. The control valve 17 selectively supplies hydraulic oil discharged from the main pump 14 to, for example, the boom cylinder 7, the arm cylinder 8, the bucket cylinder 9, the traveling hydraulic motor, and the turning hydraulic motor. Hereinafter, the boom cylinder 7, the arm cylinder 8, the bucket cylinder 9, the traveling hydraulic motor, and the turning hydraulic motor may be referred to as “hydraulic actuator”.

  The operation levers 26A to 26C are provided in the cabin 10 and are used by the operator to operate the hydraulic actuator. When the operation levers 26A to 26C are operated, the hydraulic oil is supplied from the pilot pump 15 to the pilot ports of the flow control valves corresponding to the hydraulic actuators. Each pilot port is supplied with hydraulic oil having a pressure corresponding to the operation direction and operation amount of the corresponding operation lever 26A to 26C.

  In the present embodiment, the operation lever 26A is a boom operation lever. When the operator operates the operation lever 26A, the boom cylinder 7 can be hydraulically driven to operate the boom 4. The operation lever 26B is an arm operation lever. When the operator operates the operation lever 26B, the arm cylinder 8 can be hydraulically driven to operate the arm 5. The operation lever 26C is a bucket operation lever. When the operator operates the operation lever 26C, the bucket cylinder 9 can be hydraulically driven to operate the bucket 6. In addition to the operation levers 26A to 26C, the excavator PS may be provided with an operation lever, an operation pedal, and the like that drive a traveling hydraulic motor, a turning hydraulic motor, and the like.

  For example, the controller 30 acquires various data described below. The data acquired by the controller 30 is stored in the storage unit 30a.

  The regulator 14 a of the main pump 14, which is a variable displacement hydraulic pump, sends data indicating the swash plate angle to the controller 30. Further, the discharge pressure sensor 14 b sends data indicating the discharge pressure of the main pump 14 to the controller 30. These data (data representing physical quantities) are stored in the storage unit 30a. The oil temperature sensor 14c provided in the pipe line between the main pump 14 and the tank storing the hydraulic oil sucked by the main pump 14 stores data representing the temperature of the hydraulic oil flowing through the pipe line. Send to.

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

  An engine speed adjustment dial 75 is provided in the cabin 10 of the excavator PS. The engine speed adjustment dial 75 is a dial for adjusting the engine speed, and can switch the engine speed in stages, for example. In the present 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 setting state of the engine speed to the controller 30. FIG. 3 shows a state where the H mode is selected by the engine speed adjustment dial 75.

  The SP mode is a rotation speed mode that is selected when priority is given to the amount of work, and uses the highest engine speed. The H mode is a rotation speed mode that is selected when it is desired to achieve both work load and fuel consumption, and uses the second highest engine speed. The A mode is a rotation speed mode that is selected when it is desired to operate the excavator PS with low noise while giving priority to fuel efficiency, and uses the third highest engine rotation speed. The idling mode is a rotation speed mode that is selected when the engine is desired to be in an idling state, and uses the lowest engine speed. The engine 11 is controlled to a constant rotational speed at the engine rotational speed in the rotational speed mode set by the engine rotational speed adjustment dial 75.

  Next, the functional configuration of the controller 30 will be described. As illustrated in FIG. 3, the controller 30 includes a voice identification unit 31, an emotion determination unit 32, and an operation control unit 33.

  The voice identification unit 31 generates voice data from which noise has been removed from the sound collected by the sound collection device 90, and determines whether or not voice has been input based on the generated voice data. In the present embodiment, the voice identification unit 31 is a machine for excavator PS engine sound, work site sound, etc. from sounds collected by the left microphone 90L, right microphone 90R, rear microphone 90B, front microphone 90F and internal microphone 90I. Generate audio data with the sound removed. Further, the voice identification unit 31 determines whether or not voice is input based on the generated voice data.

  The emotion determination unit 32 determines an emotion based on the voice data generated by the voice identification unit 31. Various emotion determination algorithms can be applied to emotion determination. In the present embodiment, the emotion determination unit 32 has a degree of impatience (hereinafter referred to as “impression degree”) as an emotion of an operator who operates the excavator PS inside the cabin 10, an operator who works around the cabin 10, and the like. If it is equal to or greater than the predetermined threshold, it is determined that the voice is accompanied by an emotion representing danger. The emotion may be anything that can be determined to be accompanied by an emotion representing danger, and may be another feature amount such as strength.

