JP2021120515A - Work machine, and information processor - Google Patents

Abstract

To provide a technology capable of further improving safety of a work machine.SOLUTION: A shovel 100 of one embodiment of this disclosure comprises: an imaging device 40 acquiring information related to an object around the shovel 100; a sound output device 52 outputting an alarm to an operator when an object to be monitored is detected around the shovel 100 based on image information acquired by the imaging device 40; and a display device 50, when around the shovel 100 there is a region where a detection accuracy of the object to be monitored is relatively low, notifying the operator that the region where the detection accuracy of the object to be monitored is relatively low exists around the shovel 100.SELECTED DRAWING: Figure 5

Description

This disclosure relates to work machines and the like.

For example, there is known a technique for outputting an alarm when an object to be monitored by a worker or the like is detected within a close range around a work machine such as an excavator (see Patent Document 1).

Japanese Unexamined Patent Publication No. 2019-060228

However, depending on the environment around the work machine or the like, the detection accuracy of the object to be monitored may be lowered in at least a part of the monitoring area, and the object to be monitored may be erroneously detected or overlooked. For example, if the object to be monitored is detected based on the image information around the work machine, or if the appearance of the object in the background is similar to the characteristics of the object to be monitored, the object in the background is the object to be monitored. There is a possibility that it will be erroneously detected (misrecognized). Further, when the color of the object in the background and the color of the object to be monitored are similar, the object to be monitored may be assimilated with the object in the background and the object to be monitored may not be detected (recognized).

Therefore, in view of the above problems, it is an object of the present invention to provide a technique capable of further improving the safety of the work machine.

In order to achieve the above object, in one embodiment of the present disclosure,
An acquisition unit that acquires information about objects around the work machine,
An alarm output unit that outputs an alarm to the operator when a predetermined object is detected around the work machine based on the information acquired by the acquisition unit.
When there is a region around the work machine where the detection accuracy of the predetermined object is relatively low, a notification unit for notifying the operator of the region around the work machine where the detection accuracy is relatively low is provided. Prepare, prepare
Work machines are provided.

Also, in other embodiments of the present disclosure,
An operation unit that accepts remote control of work machines,
A communication unit that transmits the contents of remote control received by the operation unit to the work machine, and
An alarm output unit that outputs an alarm to an operator who performs remote control when a predetermined object is detected around the work machine based on information about an object around the work machine acquired by the work machine. ,
When there is a region around the work machine where the detection accuracy of the predetermined object is relatively low, a notification unit that notifies the operator of the region around the work machine where the detection accuracy is relatively low, and a notification unit. With,
An information processing device is provided.

According to the above-described embodiment, it is possible to provide a technique capable of further improving the safety of the work machine.

It is a schematic diagram which shows an example of the excavator management system. It is a top view which shows an example of an excavator. It is a block diagram which shows an example of the structure of the excavator management system. FIG. 5 is a flock diagram showing another example of the configuration of an excavator management system. It is a flowchart which shows typically an example of the detection accuracy notification processing by a controller. It is a flowchart which shows typically an example of the detection accuracy determination process by a controller. It is a figure which explains the detection accuracy determination process by a controller concretely. It is a figure which explains the detection accuracy determination process by a controller concretely. It is a figure which explains the detection accuracy determination process by a controller concretely. It is a figure which shows an example of the low detection accuracy notification screen displayed on the display device.

Hereinafter, modes for carrying out the invention will be described with reference to the drawings.

[Overview of excavator management system]
First, the outline of the excavator management system SYS according to the present embodiment will be described with reference to FIGS. 1 and 2.

FIG. 1 is a schematic view showing an example of the excavator management system SYS according to the present embodiment. FIG. 2 is a top view showing an example of the excavator 100 according to the present embodiment.

As shown in FIG. 1, the excavator management system SYS includes an excavator 100 and a management device 200.

<Outline of excavator>
As shown in FIGS. 1 and 2, the excavator 100 (an example of a work machine) according to the present embodiment is swivelly mounted on the lower traveling body 1 via the lower traveling body 1 and the swivel mechanism 2. It includes a body 3, a boom 4, an arm 5, a bucket 6 and a cabin 10 that form an attachment (working machine).

The lower traveling body 1 travels the excavator 100 by hydraulically driving a pair of left and right crawlers 1C by the left and right traveling hydraulic motors 1M, respectively. That is, the crawler 1C includes a crawler 1CL on the left side and a crawler 1CR on the right side, and the traveling hydraulic motor 1M includes a traveling hydraulic motor 1ML on the left side and a traveling hydraulic motor 1MR on the right side.

The upper swivel body 3 is driven by the swivel hydraulic motor 2A to swivel with respect to the lower traveling body 1.

The boom 4 is mounted upright in the center of the front portion of the upper swing body 3, an arm 5 is rotatably attached to the tip of the boom 4, and a bucket 6 as an end attachment is attached to the tip of the arm 5. Is mounted so that it can rotate up and down. The boom 4, arm 5, and bucket 6 are hydraulically driven by the boom cylinder 7, arm cylinder 8, and bucket cylinder 9 as hydraulic actuators, respectively. Further, the bucket 6 is an example of an end attachment, and at the tip of the arm 5, instead of the bucket 6, other end attachments such as a slope bucket, a dredging bucket, and a breaker can be attached to the tip of the arm 5. Etc. may be attached.

At least a part of the lower traveling body 1, the upper rotating body 3, the boom 4, the arm 5, the bucket 6 and the like may be driven by an electric actuator instead of the hydraulic actuator. For example, the upper swing body 3 may be electrically driven by an electric motor instead of the swing hydraulic motor 2A.

The cabin 10 is a driver's cab on which the operator is boarded, and is mounted on the front left side of the upper swivel body 3.

Further, the excavator 100 according to the present embodiment includes the communication device T1 and is communicably connected to the management device 200 through a predetermined communication line NW. The predetermined communication line may include, for example, a mobile communication network having a base station as a terminal, a satellite communication network using a communication satellite, an Internet network, and the like. Further, the communication line NW may be a wireless communication line based on a short-distance wireless communication standard such as Bluetooth (registered trademark) or WiFi. As a result, the excavator 100 can transmit (upload) the information acquired by the excavator 100 to the management device 200.

The excavator 100 operates driven elements such as the lower traveling body 1 (crawler 1CL, 1CR), the upper rotating body 3, the boom 4, the arm 5, and the bucket 6 in response to the operation of the operator boarding the cabin 10.

Further, the excavator 100 may be configured to be operable by an operator boarding the cabin 10, or may be configured to be remotely controlled (remote control) from the outside of the excavator. When the excavator 100 is remotely controlled, the inside of the cabin 10 may be unmanned. Hereinafter, the description will proceed on the premise that the operator's operation includes at least one of the operation of the cabin 10 with respect to the operation device 26 and the remote control of the external operator.

The remote control includes, for example, a mode in which the shovel 100 is operated by an operation input regarding the actuator of the shovel 100 performed by a predetermined external device. The predetermined external device is, for example, the management device 200. In this case, the excavator 100 transmits, for example, image information (captured image) output by the image pickup device 40 described later to the management device 200, and the image information is displayed on the display device 230A described later provided in the management device 200. good. Further, various information images (information screens) displayed on the display device 50 inside the cabin 10 of the excavator 100 may be similarly displayed on the display device 230A of the management device 200. Thereby, the operator of the management device 200 can remotely control the shovel 100 while checking the display contents such as the captured image and the information screen showing the surrounding state of the shovel 100 displayed on the display device 230A, for example. .. Then, the excavator 100 operates the hydraulic actuator in response to the remote control signal indicating the content of the remote control received from the management device 200 by the communication device T1 described later, and causes the lower traveling body 1 (crawler 1CL, 1CR). Driven elements such as the upper swing body 3, the boom 4, the arm 5, and the bucket 6 may be driven.

Further, the remote control may include a mode in which the excavator 100 is operated by, for example, an external voice input or a gesture input to the excavator 100 by a person (for example, a worker) around the excavator 100. Specifically, the excavator 100 is a voice uttered by a surrounding worker or the like through a voice input device (for example, a microphone) or a gesture input device (for example, an image pickup device) mounted on the excavator 100 (own machine). Recognize gestures performed by workers and workers. Then, the excavator 100 operates an actuator according to the recognized voice, gesture, or the like, and causes the lower traveling body 1 (crawler 1CL, 1CR), the upper rotating body 3, the boom 4, the arm 5, the bucket 6, and the like. The driven element may be driven.

Further, the excavator 100 may automatically operate the actuator regardless of the content of the operator's operation. As a result, the excavator 100 has a function of automatically operating at least a part of driven elements such as the lower traveling body 1 (crawler 1CL, 1CR), the upper rotating body 3, the boom 4, the arm 5, and the bucket 6 (so-called "" Realize "automatic driving function" or "machine control function").

The automatic operation function is a function (so-called "semi-automatic operation") in which a driven element (hydraulic actuator) other than the driven element (hydraulic actuator) to be operated is automatically operated in response to an operator's operation on the operating device 26 or a remote control. Function ") may be included. In addition, the automatic operation function is a function that automatically operates at least a part of a plurality of driven elements (hydraulic actuators) on the premise that there is no operation or remote control of the operator's operation device 26 (so-called "fully automatic operation function"). ) May be included. When the fully automatic driving function is enabled in the excavator 100, the inside of the cabin 10 may be unmanned. Further, the semi-automatic operation function, the fully automatic operation function, and the like may include a mode in which the operation content of the driven element (hydraulic actuator) to be automatically operated is automatically determined according to a predetermined rule. Further, for the semi-automatic driving function, the fully automatic driving function, etc., the excavator 100 autonomously makes various judgments, and according to the judgment results, the driven element (hydraulic actuator) to be automatically operated operates autonomously. A mode in which the content is determined (so-called "autonomous driving function") may be included.

<Overview of management device>
The management device 200 (an example of an information processing device) is communicably connected to the excavator 100 through a predetermined communication line NW, and manages (monitors) the status and operation of the excavator 100 based on various information received from the excavator 100. )I do. The management device 200 also supports remote control of the excavator 100.

The management device 200 is, for example, a cloud server installed in a management center outside the work site of the excavator 100. Further, the management device 200 is, for example, an edge server installed in a place relatively close to the excavator 100 (for example, a management office in a work site, a wireless base station or a station building relatively close to the work site, etc.). It may be. Further, the management device 200 may be a terminal device (for example, a desktop computer terminal) installed (stationary) in a management office or the like in the work site of the excavator 100. Further, the management device 200 may be a mobile terminal (for example, a smartphone, a tablet terminal, a laptop computer terminal, etc.) that can be carried by the administrator of the excavator 100 or the like.

[Excavator management system configuration]
Next, in addition to FIGS. 1 and 2, a specific configuration of the excavator management system SYS according to the present embodiment will be described with reference to FIGS. 3 and 4.