  The operation control unit 33 controls whether or not to stop the operation of the excavator PS based on the determination result of the emotion determination unit 32. In the present embodiment, the operation of the excavator PS is stopped when the emotion determination unit 32 determines that the voice is accompanied by an emotion representing danger. For example, the operation control unit 33 controls the operation levers 26A to 26C and the like by controlling the gate lock valve 49a to be closed to block the flow of hydraulic oil between the control valve 17 and the operation levers 26A to 26C and the like. The operation of the excavator PS is stopped by invalidating the operation of the apparatus.

  Next, with reference to FIG. 4, an example of processing in which the controller 30 stops the operation of the excavator PS based on the sound collected by the sound collecting device 90 (hereinafter referred to as “emergency stop processing”) will be described. To do. FIG. 4 is a flowchart of an example of an emergency stop process. The emergency stop process is always executed while the excavator PS is operating, for example.

  In step ST1, the voice identification unit 31 acquires the sound collected by the sound collection device 90. In the present embodiment, the voice identification unit 31 acquires sounds collected by the left microphone 90L, the right microphone 90R, the rear microphone 90B, the front microphone 90F, and the internal microphone 90I. The sounds acquired by the voice identification unit 31 include, for example, voices such as speech sounds produced by humans, mechanical sounds such as excavator PS engine sounds and work site sounds.

  In step ST2, the voice identification unit 31 generates voice data from which noise has been removed from the acquired sound, and determines whether or not voice has been input based on the generated voice data. In the present embodiment, the voice identification unit 31 generates voice data obtained by removing mechanical sounds such as excavator PS engine sound and work site sound from the acquired sound, and whether voice is input based on the generated voice data. Determine whether or not.

  If it is determined in step ST2 that no voice is input (step ST2: No), the process returns to step ST1. On the other hand, if it is determined in step ST2 that a voice has been input (step ST2: Yes), the process proceeds to step ST3.

  In step ST <b> 3, the emotion determination unit 32 determines whether or not the voice is accompanied by an emotion representing danger based on the voice data generated by the voice identification unit 31. In the present embodiment, the emotion determination unit 32 determines whether or not the impatience level of an operator who operates the excavator PS inside the cabin 10 or an operator who works around the cabin 10 is equal to or greater than a predetermined threshold value. . For example, if the degree of impatience is greater than or equal to a predetermined threshold, it is determined that the sound is accompanied by an emotion representing danger, and if the degree of impotence is less than the predetermined threshold, it is determined that the sound is not accompanied by an emotion representing danger. To do.

  In step ST3, when it is determined that the voice does not have an emotion representing danger (step ST3: No), the process returns to step ST1. If it is determined in step ST3 that the voice is accompanied by an emotion representing danger (step ST3: Yes), the process proceeds to step ST4.

  In step ST4, the operation control unit 33 stops the operation of the excavator PS. In the present embodiment, the operation control unit 33 controls the gate lock valve 49a to be closed to block the flow of hydraulic oil between the control valve 17 and the operation device such as the operation levers 26A to 26C. The operation of the operation device such as the levers 26A to 26C is invalidated and the operation of the excavator PS is stopped. Thereafter, the process ends.

  In the emergency stop process shown in FIG. 4, the case where the operation control unit 33 controls whether to stop the operation of the excavator PS based on the determination result of the emotion determination unit 32 is described as an example. However, the present invention is not limited to this. For example, the operation control unit 33 may control whether to stop the operation of the excavator PS based on the sound data generated by the emotion determination unit 32 without using the determination result of the emotion determination unit 32. In this case, for example, the language information is recognized based on the voice data, and when the recognized language information matches the language information indicating the danger stored in the storage unit 30a in advance, the operation of the excavator PS is stopped. However, it is preferable to perform emotion determination by the emotion determination unit 32 from the viewpoint of being able to handle multiple languages without having a language information database. Further, whether or not to stop the operation of the excavator PS may be controlled based on both the determination result of the emotion determination unit 32 and the language information.

  Next, referring to FIG. 5 and FIG. 6, the operation of the arm 5 is an example of the operation of the excavator PS in the case where the voice is not accompanied by an emotion representing danger and in the case where the voice is accompanied by an emotion representing danger. Will be described. The operation of the other hydraulic actuators is the same as that of the arm 5 and will not be described.

  FIG. 5 is a diagram showing temporal changes in the degree of impatience and arm speed when no emotion representing danger is involved. FIG. 6 is a diagram showing temporal changes in the degree of impatience and arm speed when accompanied by an emotion representing danger. FIG. 5A and FIG. 6A show the change in the degree of impatience with time, the time t is indicated on the horizontal axis, and the impotence is indicated on the vertical axis. FIG. 5B and FIG. 6B show changes in arm speed over time, with time t shown on the horizontal axis and arm speed shown on the vertical axis.

  As shown in FIG. 5A, when the degree of impatience is less than a predetermined threshold Yth (for example, when the voice is emitted in a normal operation such as “All right”, “Raise”), the emotion determination unit 32 receives the voice. Judge that there is no emotion that expresses danger. In this case, since the operation of the shovel PS is not stopped, for example, as shown in FIG. 5B, the arm 5 operates at a speed (for example, a constant speed) corresponding to the operation amount of the operation lever 26B.

  On the other hand, as shown in FIG. 6 (a), when the degree of impatience is equal to or greater than a predetermined threshold Yth (time t1) (for example, voice with an emotion representing a danger such as “Danger!”, “Wow!”). In some cases, the emotion determination unit 32 determines that the voice is accompanied by an emotion representing danger. In this case, since the operation control unit 33 controls the gate lock valve 49a to be closed to shut off the flow of hydraulic oil between the control valve 17 and the operation lever 26B, for example, as shown in FIG. 6B. Then, the speed of the arm 5 decreases and stops.

  Next, the effect of the shovel PS of this embodiment will be described.

  If a sudden dangerous situation occurs, such as a person entering the vicinity of the operating excavator PS may collide with the excavator PS, the person entering the excavator, the operator of the excavator PS, the surrounding people, etc. May not be able to make a calm judgment. For this reason, it is difficult for the person who has entered the area to escape, and for the operator and the surrounding persons to appropriately stop the shovel PS. In such a case, humans often utter sound with emotions representing danger such as “Dangerous!” And “Wow!”.

  In the shovel PS of the present embodiment, the controller 30 controls whether or not to stop the operation of the shovel PS based on the sound data generated by removing noise from the sound collected by the sound collecting device 90. As a result, even in an emergency such as when the person who has entered cannot escape, or when the operator of the excavator PS or the surrounding people cannot properly stop the excavator PS, it can be done in a short time. The operation of the excavator PS can be stopped.

  In the excavator PS of the present embodiment, the voice identification unit 31 generates voice data obtained by removing noise from the sound collected by the sound collecting device 90. As a result, even in an environment where it is difficult to hear human-generated sound due to mechanical sound such as excavator PS engine sound and work site sound, the sound is detected with high accuracy and the operation of the excavator PS is stopped in a short time. Can do.

  Further, in the excavator PS of the present embodiment, the emotion determination unit 32 determines whether or not the voice of the voice data is accompanied by an emotion representing danger based on the voice data. Thereby, language information is recognized based on voice data, and it is not necessary to determine whether or not the recognized language information matches the language information representing danger stored in the storage unit 30a in advance. It is possible to support multiple languages without having

[Second Embodiment]
Next, the excavator PS of the second embodiment will be described with reference to FIG. FIG. 7 is a side view of the excavator PS of the second embodiment.

  In the excavator PS of the second embodiment, the left microphone 90L, the right microphone 90R, the rear microphone 90B, and the front microphone 90F in the excavator PS of the first embodiment are replaced on the handrail 50 attached to the upper swing body 3. A directional microphone 90A is disposed. Other configurations can be the same as those of the excavator PS of the first embodiment.

  In the excavator PS of the second embodiment, the controller 30 controls whether or not to stop the operation of the excavator PS based on sound data generated by removing noise from the sound collected by the sound collecting device 90. . As a result, even in an emergency such as when the person who has entered cannot escape, or when the operator of the excavator PS or the surrounding people cannot properly stop the excavator PS, it can be done in a short time. The operation of the excavator PS can be stopped.

  In the excavator PS of the present embodiment, the voice identification unit 31 generates voice data obtained by removing noise from the sound collected by the sound collecting device 90. As a result, even in an environment where it is difficult to hear human-generated sound due to mechanical sound such as excavator PS engine sound and work site sound, the sound is detected with high accuracy and the operation of the excavator PS is stopped in a short time. Can do.