3 and 4 are block diagrams schematically showing an example and other examples of the configuration of the excavator management system SYS according to the present embodiment, respectively. 3 and 4 have the same configuration of the management device 200, but differ only in the configuration of the excavator 100.

In addition, in FIGS. 3 and 4, the mechanical power line, the hydraulic oil line, the pilot line, and the electric signal line are shown by a double line, a thick solid line, a thin solid line, a broken line, and a dotted line, respectively.

<Excavator configuration>
As shown in FIGS. 3 and 4, as described above, the hydraulic drive system of the excavator 100 according to the present embodiment includes a traveling hydraulic motor 1ML, 1MR, a swing hydraulic motor 2A, a boom cylinder 7, an arm cylinder 8, and a bucket cylinder. Includes a hydraulic actuator such as 9. The hydraulic drive system of the excavator 100 according to the present embodiment includes an engine 11, a regulator 13, a main pump 14, and a control valve 17.

The engine 11 is the main power source in the hydraulic drive system. The engine 11 is, for example, a diesel engine that uses light oil as fuel. The engine 11 is mounted on the rear portion of the upper swing body 3, for example, and rotates at a constant rotation speed at a preset target rotation speed under the direct or indirect control of the controller 30 to drive the main pump 14 and the pilot pump 15.

The regulator 13 adjusts the discharge amount of the main pump 14. For example, the regulator 13 adjusts the angle (tilt angle) of the swash plate of the main pump 14 in response to a control command from the controller 30.

Like the engine 11, the main pump 14 is mounted on the rear part of the upper swing body 3 and supplies hydraulic oil to the control valve 17 through a high-pressure hydraulic line. The main pump 14 is driven by the engine 11 as described above. The main pump 14 is, for example, a variable displacement hydraulic pump, and as described above, the stroke length of the piston is adjusted by adjusting the tilt angle of the swash plate by the regulator 13 under the control of the controller 30, and the pump is discharged. The flow rate is controlled.

The control valve 17 is a hydraulic control device that controls the hydraulic drive system according to the operation of the operator. The control valve 17 is mounted on the central portion of the upper swing body 3, for example. The control valve 17 selectively supplies the hydraulic oil supplied from the main pump 14 to the plurality of hydraulic actuators according to the contents of the operation or remote control of the operating device 26. The control valve 17 includes a plurality of control valves (also referred to as direction switching valves) that control the flow rate and flow direction of the hydraulic oil supplied from the main pump 14 to each of the plurality of hydraulic actuators.

The plurality of control valves (direction switching valves), for example, supply the hydraulic oil supplied from the main pump 14 to the corresponding hydraulic actuator, and discharge the hydraulic oil discharged by the corresponding hydraulic actuator to the hydraulic oil tank. It is a spool valve to make. Specifically, each control valve is configured so that the spool can move in two opposite directions from the neutral position, and depending on the moving direction of the spool, the direction of the hydraulic oil flow of the hydraulic actuator, that is, the operating direction of the hydraulic actuator. May be determined.

As shown in FIGS. 3 and 4, the operation system of the excavator 100 according to the present embodiment includes a pilot pump 15, an operation device 26, a controller 30, and a hydraulic control valve 31. Further, as shown in FIG. 3, the operation system of the excavator 100 according to the present embodiment includes a shuttle valve 32 and a hydraulic control valve 33 when the operation device 26 is a hydraulic pilot type.

The pilot pump 15 is mounted on the rear portion of the upper swing body 3, for example, and supplies pilot pressure to various hydraulic devices such as an operating device 26 via a pilot line 25. The pilot pump 15 is, for example, a fixed-capacity hydraulic pump, and is driven by the engine 11 as described above.

The operating device 26 is provided near the cockpit of the cabin 10 and is used by the operator to operate each of the plurality of driven elements of the excavator 100. The plurality of driven elements include, for example, a lower traveling body 1, an upper swinging body 3, a boom 4, an arm 5, a bucket 6, and the like. In other words, the operating device 26 is used by the operator to operate a plurality of hydraulic actuators for driving each driven element. As described above, the plurality of hydraulic actuators include, for example, a traveling hydraulic motor 1ML, 1MR, a swing hydraulic motor 2A, a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, and the like.

The operating device 26 includes, for example, a pair of left and right crawler (running hydraulic motor 1ML, 1MR), a boom 4 (boom cylinder 7), an arm 5 (arm cylinder 8), a bucket 6 (bucket cylinder 9), and a lower traveling body 1. A lever device for operating each of the upper swing body 3 (swing hydraulic motor 2A) is included.

As shown in FIG. 3, the operating device 26 is, for example, a hydraulic pilot type that outputs hydraulic oil having a pilot pressure corresponding to the operation content. Specifically, the operating device 26 uses the hydraulic oil supplied from the pilot pump 15 through the pilot line 25 and the pilot line 25A branched from the pilot line 25 to apply a pilot pressure according to the operation content to the pilot on the secondary side. Output to line 27A. The pilot line 27A is connected to the inlet port of the shuttle valve 32 and is connected to the control valve 17 via the pilot line 27 which is connected to the outlet port of the shuttle valve 32. As a result, pilot pressure can be input to the control valve 17 via the shuttle valve 32 according to the operation content of various driven elements (that is, hydraulic actuators) in the operating device 26. Therefore, the control valve 17 can drive each of the hydraulic actuators according to the operation content of the operator or the like with respect to the operating device 26.

Further, as shown in FIG. 4, the operating device 26 is, for example, an electric type. Specifically, the operation device 26 outputs an electric signal (hereinafter, “operation signal”) according to the operation content, and the operation signal is taken into the controller 30. Then, the controller 30 outputs a control command according to the content of the operation signal, that is, a control signal according to the content of the operation for the operation device 26 to the hydraulic control valve 31. As a result, the pilot pressure corresponding to the operation content of the operation device 26 is input from the hydraulic control valve 31 to the control valve 17, and the control valve 17 drives each hydraulic actuator according to the operation content of the operation device 26. Can be done.

Further, the control valve (direction switching valve) built in the control valve 17 for driving each hydraulic actuator may be an electromagnetic solenoid type spool valve. In this case, the operation signal output from the operation device 26 may be directly input to the control valve 17, that is, the electromagnetic solenoid type control valve.

The hydraulic control valve 31 is provided for each driven element (hydraulic actuator) to be operated by the operating device 26. That is, the hydraulic control valve 31 is, for example, a crawler 1CL (running hydraulic motor 1ML), a crawler 1CR (running hydraulic motor 1MR), an upper swing body 3 (swing hydraulic motor 2A), a boom 4 (boom cylinder 7), and an arm 5 ( It is provided for each of the arm cylinder 8) and the bucket 6 (bucket cylinder 9). The hydraulic control valve 31 is provided, for example, on the pilot line 25B between the pilot pump 15 and the control valve 17. The hydraulic control valve 31 may be configured so that, for example, its flow path area (that is, the cross-sectional area through which hydraulic oil can flow) can be changed. As a result, the hydraulic control valve 31 can output a predetermined pilot pressure to the pilot line 27B on the secondary side by utilizing the hydraulic oil of the pilot pump 15 supplied through the pilot line 25B. Therefore, as shown in FIG. 3, the hydraulic control valve 31 indirectly controls a predetermined pilot pressure according to the control signal from the controller 30 through the shuttle valve 32 between the pilot line 27B and the pilot line 27. It can act on 17. Further, as shown in FIG. 4, unlike the case of FIG. 3, the pilot line 27A and the shuttle valve 32 are omitted, and the hydraulic control valve 31 is directly from the controller 30 through the pilot line 27B and the pilot line 27. A predetermined pilot pressure corresponding to the control signal can be applied to the control valve 17. Therefore, the controller 30 can supply the control valve 17 with the pilot pressure according to the operation content of the electric operation device 26 from the hydraulic control valve 31, and can realize the operation of the excavator 100 based on the operation of the operator.

More specifically, two hydraulic control valves 31 are provided, for example, for each of a plurality of driven elements (hydraulic actuators). The two hydraulic control valves 31 are connected to the two pilot ports of the control valve (direction switching valve) for moving the spool in the first direction and the second direction via the shuttle valve 32 and the pilot line 27, respectively. Be connected. As a result, the controller 30 can operate the operation target hydraulic actuator in a desired direction by outputting a control signal to any one of the two hydraulic control valves 31. Hereinafter, the movement of the spool in the first direction will be described on the premise that it corresponds to the operation of the hydraulic actuator (driven element) in the first direction and the operation of the hydraulic actuator (driven element) in the first direction. .. The same applies to the movement of the spool in the second direction. Further, the pilot ports to which the pilot pressure for moving the spool of the control valve (direction switching valve) in the first direction and the second direction is supplied are the "first pilot port" and the "second pilot". Sometimes referred to as a "port".

Further, the controller 30 controls, for example, the hydraulic control valve 31 to realize remote control of the excavator 100. Specifically, the controller 30 outputs a control signal corresponding to the content of the remote control designated by the remote control signal or the like received from the management device 200 to the flood control valve 31. As a result, the controller 30 can supply the pilot pressure corresponding to the content of the remote control from the hydraulic control valve 31 to the control valve 17, and can realize the operation of the excavator 100 based on the remote control of the operator.

Further, the controller 30 may control, for example, the hydraulic control valve 31 to realize an automatic operation function. Specifically, the controller 30 outputs a control signal corresponding to an operation command related to the automatic operation function to the flood control valve 31 regardless of whether or not the operation device 26 is operated or remotely controlled. As a result, the controller 30 can supply the control valve 17 with the pilot pressure corresponding to the operation command related to the automatic operation function from the hydraulic control valve 31, and can realize the operation of the excavator 100 based on the automatic operation function.

As shown in FIG. 3, the shuttle valve 32 has two inlet ports and one outlet port, and the hydraulic oil having the higher pilot pressure of the pilot pressures input to the two inlet ports is discharged to the outlet port. To output. The shuttle valve 32 is provided for each driven element (hydraulic actuator) to be operated by the operating device 26. That is, the shuttle valve 32 includes, for example, a crawler 1CL (running hydraulic motor 1ML), a crawler 1CR (running hydraulic motor 1MR), an upper swing body 3 (swing hydraulic motor 2A), a boom 4 (boom cylinder 7), and an arm 5 (arm). It is provided for each of the cylinder 8) and the bucket 6 (bucket cylinder 9). In the shuttle valve 32, one of the two inlet ports is connected to the pilot line 27A on the secondary side of the operating device 26 (specifically, the lever device described above included in the operating device 26), and the other is hydraulically controlled. It is connected to the pilot line 27B on the secondary side of the valve 31. The outlet port of the shuttle valve 32 is connected through the pilot line 27 to the pilot port of the corresponding control valve of the control valve 17. The corresponding control valve represents a control valve that drives a hydraulic actuator that is an operation target of the above-mentioned lever device connected to one inlet port of the shuttle valve 32. Therefore, these shuttle valves 32 are the higher of the pilot pressure of the pilot line 27A on the secondary side of the operating device 26 (lever device) and the pilot pressure of the pilot line 27B on the secondary side of the hydraulic control valve 31, respectively. Can act on the pilot port of the corresponding control valve. That is, the controller 30 outputs a pilot pressure higher than the pilot pressure of the pilot line 27A on the secondary side of the operating device 26 from the hydraulic control valve 31, so that the corresponding control is performed regardless of the operator's operation on the operating device 26. The valve can be controlled. Therefore, the controller 30 controls the operation of the driven elements (crawler 1CL, 1CR, upper swing body 3, boom 4, arm 5, and bucket 6) regardless of the operating state of the operator with respect to the operating device 26, and the excavator 100 It is possible to realize the automatic operation function and remote control function of.

More specifically, two shuttle valves 32 are provided, for example, for each of a plurality of driven elements (hydraulic actuators). One inlet port of the two shuttle valves 32 is connected to each of the two pilot lines 27A corresponding to the opposite first and second direction operations of the lever device. The other inlet port of the two shuttle valves 32 is connected to the pilot line 27B on the secondary side of the two hydraulic control valves 31, respectively, as described above. Then, the outlet ports of the two shuttle valves 32 are connected to each of the first pilot port and the second pilot port of the control valve through the pilot line 27. As a result, pilot pressure is supplied from either one of the two shuttle valves 32 to either the first pilot port or the second pilot port of the control valve, and the hydraulic actuator to be operated is moved in the desired direction (first). It can be operated in a direction or a second direction).

As shown in FIG. 3, the hydraulic control valve 33 is provided on the pilot line 27A connecting the operation device 26 (lever device) and the shuttle valve 32. The hydraulic control valve 33 is configured so that the flow path area thereof can be changed, for example. The hydraulic control valve 33 operates in response to a control signal input from the controller 30. As a result, the controller 30 can forcibly reduce the pilot pressure output from the operating device 26 when the operating device 26 is operated by the operator. Therefore, the controller 30 can forcibly suppress or stop the operation of the hydraulic actuator corresponding to the operation of the operating device 26 even when the operating device 26 is being operated. Further, for example, even when the operating device 26 is operated, the controller 30 reduces the pilot pressure output from the operating device 26 to be lower than the pilot pressure output from the hydraulic control valve 31. Can be done. Therefore, the controller 30 controls the hydraulic control valve 31 and the hydraulic control valve 33 to, for example, apply a desired pilot pressure to the pilot port of the control valve in the control valve 17 regardless of the operation content of the operating device 26. It can be operated reliably. Therefore, for example, the controller 30 can more appropriately realize the automatic operation function, the remote control function, and the like of the excavator 100 by controlling the hydraulic control valve 33 in addition to the hydraulic control valve 31.

More specifically, two hydraulic control valves 33 are provided, for example, for each of a plurality of driven elements (hydraulic actuators). The two hydraulic control valves 33 are provided in each of the two pilot lines 27A corresponding to the operations of the lever device in the opposite first direction and the second direction. As a result, the two hydraulic control valves 33 can reduce the pilot pressure of the corresponding pilot line 27A regardless of whether the lever device is operated in the opposite first direction or the second direction. can.

The hydraulic control valve 33 may be omitted. Further, the controller 30 suppresses or stops the operation of the driven element (hydraulic actuator) in the first direction based on the operation of the operator regardless of the presence or absence of the hydraulic control valve 33, so that the second direction of the hydraulic actuator is suppressed or stopped. The hydraulic control valve 31 corresponding to the operation of the above may be controlled. As a result, the pilot pressure is supplied from the hydraulic control valve 31 to the second pilot port of the control valve corresponding to the hydraulic actuator via the shuttle valve 32. Therefore, the pilot pressure can be applied to the second pilot port of the control valve in a manner that opposes the pilot pressure acting on the first pilot port of the control valve according to the operation of the operator. Therefore, the spool of the control valve can be brought closer to the neutral state, and the operation of the hydraulic actuator can be suppressed. Similarly, regardless of the presence or absence of the hydraulic control valve 33, in order to suppress or stop the operation of the driven element (hydraulic actuator) in the second direction based on the operation of the operator, the operation of the hydraulic actuator in the first direction is performed. The corresponding hydraulic control valve 31 may be controlled. Further, for example, the flood control valve 33 of FIG. 3 may be provided on the pilot line 27B of FIG. As a result, the controller 30 can forcibly reduce the pilot pressure output from the hydraulic control valve 31 when the operating device 26 is operated by the operator. Therefore, the controller 30 forcibly suppresses the operation of the hydraulic actuator corresponding to the operation of the operating device 26 even when the pilot pressure corresponding to the operation content of the operating device 26 is output from the hydraulic control valve 31. It can be stopped or stopped.

As shown in FIGS. 3 and 4, the control system of the excavator 100 according to the present embodiment includes a controller 30, an image pickup device 40, a peripheral object information acquisition device 45, a display device 50, a sound output device 52, and the like. The input device 54 and the communication device T1 are included. Further, as shown in FIG. 3, the control system of the excavator 100 according to the present embodiment includes an operating pressure sensor 29 when the operating device 26 is a hydraulic pilot type.

The controller 30 is provided in the cabin 10, for example, and performs various controls related to the excavator 100. The function of the controller 30 may be realized by any hardware, or a combination of any hardware and software. For example, the controller 30 includes a memory device such as a CPU (Central Processing Unit) and a RAM (Random Access Memory), a non-volatile auxiliary storage device such as a ROM (Read Only Memory), and an interface device related to input / output to / from the outside. It is mainly composed of computers including. Further, the controller 30 may include, for example, a high-speed arithmetic circuit such as a GPU (Graphics Processing Unit), an ASIC (Application Specific Integrated Circuit), or an FPGA (Field-Programmable Gate Array) that is linked with a CPU. The controller 30 is evaluated by, for example, the remote control control unit 301, the object detection unit 302, and the safety control unit 303 as functional units realized by executing various programs installed in the auxiliary storage device on the CPU. The value calculation unit 304, the detection accuracy determination unit 305, and the low detection accuracy notification unit 306 are included.

The image pickup device 40 is attached to the upper part of the upper swivel body 3 and takes an image of the periphery of the shovel 100 extending from a region relatively close to the shovel 100 to a region relatively far from the shovel 100 to acquire an captured image. The image pickup apparatus 40 includes cameras 40F, 40B, 40L, and 40R. Hereinafter, the cameras 40F, 40B, 40L, and 40R may be collectively or individually referred to as "camera 40X".

The camera 40F, the camera 40B, the camera 40L, and the camera 40R are attached to the upper front end, the upper rear end, the upper left end, and the upper right end of the upper swivel body 3, respectively, and are attached to the front, rear, and left side of the upper swivel body 3. , And the right side is imaged. For example, the camera 40X is a monocular camera (that is, a wide-angle camera) having a very wide angle of view. Further, for example, the camera 40X may be a stereo camera, a distance image camera, a depth camera, or the like. The camera 40F captures an imaging range in front of the upper swing body 3, for example, an imaging range in the horizontal direction (that is, the circumferential direction seen from the excavator 100) extending from the front left to the front right. Further, the camera 40B captures an imaging range behind the upper swivel body 3, for example, an imaging range in the horizontal direction from the left rear to the right rear (that is, the circumferential direction seen from the excavator 100). Further, the camera 40L captures, for example, an imaging range on the left side of the upper rotating body 3, for example, an imaging range in the horizontal direction (circumferential direction seen from the excavator 100) extending from the left front to the left rear of the upper rotating body 3. .. Further, the camera 40R captures, for example, an imaging range on the right side of the upper rotating body 3, for example, an imaging range in the horizontal direction (circumferential direction seen from the excavator 100) extending from the front right to the rear right of the upper rotating body 3. .. Further, the camera 40X is attached to the upper part of the upper swivel body 3 so that the optical axis faces diagonally downward, and images an imaging range in the vertical direction including from the ground near the excavator 100 to a distance of the excavator 100.

The camera 40X outputs a captured image at predetermined intervals (for example, 1/30 second) from the start (that is, the key switch ON) to the stop (that is, the key switch OFF) of the excavator 100, for example. The captured image output from the camera 40X is captured by the controller 30. Further, the captured image output from the camera 40X may be transmitted (uploaded) from the controller 30 to the management device 200 through the communication device T1.

The peripheral object information acquisition device 45 is attached to the upper part of the upper swivel body 3 and acquires information about objects around the excavator 100. The peripheral object information acquisition device 45 includes sensors 45BL, 45BR, 45L, and 45R. Hereinafter, the sensors 45BL, 45BR, 45L, and 45R may be comprehensively or individually referred to as "sensor 45X".

The sensor 45BL, the sensor 45BR, the sensor 45L, and the sensor 45R are attached to the upper left rear end, the upper right rear end, the upper left end, and the upper right end of the upper swing body 3, respectively, and are attached to the left side of the upper swing body 3. Get information about the rear, right rear, left side, and right side situations. For example, the sensor 45X is a LIDAR (Light Detection and Ranging). Further, for example, the sensor 45X may be, for example, a millimeter wave radar, an ultrasonic sensor, or the like. Hereinafter, the description will be made mainly on the case where the sensor 45X is a lidar.

The sensor 45X irradiates infrared rays in a certain direction and receives reflected light from an object in that direction, so that information about an object around the excavator 100, specifically, information about the reflected light received. (Hereinafter, "light receiving information") is acquired. The sensor 45X is, for example, a scanning type LIDAR, which is a three-dimensional laser scanner capable of scanning the irradiation direction of the infrared laser in the vertical direction and the horizontal direction. Further, the sensor 45X may be a so-called flash type LIDAR that irradiates infrared rays from a light emitting module over a wide range in three dimensions and captures reflected light (infrared rays) with a three-dimensional distance image element.

The light receiving information includes information on the time from infrared irradiation to light reception (TOF: Time Of Flight) (hereinafter, "TOF information") for each infrared irradiation direction, and light reception for each infrared irradiation direction. Information on the intensity of the reflected light to be received (hereinafter, "light receiving intensity information") is included.

The sensor 45BL can irradiate the irradiation range on the left rear side of the upper swivel body 3, for example, the irradiation range in the horizontal direction (that is, the circumferential direction seen from the excavator 100) from the left rear side to the rear side of the upper swivel body 3. It is composed. Further, the sensor 45BR can irradiate the irradiation range on the right rear side of the upper swivel body 3, for example, the irradiation range in the horizontal direction (circumferential direction seen from the excavator 100) from the right rear side to the rear side of the upper swivel body 3. It is composed. Further, the sensor 45L can irradiate the irradiation range on the left side of the upper swing body 3, for example, the irradiation range in the horizontal direction (circumferential direction seen from the excavator 100) from the left front to the left rear of the upper swing body 3. It is composed of. Further, the sensor 45R is configured to be capable of irradiating an irradiation range on the right side of the upper swing body 3, for example, an irradiation range extending from the front right to the rear right of the upper swing body 3. Further, the sensor 45X is attached to the upper part of the upper swivel body 3 so that the optical axis (that is, the reference axis in the infrared irradiation direction) faces diagonally downward, and the sensor 45X is centered on a portion of the ground relatively close to the excavator 100. It has an infrared irradiation range in the vertical direction.