  Further, in the excavator PS of the present embodiment, the emotion determination unit 32 determines whether or not the voice of the voice data is accompanied by an emotion representing danger based on the voice data. Thereby, language information is recognized based on voice data, and it is not necessary to determine whether or not the recognized language information matches the language information representing danger stored in the storage unit 30a in advance. It is possible to support multiple languages without having

  As mentioned above, although the form for implementing this invention was demonstrated, the said content does not limit the content of invention, Various deformation | transformation and improvement are possible within the scope of the present invention.

  In the above embodiment, the case where the sound collection device 90 includes an external microphone and an internal microphone has been described as an example. However, the present invention is not limited thereto, and may include only one or a plurality of external microphones, Only one or a plurality of internal microphones may be included. However, an external microphone and an internal microphone are provided from the viewpoint that the operation of the excavator PS can be stopped in a short time based on the voice emitted by the operator of the excavator PS and the voice emitted by the people around the excavator PS. It is preferable.

  In the above-described embodiment, the case where the controller 30 performs the stop control of the excavator PS based on the sound data generated by removing noise from the sound collected by the sound collecting device 90 has been described as an example. However, the present invention is not limited to this. For example, the controller 30 may perform braking control of the excavator PS based on sound data generated by removing noise from the sound collected by the sound collecting device 90.

  In the first and second embodiments of the present application, the pressure oil discharged from the pilot pump 15 is supplied as a pilot pressure to the control valve 17 (each control valve) via the gate lock valve 49a and the remote control valve. A hydraulic pilot circuit has been described. However, instead of the hydraulic operation lever having such a hydraulic pilot circuit, an electric operation lever having an electric pilot circuit may be employed. In this case, the lever operation amount of the electric operation lever is input to the controller 30 as an electric signal. An electromagnetic valve is disposed 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 a manual operation using an electric operation lever is performed, the controller 30 moves each control valve by controlling the electromagnetic valve with an electric signal corresponding to the lever operation amount to increase or decrease the pilot pressure. be able to. Each control valve may be constituted by an electromagnetic spool valve. In this case, the electromagnetic spool valve operates in accordance with an electric signal from the controller 30 corresponding to the lever operation amount of the electric operation lever. For example, when the controller 30 determines that the sound is dangerous, a signal is transmitted to the electromagnetic spool valve and the control valve (each control valve) is controlled to perform the braking control or stop control of the actuator.

DESCRIPTION OF SYMBOLS 1 Lower traveling body 3 Upper turning body 10 Cabin 30 Controller 31 Voice identification part 32 Emotion judgment part 33 Operation control part 50 Hand rail 80 Imaging device 90 Sound collecting device 90A Omnidirectional microphone 90I Internal microphone 90L Left microphone 90R Right microphone 90B Back Microphone 90F Front microphone PS Excavator

Claims (5)

A lower traveling body,
An upper swivel body that is turnably mounted on the lower traveling body;
A cab provided in the upper swing body;
A sound collector disposed outside the cab and collecting sounds around the cab;
A control device for controlling the operation of the excavator based on sound data generated by removing noise from the sound collected by the sound collecting device;
Having
Excavator. The controller is
A voice identification unit that generates voice data obtained by removing noise from the sound collected by the sound collecting device;
An emotion determination unit that determines whether or not the voice of the voice data is accompanied by an emotion representing danger based on the voice data;
An operation control unit that stops the operation of the excavator when the emotion determination unit determines that the voice is accompanied by an emotion representing danger;
Having
The excavator according to claim 1. A plurality of imaging devices for imaging the periphery of the upper swing body are attached to the upper swing body,
The sound collection device includes a plurality of unidirectional microphones, and each of the plurality of unidirectional microphones is disposed in the vicinity of each of the plurality of imaging devices.
The shovel according to claim 1 or 2. A handrail is attached to the upper swing body,
The sound collection device includes an omnidirectional microphone and is disposed on the handrail.
The shovel according to claim 1 or 2. A lower traveling body,
An upper swivel body that is turnably mounted on the lower traveling body;
A cab provided in the upper swing body;
A sound collector disposed inside the cab and collecting sounds inside the cab;
A control device for controlling the operation of the excavator;
Have
The controller is
A voice identification unit that generates voice data obtained by removing noise from the sound collected by the sound collecting device;
An emotion determination unit that determines whether or not the voice of the voice data is accompanied by an emotion representing danger based on the voice data;
An operation control unit that stops the operation of the excavator when the emotion determination unit determines that the voice is accompanied by an emotion representing danger;
Having
Excavator.

Images