Each of the sensors 45X outputs light receiving information at predetermined intervals from the start to the stop of the excavator 100. The light receiving information output from the sensor 45X is taken into the controller 30.

The display device 50 is provided in the cabin 10 at a location that is easily visible to the seated operator, and displays various information images under the control of the controller 30. The display device 50 is, for example, a liquid crystal display, an organic EL (Electroluminescence) display, or the like. As a result, the display device 50 can notify the operator of the visual information.

The display device 50 displays, for example, an image showing the surroundings of the excavator 100 (hereinafter, “surrounding image”) based on the captured image of the image pickup device 40. The surrounding image may be the image information itself around the excavator 100 captured by the image pickup apparatus 40, or is generated by performing known image processing (for example, viewpoint conversion processing) on the image information. It may be a processed image to be processed. Further, the surrounding image includes, for example, at least one of the left side, the right side, and the rear side of the upper swivel body 3. As a result, the operator of the cabin 10 checks the surrounding image of the display device 50, and by checking the surrounding image of the display device 50, the left side of the upper swivel body 3, which is an area where a blind spot is likely to occur during normal operation of the excavator 100 (hereinafter, “blind spot area”). You can check the safety of the side, the right side, and the back.

The sound output device 52 is provided inside the cabin 10 and outputs sound under the control of the controller 30. The sound output device 52 is, for example, a buzzer, a speaker, or the like. As a result, the sound output device 52 can notify the operator of auditory information according to the content of the sound to be output (timbre, sound pressure, sound pattern, voice content, etc.).

The input device 54 is provided within reach of a seated operator in the cabin 10, receives various inputs from the operator, and outputs signals corresponding to the inputs to the controller 30. For example, the input device 54 includes an operation input device that receives an operation input from an operator. The operation input device may include, for example, a touch panel mounted on the display of the display device 50. Further, the operation input device may include, for example, a touch pad, a button switch, a lever, a toggle, etc. installed around the display device 50. Further, the operation input device may include, for example, a knob switch provided at the tip of the operation device 26 (lever device). Further, for example, the input device 54 may include a voice input device or a gesture input device that accepts the operator's voice input or gesture input. The voice input device includes, for example, a microphone. The gesture input device includes, for example, an imaging device that images an operator in the cabin 10. The signal corresponding to the input content to the input device 54 is taken into the controller 30.

The communication device T1 communicates with an external device (for example, the management device 200) through the communication line NW. The communication device T1 is, for example, a mobile communication module connected to a mobile communication network having a base station as a terminal. Further, the communication device T1 may be, for example, a satellite communication module connected to a satellite communication network using a communication satellite. Further, the communication device T1 may be a WiFi communication module or a Bluetooth communication module that performs short-range communication.

The operating pressure sensor 29 detects the pilot pressure (operating pressure) on the secondary side corresponding to the operation content of the operating device 26. The output of the operating pressure sensor 29 is taken into the controller 30. As a result, the controller 30 can acquire the operation content of the operation device 26.

The remote control control unit 301 controls the remote control of the excavator 100. Specifically, as described above, the remote control control unit 301 is the hydraulic control valve 31 or the hydraulic control valve according to the content of the remote control specified by the remote control signal received from the management device 200 by the communication device T1. It controls 31 and 33 to realize remote control of the excavator 100.

The object detection unit 302 detects an object to be monitored (hereinafter, simply “monitoring target”) in a nearby monitoring area around the excavator 100 based on the output of the image pickup device 40 and the peripheral object information acquisition device 45. The monitoring target includes, for example, a worker working around the excavator 100, a supervisor at the work site, and the like. In addition, the monitoring targets include, for example, materials temporarily placed at the work site, fixed non-moving obstacles such as temporary offices at the work site, moving obstacles such as vehicles including trucks, and the like. Obstacles can be included.

The object detection unit 302 is, for example, based on the output of the image pickup device 40, that is, the captured image captured by the image pickup device 40, and the object detection unit 302 is a predetermined monitoring area around the excavator 100 (upper swivel body 3) (hereinafter, for convenience, “ The monitoring target is detected in the "first monitoring area").

The object detection unit 302 is in the horizontal direction (hereinafter, simply "horizontal direction") as seen from the excavator 100, that is, the plane on which the excavator 100 is working (the lower traveling body 1 is in contact with the ground) (hereinafter, "working plane"). ”), The monitoring target may be detected in the first monitoring area extending in the direction along the direction. Specifically, the object detection unit 302 detects the monitoring target within the first monitoring area where the horizontal distance D from the excavator 100 (upper swivel body 3) is within a predetermined distance Dth1 (for example, 5 meters). It's okay.

For example, the object detection unit 302 recognizes a monitoring target in a captured image by arbitrarily applying various known image processing methods, a machine learning-based classifier including artificial intelligence (AI), and the like. .. Specifically, the object detection unit 302 cuts out a partial image corresponding to the size of the monitoring target including the target pixel for each pixel included in the captured image, and determines the local image feature amount of the partial image. get. The local image feature amount includes, for example, HOG (Histograms of Oriented Gradients), SIFT (Scaled Invariance Feature Transform), and the like. Then, the object detection unit 302 uses a discriminator trained by a plurality of teacher data obtained by combining the image including the monitoring target and the local image feature amount of the image, and based on the acquired local image feature amount, the partial image. It may be determined whether or not the monitoring target is included in.

Further, by applying various known methods, the object detection unit 302 applies a position (for example, a foot position) (for example, a foot position) where the recognized monitoring target (person) is reflected in the image captured by the monocular imaging device 40. Hereinafter, the "existing position") is determined (estimated).

For example, the object detection unit 302 is a horizontal distance (hereinafter, "hereinafter," ". Horizontal distance ") is estimated. This is because the size of the recognized monitoring target on the captured image has a correlation that becomes smaller as the monitoring target moves away from the excavator 100. Specifically, since the monitoring target has a range of an assumed size (for example, a range of the expected height of a person), from the excavator 100 of the monitoring target included in the range of the assumed size. The correlation between the viewed horizontal distance and the size on the captured image can be defined in advance. Therefore, the object detection unit 302 may use, for example, a map or a map that represents the correlation between the size of the monitored object on the captured image and the horizontal distance seen from the excavator 100, which is stored in advance in the internal memory of the auxiliary storage device of the controller 30 or the like. The horizontal distance from the excavator 100 to be monitored can be estimated based on the conversion formula or the like. Further, the object detection unit 302 can estimate the direction in which the monitoring target exists as seen from the excavator 100 (camera 40X) according to the position in the lateral direction (horizontal direction) on the captured image.

Further, for example, the object detection unit 302 projects the captured image onto the plane on the premise that the monitoring target is on the same plane as the excavator 100 (specifically, the lower traveling body 1) (homography). ) Etc., the actual position (for example, the foot position) can be estimated. In this case, a certain part (a certain point) constituting the captured image is associated with a certain position on the same plane as the excavator 100.

Further, the object detection unit 302 is, for example, based on the output (that is, light receiving information) of the peripheral object information acquisition device 45, and the object detection unit 302 has a predetermined monitoring area around the excavator 100 (upper swivel body 3) (hereinafter, for convenience, “No. 1”. 2 The monitoring target is detected in the monitoring area ”).

The object detection unit 302 may detect the monitoring target in the second monitoring area extending in the horizontal direction, that is, in the direction along the work plane. Specifically, the object detection unit 302 may detect the monitoring target within the second monitoring area where the horizontal distance D from the excavator 100 (upper swivel body 3) is within the predetermined distance Dth2. The predetermined distances Dth1 and Dth2 may be the same or different. That is, the first monitoring area and the second monitoring area may be the same or different. For example, the first monitoring area may include a range relatively far from the excavator 100, and the second monitoring area may be limited to a range closer to the excavator 100 than the first monitoring area.

For example, the object detection unit 302 recognizes the existence of a surrounding object and its position based on the TOF information among the received light information captured from the peripheral object information acquisition device 45. Further, the object detection unit 302 recognizes the shape of the object, the size of the object, and the like based on the light receiving information (TOF information) corresponding to the reflected light received from the plurality of irradiation directions, thereby causing the surrounding object. The type may be recognized and it may be determined whether or not the object corresponds to the monitoring target. Further, the object detection unit 302 recognizes the type of the object by recognizing the retroreflectivity and the reflectance of the surrounding object based on the light receiving intensity information in the light receiving information, and the object corresponds to the monitoring target. You may determine whether or not.

Hereinafter, a device for acquiring information about an object around the excavator 100 used for detecting a monitored object by the object detection unit 302, including an image pickup device 40 (camera 40X) and a peripheral object information acquisition device 45, is referred to as an "information source. May be called.

Further, for example, when the object detection unit 302 detects a monitoring target in the monitoring area while the excavator 100 is remotely controlled, it indicates that the monitoring target is detected in the monitoring area through the communication device T1. A signal (hereinafter, “monitoring target detection signal”) is transmitted to the management device 200. As a result, the management device 200 can recognize that the monitoring target exists in the monitoring area around the excavator 100.

Further, the function of the object detection unit 302 may be switched between ON (valid) and OFF (invalid) according to a predetermined operation by a user such as an operator for the input device 54. In this case, ON (valid) / OFF (disabled) can be switched for each function of detecting the monitoring target based on the output of the imaging device 40 and the function of detecting the monitoring target based on the output of the peripheral object information acquisition device 45. It may be an embodiment.

The object detection unit 302 may detect a monitoring target in the monitoring area around the excavator 100 based on only the output of either the image pickup device 40 or the peripheral object information acquisition device 45. Further, when the object detection unit 302 detects the monitoring target in the monitoring area around the excavator 100 based only on the output of the image pickup device 40, the peripheral object information acquisition device 45 may be omitted.

The safety control unit 303 controls the safety function of the excavator 100. Specifically, the safety control unit 303 controls the safety function for avoiding contact between the excavator 100 and an object around it.

The safety control unit 303 activates a predetermined safety function (hereinafter, “first safety function” for convenience) when the object to be monitored is detected in the monitoring area by the object detection unit 302, for example.

The first safety function includes, for example, outputting an alarm to at least one of the inside and the outside of the cabin 10, and indicating that the monitoring target has been detected by an operator or the like in the cabin 10 or a worker around the excavator 100. Etc. (hereinafter, "notification function") is included.

The safety control unit 303 activates the notification function, for example, when the object detection unit 302 detects a monitoring target within a predetermined range (hereinafter, “notification range”) included in the monitoring area. The notification range may be the same as the monitoring area, or the outer edge thereof may be set to be relatively closer to the excavator 100 than the monitoring area. As a result, the operator inside the cabin 10 and the workers around the excavator 100 can be made to recognize that the monitoring target exists within a predetermined range around the excavator 100.

By controlling the sound output device 52, for example, the safety control unit 303 activates a sound (that is, auditory method) notification function for at least one of the inside and the outside of the cabin 10. As a result, the sound output device 52 can realize an auditory notification function under the control of the controller 30. At this time, the safety control unit 303 may change the pitch, sound pressure, timbre, sounding cycle when the sound is periodically blown, the content of the voice information, and the like according to various conditions. good.

Further, the safety control unit 303 activates a notification function by displaying image information to the inside of the cabin 10, for example, by controlling the display device 50. Specifically, the safety control unit 303 may display an image indicating that the monitoring target has been detected on the surrounding image displayed on the display device 50. Further, the safety control unit 303 may emphasize the position on the surrounding image corresponding to the monitoring target displayed in the surrounding image displayed on the display device 50 or the position viewed from the detected excavator 100 of the monitoring target. good. More specifically, the safety control unit 303 superimposes and displays a frame surrounding the monitoring target displayed on the surrounding image, or markers at a position on the surrounding image corresponding to the detected actual position of the monitoring target. May be superimposed and displayed. As a result, the display device 50 can realize a visual notification function to the operator under the control of the controller 30.

Further, the safety control unit 303 visually controls the headlights and the external display device provided in the house unit of the upper swivel body 3, for example, so that the workers and supervisors around the excavator 100 can visually control the safety control unit 303. The notification function may be activated by any method. Further, the safety control unit 303 may operate the notification function for the operator in the cabin 10 by a tactile method, for example, by controlling a vibration generator that vibrates the cockpit in which the operator sits. As a result, the controller 30 can make the operator, the workers around the shovel 100, the supervisor, and the like recognize that there is a monitoring target (for example, a person such as a worker) around the shovel 100. .. Therefore, the controller 30 can urge the operator to confirm the safety around the excavator 100, and also urge the workers and the like in the monitoring area to evacuate from the monitoring area.

Further, the safety control unit 303 may change the notification mode (that is, the notification method) according to the positional relationship between the monitoring target detected within the notification range and the excavator 100.

For example, the safety control unit 303 is relative to the extent that when the monitoring target detected within the notification range by the object detection unit 302 exists at a position relatively far from the excavator 100, the operator or the like is alerted to the monitoring target. A low alert level alarm (hereinafter, "low alert level alarm") may be output. On the other hand, in the safety control unit 303, when the monitoring target detected within the notification range by the object detection unit 302 exists at a position relatively close to the excavator 100, the monitoring target approaches the excavator 100 and the risk is increased. An alarm with a relatively high degree of alertness (hereinafter referred to as "high alert level alarm") may be output.

In this case, the safety control unit 303 determines the pitch, sound pressure, timbre, sounding cycle, content of voice information, etc. of the sound output from the sound output device 52 between the caution level alarm and the alert level alarm. You can make it different. Further, the safety control unit 303 displays an image indicating that a monitoring target displayed on the surrounding image displayed on the display device 50 is detected between the low alert level alarm and the high alert level alarm. , The color, shape, size, presence / absence of blinking, blinking cycle, etc. of the monitored object or the image (for example, a frame, a marker, etc.) that emphasizes the position of the monitored object may be different. As a result, the controller 30 causes the operator or the like to be urgent, in other words, the excavator 100 to be monitored, due to the difference between the notification sound (alarm sound) output from the sound output device 52 and the notification image displayed on the display device 50. It is possible to grasp the degree of approach to.

The first safety function includes, for example, a function of restricting or prohibiting the operation of the excavator 100 with respect to the operation of the driven element (hydraulic actuator) (for example, the operation of the operating device 26 or the remote control) (hereinafter, "operation restriction". Function ") may be included. The operation limiting function includes an operation deceleration function that slows down the operating speed of the excavator 100 with respect to the operation of the hydraulic actuator, and an operation stop function that stops the operation of the excavator 100 and maintains the stopped state regardless of the operation of the hydraulic actuator. Includes at least one of the functions.

The safety control unit 303 activates the operation restriction function, for example, when the object detection unit 302 detects a monitoring target within a predetermined range (hereinafter, “operation restriction range”) included in the monitoring area. The operation restriction range may be the same as the monitoring area, or the outer edge thereof may be set to be relatively closer to the excavator 100 than the monitoring area. Further, the operation limit range includes an operation deceleration range in which the operation speed of the excavator 100 is slower than usual with respect to the operation of the hydraulic actuator, and an operation in which the operation of the excavator 100 is stopped and the stopped state is maintained regardless of the operation of the actuator. At least one of the stop ranges is included. As a result, the controller 30 can slow down or stop the operation of the excavator 100 when there is a monitoring target around the excavator 100. Therefore, the controller 30 can suppress the contact between the monitoring target around the excavator 100 and the excavator 100. For example, when the operation limit range includes both the operation deceleration range and the operation stop range, the operation stop range is, for example, a range close to the excavator 100 in the operation limit range, and the operation deceleration range is the operation limit range. It is a range set outside the operation stop range of.

For example, when the operation device 26 is a hydraulic pilot type, the safety control unit 303 may operate the operation limiting function by controlling a predetermined hydraulic control valve provided on the pilot line 25. Specifically, the safety control unit 303 may operate the operation deceleration function by reducing the pilot pressure of the pilot line 25 by using the hydraulic control valve. Further, the safety control unit 303 may operate the operation stop function by making the pilot line 25 in a non-communication state by using the hydraulic control valve.

Further, for example, when the operating device 26 is an electric type, the safety control unit 303 controls output from the controller 30 to the hydraulic control valve 31 according to the contents of the operation of the operating device 26 (lever device) or the remote control. The operation limiting function may be activated by adjusting the signal. Specifically, the safety control unit 303 may operate the operation deceleration function by outputting a control signal to the hydraulic control valve 31 so that the operating speed of the hydraulic actuator is relatively lower than the operation content. Further, the safety control unit 303 may operate the operation stop function by preventing the control signal itself from being output to the flood control valve 31.

Further, the safety control unit 303 may operate the operation limiting function by controlling the hydraulic control valve 33, for example. Specifically, the safety control unit 303 activates the operation deceleration function by reducing the pilot pressure of the pilot line 27B on the secondary side of the operation device 26 (lever device) by using the hydraulic control valve 33. good. Further, the safety control unit 303 may operate the operation stop function by using the hydraulic control valve 33 to bring the pilot line 27B into a communicating state.

Further, the safety control unit 303 is, for example, a hydraulic control corresponding to the operation of the hydraulic actuator in the direction opposite to the operation direction of the hydraulic actuator among the above-mentioned two hydraulic control valves 31 provided for each driven element (hydraulic actuator). The operation limiting function may be activated by controlling the valve 31. Specifically, the safety control unit 303 changes from the hydraulic control valve 31 to the second pilot port of the control valve in a form that opposes the pilot pressure acting on the first pilot port of the control valve in response to the operation of the operator. The operation limiting function may be activated by applying the pilot pressure. Similarly, the safety control unit 303 counteracts the pilot pressure acting on the second pilot port of the control valve in response to the operator's operation, and the pilot pressure is applied from the hydraulic control valve 31 to the first pilot port of the control valve. The operation limiting function may be activated by the action of.

Further, the safety control unit 303 may operate the operation limiting function (operation stop function) by, for example, stopping the engine 11.

Further, the safety control unit 303 first detects the monitoring target based on the output (captured image) of the image pickup device 40 and the monitoring target based on the output of the peripheral object information acquisition device 45. The control mode regarding the safety function of the above may be different.

For example, when the object detection unit 302 detects the monitoring target from the output of the image pickup device 40, the safety control unit 303 operates only the notification function and the safety confirmation function among the first safety functions. That is, when the object detection unit 302 detects the monitoring target from the output of the image pickup device 40, the safety control unit 303 does not operate the operation limiting function regardless of the distance between the monitoring target and the excavator 100 or the like. Specifically, the safety control unit 303 notifies when the object detection unit 302 detects a monitoring target within the notification range (hereinafter, “first notification range” for convenience) from the captured image of the image pickup device 40. The operation limit range (hereinafter, "first operation limit range" for convenience) corresponding to the detection of the monitoring target from the captured image of the image pickup device 40 by activating the function and the safety confirmation function is not set.

On the other hand, when the object detection unit 302 detects the monitoring target in the operation restriction range (hereinafter, "second operation restriction range" for convenience) from the output of the peripheral object information acquisition device 45, the safety control unit 303 performs. Activate the safety confirmation function and operation restriction function. Further, the safety control unit 303 has a notification function when the object detection unit 302 detects a monitoring target within the notification range (hereinafter, “second notification range” for convenience) from the output of the peripheral object information acquisition device 45. May be activated. The first notification range and the second notification range may be the same or different.

For example, if the operation restriction function is activated based on the detection result even though the detection accuracy of the monitored object is relatively low, the operator may feel uncomfortable or the work efficiency of the excavator 100 may be higher than when the notification function is activated. Is more likely to decrease.

On the other hand, in this example, the controller 30 operates the operation limiting function only when the monitoring target is detected from the output of the peripheral object information acquisition device 45 among the image pickup device 40 and the peripheral object information acquisition device 45. Tolerate. The detection accuracy tends to be relatively higher when the monitoring target is detected from the received information of the peripheral object information acquisition device 45 than when the monitoring target is detected by image recognition of the captured image of the image pickup device 40. Because it is in. As a result, the controller 30 can improve the safety of the excavator 100 while suppressing the discomfort given to the operator and the decrease in the work efficiency of the excavator 100.

Further, the safety control unit 303 releases the operation of the first safety function when, for example, the object detection unit 302 no longer detects the monitoring target after the first safety function is activated, and the first safety function is activated. Stop the safety function. Further, the safety control unit 303, for example, receives a predetermined input requesting the release of the first safety function from the operator through the input device 54 after activating the first safety function. The safety function of the above may be canceled and the first safety function may be stopped.

The evaluation value calculation unit 304 determines the degree to which the information about the object around the excavator 100 acquired by the information source represents the monitoring target in the state where the alarm is not output, that is, the monitoring target is not detected. The indicated evaluation value (hereinafter, simply "evaluation value") is calculated. The information source includes, for example, an imaging device 40 (camera 40X), a sensor 45X, and the like, as described above. Specifically, the evaluation value calculation unit 304 sets each of a plurality of positions (hereinafter, "evaluation position") included in the information acquisition range (hereinafter, "information acquisition range") by the information source around the excavator 100. The evaluation value of the information of the information source corresponding to the evaluation position may be calculated. The information acquisition range is an angle range in the vertical and horizontal directions (for example, the angle of view of the camera 40X and the angle of the infrared laser irradiation direction of the sensor 45X) with reference to the information source mounted on the excavator 100 (upper swivel body 3). Scope). For example, the information acquisition range by the information source corresponds to the area around the excavator 100 included in this angle range when viewed from the information source.

For example, the evaluation value calculation unit 304 is set for evaluation by including a target partial image for each of a plurality of partial images (for example, pixels) included in the captured image of the camera 40X corresponding to a plurality of evaluation positions. An evaluation value indicating the degree to which the image represents a monitoring target (for example, a person) is calculated. In this case, the evaluation image is set to match the size of the monitoring target when it is assumed that the monitoring target exists on the partial image of the captured image, for example, and the evaluation value calculation unit 304 localizes the evaluation image. The evaluation value may be calculated based on the image feature amount. Further, the evaluation value calculation unit 304 sets an evaluation value indicating the degree to which the light receiving information obtained from the irradiation direction represents the monitoring target for each of the plurality of irradiation directions of the infrared laser by the sensor 45X corresponding to the plurality of evaluation positions. calculate. In this case, the evaluation value calculation unit 304 may calculate the evaluation value based on, for example, the light receiving intensity information included in the light receiving information.

The detection accuracy determination unit 305 determines whether or not a region where the detection accuracy of the object monitored by the object detection unit 302 is relatively low (hereinafter, “low detection accuracy region”) is around the excavator 100. In the low detection accuracy region, for example, the characteristics of an object corresponding to the background (hereinafter, “background object”) included in the captured image of the camera 40X and the received information of the sensor 45X are similar to the characteristics of the monitored object, and the background object. Includes areas where may be falsely detected (misrecognized) as an object to be monitored. Further, in the low detection accuracy region, the characteristics of the background object included in the image captured by the camera 40X and the received information of the sensor 45X are similar to the characteristics of the monitoring target, and the object to be monitored is assimilated into the background object. In, the area where the monitoring target may not be detected (recognized) is included. The detection accuracy determination unit 305 determines, for example, whether or not there is a low detection accuracy region around the excavator 100 in which the detection accuracy of the monitored object based on the image information of the image pickup device 40 (camera 40X) by the object detection unit 302 is relatively low. May be determined. Further, the detection accuracy determination unit 305 determines, for example, whether or not there is a low detection accuracy region around the excavator 100 in which the detection accuracy of the monitored object based on the light reception information of the sensor 45X by the object detection unit 302 is relatively low. .. When there are a plurality of types of monitoring targets, the detection accuracy determination unit 305 may determine, for example, whether or not a low detection accuracy region is around the excavator 100 for each of the plurality of types of monitoring targets.

The detection accuracy determination unit 305 performs the above processing (hereinafter, “detection accuracy determination processing”) when the excavator 100 is activated (for example, the key switch is turned on). Further, the detection accuracy determination unit 305 may or may not change the environment around the excavator 100 as seen from the image pickup device 40 (camera 40X), the peripheral object information acquisition device 45 (sensor 45X), or the like. If there is, the above processing is performed.

Details of the detection accuracy determination process of the detection accuracy determination unit 305 will be described later (see FIGS. 5 to 9).

When the detection accuracy determination unit 305 determines that the low detection accuracy region is around the excavator 100, the low detection accuracy notification unit 306 outputs a notification regarding the low detection accuracy region around the excavator 100 to the operator. For example, when the detection accuracy determination unit 305 determines that the low detection accuracy region is around the excavator 100, the low detection accuracy notification unit 306 notifies the operator that the low detection accuracy region exists around the excavator 100. do. Further, for example, when the detection accuracy determination unit 305 determines that the low detection accuracy region is around the excavator 100, the low detection accuracy notification unit 306 notifies the operator of the low detection accuracy region around the excavator 100 (teaching). ) May be done.

Specifically, the low detection accuracy notification unit 306 controls the display device 50 to specify information indicating that a low detection accuracy region exists around the excavator 100 and a low detection accuracy region around the excavator 100. Information or the like may be displayed on the display device 50. Further, the low detection accuracy notification unit 306 controls the sound output device 52, and provides sound indicating that a low detection accuracy region exists around the excavator 100 and voice information that identifies a low detection accuracy region around the excavator 100. Etc. may be output from the sound output device 52.

Further, when the excavator 100 is remotely controlled, the low detection accuracy notification unit 306 controls the communication device T1 and provides information indicating that a low detection accuracy region exists around the excavator 100 and information around the excavator 100. A signal including information or the like that identifies a low detection accuracy region (hereinafter, “low detection accuracy notification signal”) may be transmitted to the management device 200. As a result, the controller 30 can notify the operator who remotely controls the excavator 100 through the management device 200 that a low detection accuracy region exists around the excavator 100.

Details of the existence of the low detection accuracy region and the method of notifying the operator of the low detection accuracy region itself will be described later (see FIG. 10).

Further, when the detection accuracy determination unit 305 determines that the low detection accuracy region is around the excavator 100, compared with the case where the detection accuracy determination unit 305 determines that the low detection accuracy region is not around the excavator 100. Therefore, the control mode of the safety control unit 303 may be changed.

The safety control unit 303 is relatively low, for example, when the object detection unit 302 detects the monitoring target in a state where the detection accuracy determination unit 305 has not determined that the low detection accuracy region is around the excavator 100. An alarm indicating the degree of alertness (alarm of low alert level) may be output. On the other hand, the safety control unit 303 is relatively high when the object detection unit 302 detects the monitoring target in a state where the detection accuracy determination unit 305 determines that the low detection accuracy region is around the excavator 100. An alarm indicating the degree of alertness (alarm of high alert level) may be output.

As a result, the excavator 100 has a low detection accuracy region around the excavator 100, and urges the operator to be more vigilant about the surroundings of the excavator 100 in a situation where a monitoring target is erroneously detected, overlooked, or easily occurs. Can be done.

Further, when the safety control unit 303 determines that the low detection accuracy region is around the excavator 100 by the detection accuracy determination unit 305, the object detection unit 302 detects the monitoring target in the low detection accuracy region. An alarm with a relatively high degree of alertness (an alarm with a high alert level) may be output.

As a result, while improving the safety of the excavator 100, it is possible to suppress the load on the operator due to the output of an alarm having a relatively high degree of caution.

Further, when the safety control unit 303 determines that the low detection accuracy region is around the excavator 100 by the detection accuracy determination unit 305, the object detection unit 302 detects the monitoring target in the low detection accuracy region. In addition, the operation of the notification function may be prohibited so that the alarm is not output. This is because, as described above, the low detection accuracy notification unit 306 notifies the operator of the specific location of the low detection accuracy region, so that it is possible to entrust the operator to monitor the low detection accuracy region. In this case, even if the object detection unit 302 detects the monitoring target in the low detection accuracy region, it is desirable to notify the operator in advance that the notification function will not operate.

<Configuration of management device>
The management device 200 includes a control device 210, a communication device 220, an output device 230, and an input device 240.

The control device 210 performs various controls related to the management device 200. The function of the control device 210 may be realized by any hardware, or a combination of any hardware and software. For example, the control device 210 is mainly composed of a computer including a memory device such as a CPU and a RAM, a non-volatile auxiliary storage device such as a ROM, and an interface device for input / output to / from the outside. Further, the control device 210 may include, for example, a high-speed arithmetic circuit such as a GPU, an ASIC, or an FPGA that is interlocked with a CPU. The control device 210 includes, for example, a remote operation support unit 2101, a safety control unit 2102, and a low detection accuracy notification unit 2103 as functional units realized by executing a program installed in the auxiliary storage device on the CPU. including.

The communication device 220 communicates with an external device (for example, the excavator 100) through the communication line NW. The communication device 220 is, for example, a modem or an ONU (Optical Network Unit). Further, the communication device 220 may be, for example, a mobile communication module connected to a mobile communication network having a base station as a terminal. Further, the communication device T1 may be, for example, a satellite communication module connected to a satellite communication network using a communication satellite. Further, the communication device T1 may be, for example, a WiFi communication module or a Bluetooth communication module that performs short-range communication.

Under the control of the control device 210, the output device 230 outputs various information to the manager, the operator, the operator who performs remote control, and the like of the management device 200.

The output device 230 includes, for example, a display device that visually outputs various information related to the management device 200 (for example, various information received from the excavator 100) to the manager or the operator of the management device 200. The display device is, for example, a liquid crystal display or an organic EL display.

Further, the output device 230 includes, for example, a sound output device that aurally outputs various information about the management device 200 to the manager or the operator of the management device 200. The sound output device is, for example, a buzzer, a speaker, or the like.

Further, the output device 230 includes a display device 230A used by an operator who remotely controls the excavator 100.

The display device 230A displays various information images that support the remote control of the excavator 100 under the control of the control device 210. The display device 230A displays, for example, a peripheral image showing the surroundings of the excavator 100. In the surrounding image, in addition to the image information showing the state in front of the excavator 100, as in the case of the display device 50 of the shovel 100, the image information showing at least one state on the left side, the right side, and the rear side of the excavator 100 is included. included.

The input device 240 receives inputs from users such as an administrator, a worker, and an operator who performs remote control of the management device 200, and outputs the received input contents to the control device 210.

The input device 240 includes, for example, an operation input device that receives operation inputs from the manager, the operator, and the like of the management device 200. The operation input device includes, for example, a keyboard, a mouse, a touch panel, and the like.

Further, the input device 240 may include, for example, a voice input device that accepts voice input from the manager or worker of the management device 200, a gesture input device that accepts gesture input, and the like. The voice input device includes, for example, a microphone. Further, the gesture input device includes, for example, an imaging device that captures a gesture performed by a manager, an operator, or the like of the management device 200.

Further, the input device 240 includes, for example, an operation device 240A used by an operator who remotely controls the excavator 100.

The operating device 240A (an example of an operating unit) is used to remotely control a plurality of driven elements of the excavator 100, that is, a hydraulic actuator. The operating device 240A may be configured around the same form as the operating device 26 of the excavator 100, that is, the lever device. The operation device 240A (lever device) outputs the operation content, that is, an electric signal (hereinafter, “remote control signal”) corresponding to the content of the remote control, and the remote control signal is taken into the control device 210.

The remote control support unit 2101 supports the remote control of the excavator 100 by the operator of the management device 200.

For example, the remote control support unit 2101 causes the display device 230A to display a surrounding image showing the surrounding state of the excavator 100 based on the image captured by the image pickup device 40 (camera 40X) received from the excavator 100 by the communication device 220. As a result, the operator of the management device 200 can remotely control the shovel 100 while checking the surroundings of the shovel 100 displayed on the display device 230A.

When the surrounding image displayed on the display device 230A is a processed image, the processed image generated by the excavator 100 may be transmitted from the excavator 100 to the management device 200 instead of the image captured by the image pickup device 40.

Further, the remote control support unit 2101 transmits, for example, a remote control signal input from the operation device 240A, which represents the content of the remote control, to the excavator 100 through the communication device 220 (an example of the communication unit). As a result, the operation content of the operating device 240A can be reflected in the operation of the excavator 100, and the remote control of the excavator 100 can be realized.

The safety control unit 2102 controls the safety function of the excavator 100. Specifically, the safety control unit 2102 controls the safety function for avoiding contact between the excavator 100 and an object around it, as in the case of the safety control unit 303.

The safety control unit 303 has a predetermined safety function (for example, when the monitoring target detection signal is received from the excavator 100 by the communication device 220, that is, when the monitoring target is detected in the monitoring area by the object detection unit 302. Hereinafter, for convenience, the "second safety function") is activated.

The second safety function includes, for example, a notification function for notifying the operator who remotely controls the excavator 100 that a monitoring target has been detected, such as outputting an alarm, as in the case of the first safety function. Is included.

For example, the safety control unit 2102 activates the notification function when the object detection unit 302 detects a monitoring target within the notification range included in the monitoring area, as in the case of the safety control unit 303.

The safety control unit 2102 operates the sound notification function by controlling the sound output device included in the output device 230, as in the case of the safety control unit 303, for example. As a result, the output device 230 can realize an auditory notification function under the control of the control device 210.

Further, the safety control unit 2102 operates the notification function by displaying the image information by controlling the display device included in the output device 230, as in the case of the safety control unit 303, for example. As a result, the output device 230 can realize a visual notification function to the operator under the control of the control device 210.

When the low detection accuracy notification signal is received from the excavator 100 by the communication device 220, the low detection accuracy notification unit 2103 notifies the operator that the low detection accuracy region exists around the excavator 100. Further, when the detection accuracy determination unit 305 determines that the area where the detection accuracy of the monitoring target is relatively low is around the excavator 100, the low detection accuracy notification unit 306 detects the detection accuracy of the monitoring target around the excavator 100. The operator may be notified (taught) of a region where is relatively low.

The low detection accuracy notification unit 2103 controls the display device included in the output device 230, and specifies information indicating that a low detection accuracy region exists around the excavator 100 and a low detection accuracy region around the excavator 100. Information or the like may be displayed on the display device. Further, the low detection accuracy notification unit 2103 controls a sound output device included in the output device 230, and a sound indicating that a low detection accuracy region exists around the excavator 100 or a low detection accuracy region around the excavator 100. The sound information or the like that specifies the above may be output from the sound output device. Details of the existence of the low detection accuracy region and the method of notifying the operator of the low detection accuracy region itself will be described later (see FIG. 10).

[Control processing related to notification of low detection accuracy area to operator]
Next, with reference to FIG. 5, a specific example of the control process related to the notification of the low detection accuracy region to the operator by the controller 30 of the excavator 100 (hereinafter, “low detection accuracy region notification process”) will be described.

FIG. 5 is a flowchart schematically showing an example of low detection accuracy region notification processing by the controller 30. This flowchart is repeatedly executed at predetermined time intervals from the start of the excavator 100 to the stop (for example, turning off the key switch).

As shown in FIG. 5, in step S102, the controller 30 has at least one of the turning motion of the upper swinging body 3 from the activation of the shovel 100 and the moving motion of the shovel 100 (that is, the running motion of the lower traveling body 1). Determines whether or not the frequency of occurrence is relatively high. The frequency is, for example, the number of occurrences per unit time. The controller 30 may determine, for example, whether or not the frequency at which at least one of the turning motion of the upper swinging body 3 and the running motion of the lower traveling body 1 occurs from the start of the excavator 100 is equal to or higher than a predetermined threshold value. If at least one of the turning motion of the upper swinging body 3 and the running motion of the lower traveling body 1 from the activation of the excavator 100 occurs relatively infrequently (less), the controller 30 proceeds to step S104 and is relatively relative. If there are many, the process proceeds to step S108.

In step S104, the controller 30 determines whether or not at least one of the turning operation of the upper rotating body 3 and the traveling operation of the lower traveling body 1 is performed. The controller 30 proceeds to step S106 when at least one of the turning operation of the upper rotating body 3 and the traveling operation of the lower traveling body 1 is performed, and when neither operation is performed, the controller 30 processes the flowchart of this time. finish.

In step S106, the controller 30 determines whether or not the turning operation of the upper rotating body 3 and the traveling operation of the lower traveling body 1 have stopped. The controller 30 uses the upper swivel body 3 when, for example, both the swivel operation of the upper swivel body 3 and the traveling motion of the lower traveling body 1 are stopped for a certain period of time (for example, 10 seconds) or more. It may be determined that the turning motion of the lower traveling body 1 and the traveling motion of the lower traveling body 1 have stopped. The controller 30 proceeds to step S110 when both the turning operation of the upper turning body 3 and the running operation of the lower traveling body 1 are stopped, and in other cases, the turning operation of the upper turning body 3 and the lower traveling body 1 The process of step S106 is repeated until both of the traveling operations of the above are stopped.

On the other hand, in step S108, the controller 30 determines whether or not a predetermined time (for example, several minutes) has elapsed from the previous detection accuracy determination process (for example, its completion). If the predetermined time has elapsed from the previous detection accuracy determination process, the controller 30 proceeds to step S110, and if the predetermined time has not elapsed, the controller 30 ends the process of the current flowchart.

In step S110, the controller 30 (safety control unit 303) determines whether or not an alarm based on the detection of the monitoring target is output through the display device 50 and the sound output device 52. If the controller 30 does not output an alarm, the process proceeds to step S112, and if an alarm is output, the controller 30 cancels the alarm and repeats the process of step S110 until the alarm is stopped.

In step S112, the controller 30 (detection accuracy determination unit 305) performs the detection accuracy determination process. When the process of step S112 is completed, the controller 30 proceeds to step S114.

In step S114, the controller 30 (detection accuracy determination unit 305) determines whether or not there is a low detection accuracy region around the excavator 100. In this case, the low detection accuracy region is, for example, a region in which at least one of the detection accuracy of the monitored object based on the captured image of the imaging device 40 and the detection accuracy of the monitored object based on the received light information of the sensor 45X is relatively low. It may be. Further, the low detection accuracy region may be a region in which both the detection accuracy of the monitoring target based on the captured image of the image pickup apparatus 40 and the detection accuracy of the monitoring target based on the received light information of the sensor 45X are relatively low. .. Further, in the low detection accuracy region, the detection accuracy of the monitoring target based on the image captured by the image pickup apparatus 40 and the detection accuracy of the monitoring target based on the light reception information of the sensor 45X, whichever is relatively high at normal times, are relative to each other. It may be a low region.

The controller 30 proceeds to step S116 when there is a low detection accuracy region around the excavator 100, and proceeds to step S118 when there is no low detection accuracy region around the excavator 100.

In step S116, the controller 30 (low detection accuracy notification unit 306) outputs a notification regarding the low detection accuracy region around the excavator 100 to the operator. Specifically, as described above, the controller 30 may output a notification regarding the low detection accuracy region around the excavator 100 to the operator of the cabin 10 through the display device 50 and the sound output device 52. Further, when the excavator 100 is remotely controlled, the controller 30 may transmit a low detection accuracy notification signal to the management device 200 through the communication device T1. As a result, the controller 30 can output a notification regarding the low detection accuracy region around the excavator 100 to the operator who remotely controls the excavator 100 through the management device 200 (low detection accuracy notification unit 2103).

When the process of step S116 is completed, the controller 30 completes the process of the current flowchart.

As described above, in the present embodiment, the display device 50 and the sound output device 52 (hereinafter, “display device 50 and the like”) (an example of the alarm output unit) are images acquired by the image pickup device 40 (an example of the acquisition unit). When a monitoring target is detected around the excavator 100 based on the information and the received light information acquired by the peripheral object information acquisition device 45 (sensor 45X) (an example of the acquisition unit), the operator is notified under the control of the controller 30. And output an alarm. Then, when the low detection accuracy region is around the excavator 100, the display device 50 or the like (an example of the notification unit) notifies the operator of the low detection accuracy region around the excavator 100 under the control of the controller 30. I do.

Similarly, in the present embodiment, when the excavator 100 is remotely controlled, the output device 230 (an example of the alarm output unit) uses the image captured by the image pickup device 40 acquired by the excavator 100, the received information of the sensor 45X, and the like. When a monitoring target is detected around the excavator 100, an alarm is output to an operator who remotely controls the excavator 100 under the control of the control device 210. Then, when the output device 230 (an example of the notification unit) has a low detection accuracy region around the excavator 100, the output device 230 (an example of the notification unit) is around the excavator 100 with respect to an operator who remotely controls the excavator 100 under the control of the control device 210. Notifies the low detection accuracy area of.

As a result, the excavator 100 and the management device 200 can make the operator recognize that the situation is such that erroneous detection or oversight of the monitoring target by the object detection unit 302 is likely to occur. Therefore, the excavator 100 and the management device 200 can warn the operator to pay more attention to the situation around the excavator 100. Therefore, the function of detecting the monitored object by the object detection unit 302 of the excavator 100 can be complemented by the operator with a relatively high awareness of the surrounding situation of the excavator 100, and the safety of the excavator 100 can be improved.

Further, in the present embodiment, when the display device 50 or the like has a low detection accuracy region around the excavator 100, the display device 50 or the like may notify the operator of the low detection accuracy region around the excavator 100.

Similarly, in the present embodiment, when the excavator 100 is remotely controlled, the output device 230 of the management device 200 is under the control of the control device 210 when there is a low detection accuracy region around the excavator 100. The low detection accuracy region around 100 may be notified to the operator who remotely controls the excavator 100.

As a result, the excavator 100 and the management device 200 can teach the location of the low detection accuracy region where the object detection unit 302 is likely to cause erroneous detection or oversight of the monitored object. Therefore, the excavator 100 and the management device 200 can urge the operator to give priority to the low detection accuracy region. Therefore, the safety of the excavator 100 can be further improved.

Further, in the present embodiment, the display device 50 and the like have the detection accuracy of the monitoring target based on the captured image (an example of the first information) of the image pickup device 40 (an example of the first acquisition unit), and the sensor 45X (an example of the second information). When there is a region around the excavator 100 where at least one of the detection accuracy of the monitoring target based on the light receiving information (an example of the second information) of the acquisition unit) is relatively low, the controller 30 Under control, the operator may be notified about the low detection accuracy region around the excavator 100.

Similarly, in the present embodiment, while the excavator 100 is remotely controlled, the output device 230 of the management device 200 is based on the detection accuracy of the monitoring target based on the captured image of the image pickup device 40 and the light reception information of the sensor 45X. When at least one of the detection accuracy of the monitored object has a relatively low detection accuracy around the excavator 100, the excavator 100 is used for an operator who remotely controls the excavator 100 under the control of the control device 210. Notifications may be made regarding the low detection accuracy region around the.

As a result, when the excavator 100 or the management device 200 has a region where the detection accuracy of the monitoring target based on any one of the information from a plurality of information sources is relatively low, the detection accuracy of the monitoring target based on the other information becomes high. Even if it is relatively high, it is possible to notify the operator of information regarding the low detection accuracy region. Therefore, the excavator 100 and the management device 200 can call the operator high attention to the situation around the excavator 100 if the detection accuracy of the monitored object is lowered even a little. Therefore, the safety of the excavator 100 can be further improved.

Further, in the present embodiment, the display device 50 or the like has a relatively high detection accuracy of the monitoring target based on the captured image of the image pickup device 40 and the detection accuracy of the monitoring target based on the light receiving information of the sensor 45X at normal times. When there is a region around the excavator 100 where the detection accuracy of is relatively low, the operator may be notified about the low detection accuracy region around the excavator 100.

Similarly, while the excavator 100 is remotely controlled, the output device 230 of the management device 200 has the detection accuracy of the monitoring target based on the captured image of the image pickup device 40 and the detection accuracy of the monitoring target based on the received light information of the sensor 45X. When there is a region around the excavator 100 that has a relatively high detection accuracy and a relatively low detection accuracy, the operator may be notified of the low detection accuracy region around the excavator 100.

As a result, the excavator 100 and the management device 200 have relatively low detection accuracy of the monitoring target based on the information of the information source from which relatively high detection accuracy can be obtained in normal times among the information from each of the plurality of information sources. When a region is generated, the operator can be notified of information regarding the low detection accuracy region even when the detection accuracy of the monitoring target based on other information is relatively high. Therefore, the excavator 100 and the management device 200 can call the operator high attention to the situation around the excavator 100 if the detection accuracy of the monitored object is lowered even a little. Therefore, the safety of the excavator 100 can be further improved.

Further, in the present embodiment, the detection accuracy determination unit 305 (an example of the determination unit) is used when at least one of the rotation operation of the upper swivel body 3 and the movement of the excavator 100 (the traveling operation of the lower traveling body 1) occurs. , It is determined whether or not there is a low detection accuracy region around the excavator 100. Then, when the detection accuracy determination unit 305 determines that the low detection accuracy region is around the excavator 100, the display device 50 or the like causes the operator to detect the low detection around the excavator 100 under the control of the controller 30. Notification regarding the accuracy area may be performed.

As a result, the excavator 100 causes a turning motion of the upper swivel body 3 and a traveling motion of the lower traveling body 1, and each time the surrounding conditions of the excavator 100 as seen from the image pickup device 40 and the sensor 45X change, the excavator 100 It is possible to confirm the presence or absence of the surrounding low detection accuracy region. Therefore, the excavator 100 can notify the operator of the low detection accuracy region around the excavator 100 in accordance with the change in the surrounding conditions of the excavator 100 as seen from the image pickup apparatus 40 and the sensor 45X. Therefore, the safety of the excavator 100 can be further improved.

Further, in the present embodiment, the display device 50 or the like gives an alarm based on the detection of the monitoring target when the monitoring target is no longer detected or when a predetermined input for canceling the alarm is received through the input device 54. To cancel. Then, the detection accuracy determination unit 305 issues an alarm when at least one of the turning operation of the upper rotating body 3 and the movement of the excavator 100 (the traveling operation of the lower traveling body 1) occurs while the alarm is being output. When released, it may be determined whether or not there is a region having a relatively low detection accuracy around the excavator 100.

As a result, the excavator 100 can determine whether or not there is a low detection accuracy region around the excavator 100 after the situation where it can be determined that the monitoring target does not exist. Therefore, the excavator 100 can more appropriately confirm the presence or absence of a low detection accuracy region around the excavator 100.

Further, in the present embodiment, the detection accuracy determination unit 305 has a relatively high frequency of at least one of the turning motion of the upper swinging body 3 and the movement of the excavator 100 (the running motion of the lower traveling body 1). , Periodically (every predetermined time), it may be determined whether or not there is a low detection accuracy region around the excavator 100.

As a result, the excavator 100 frequently determines whether or not there is a low detection accuracy region around the excavator 100 in a situation where the situation around the excavator 100 as seen from the image pickup apparatus 40 or the sensor 45X changes frequently. It is possible to suppress a situation in which the value becomes relatively high. Therefore, the excavator 100 can suppress an increase in the processing load of the controller 30.

[Detection accuracy judgment processing by controller]
Next, the details of the detection accuracy determination process by the controller 30 will be described with reference to FIGS. 6 to 9.

FIG. 6 is a flowchart schematically showing an example of the detection accuracy determination process by the controller 30 (that is, the process of step S112 in FIG. 5), and FIGS. 7 to 9 show the detection accuracy determination process by the controller 30, respectively. It is a figure to explain. Specifically, FIGS. 7 to 9 are diagrams for explaining the detection accuracy determination process regarding the detection accuracy of the monitoring target based on the image captured by the image pickup apparatus 40 (camera 40X), respectively.

As shown in FIG. 6, in step S202, the evaluation value calculation unit 304 determines that the information of the information source corresponding to the position is to be monitored for each of the plurality of evaluation positions within the information acquisition range around the excavator 100. Calculate the evaluation value to be represented. When the process of step S202 is completed, the controller 30 proceeds to step S204.

For example, as shown in FIG. 7, the evaluation value calculation unit 304 defines a rectangular evaluation frame (for example, an evaluation frame) for defining an evaluation image including a target partial image for each of a plurality of partial images of the captured image IMG1. 710, 720, 730, 740) are set. In this case, the object projected from the bottom in the vertical direction of the captured image IMG1 represents the object closer to the excavator 100 (camera 40X), so that the size of the evaluation frame is such that the target partial image is from the bottom. It is specified to be as large as possible. When the evaluation value calculation unit 304 calculates the evaluation value of the evaluation image classified by the evaluation frame, the evaluation value calculation unit 304 moves the evaluation frame to the right by the amount corresponding to the partial image adjacent to the right, and the evaluation value of the next evaluation image. The evaluation value of the corresponding evaluation image from the leftmost partial image to the rightmost partial image may be calculated in the form of calculating (see the arrow in the figure).

Returning to FIG. 6, in step S204, the evaluation value calculation unit 304 generates data in which the evaluation position and the evaluation value of the entire information acquisition range of the information source are associated with each other based on the calculation result in step S202. When the process of step S204 is completed, the process proceeds to step S206.

For example, as shown in FIG. 8, data (heat map image IMG2) visualized by associating the high and low evaluation values with colors for each of a plurality of partial images of the captured image IMG1 is generated. In this example, a light color is set for a partial image (pixel) having a relatively high evaluation value, and a dark color is set for a partial image (pixel) having a relatively low evaluation value.

Returning to FIG. 6, in step S206, the detection accuracy determination unit 305 extracts a set of evaluation positions adjacent to each other having relatively high evaluation values. When the process of step S206 is completed, the controller 30 proceeds to step S208.

In step S208, the detection accuracy determination unit 305 determines whether or not the set of evaluation positions covers a relatively wide range for each set of extracted evaluation positions. The detection accuracy determination unit 305 determines, for example, whether or not the group of evaluation targets covers a range wider than the range corresponding to the size of the monitoring target. When there is at least one set of evaluation positions covering a relatively wide range, the detection accuracy determination unit 305 determines that there is a low detection accuracy region around the excavator 100, and proceeds to step S210. On the other hand, the detection accuracy determination unit 305 determines that there is no low detection accuracy region around the excavator 100 when there is no set of evaluation positions covering a relatively wide range, and ends the processing of this flowchart. do.

In step S208, it may be determined whether or not a group of evaluation positions adjacent to each other having relatively high evaluation values has been extracted. In this case, the detection accuracy determination unit 305 determines that there is a low detection accuracy region around the excavator 100 regardless of the range when a group of evaluation positions adjacent to each other having relatively high evaluation values is extracted. .. Further, step S206 may be omitted, and in step S208, it may be determined whether or not there is an evaluation position having a relatively high evaluation value among the plurality of evaluation positions. In this case, the detection accuracy determination unit 305 determines that there is a low detection accuracy region around the excavator 100 when there is an evaluation position having a relatively high evaluation value.

In step S210, the detection accuracy determination unit 305 sets a region corresponding to a collection of evaluation positions over a relatively wide range as a low detection accuracy region. When the process of step S210 is completed, the controller 30 ends the process of the current flowchart.

For example, as shown in FIG. 9, the detection accuracy determination unit 305 is a collection of partial images of colors (in this example, relatively pale colors) corresponding to relatively high evaluation values in the heat map image IMG2. The image area corresponding to (step S206) may be extracted. The detection accuracy determination unit 305 may determine for each extracted image area whether or not the area exceeds a predetermined threshold value corresponding to the size of the monitoring target (step S208). Then, the detection accuracy determination unit 305 has an image region (for example, image regions 910, 920,) in the heat map image IMG2 that has a color corresponding to a relatively high evaluation value and whose area exceeds a predetermined threshold value. 930) may be set in the low detection accuracy region (step S210).

As described above, in the present embodiment, the evaluation value calculation unit 304 (an example of the calculation unit) is an evaluation value indicating the degree to which the information acquired from the information source represents the monitoring target in the state where the alarm is not output. Is calculated. Then, when the display device 50 or the like has an area around the excavator 100 from which information having a relatively high evaluation value is acquired by the information source, the display device 50 or the like notifies the operator of the low detection accuracy area around the excavator 100. conduct.

Similarly, when the excavator 100 is remotely controlled and the output device 230 of the management device 200 has an area around the excavator 100 from which information having a relatively high evaluation value is acquired by an information source, the output device 230 of the excavator 100 Notifies the operator performing the remote control of the low detection accuracy region around the excavator 100.

For example, regarding the background object around the excavator 100 that is not the monitoring target, when the information source obtains information having a relatively high degree of indicating that the shovel 100 is the monitoring target, the object detection unit 302 sets the background object as the monitoring target. There is a possibility of misrecognition. Further, regarding the background object around the excavator 100 that is not the monitoring target, when the information source obtains information having a relatively high degree of indicating that the shovel 100 is the monitoring target, the monitoring target is assimilated into the background object. The object detection unit 302 may not be able to detect the monitoring target and may miss it.

On the other hand, in this example, the excavator 100 and the management device 200 determine that the area where information having a relatively high evaluation value is acquired by the information source is the low detection accuracy area, and notify the operator of the low detection accuracy area. It can be performed.

Further, in the present embodiment, the evaluation value calculation unit 304 calculates the evaluation value for each of a plurality of partial images included in the image captured by the image pickup apparatus 40 in a state where no alarm is output. Then, when the display device 50 or the like has a partial image having a relatively high evaluation value among the plurality of partial images, the detection accuracy around the work machine is relative to the operator under the control of the controller 30. Notify about low areas.

Similarly, in a state where the excavator 100 is remotely controlled, the output device 230 of the management device 200 is under the control of the control device 210 when there is a partial image having a relatively high evaluation value among the plurality of partial images. , Notifies the operator who remotely controls the excavator 100 about the low detection accuracy region around the excavator 100.

As a result, the excavator 100 and the management device 200 can specifically notify the low detection accuracy region where the detection accuracy based on the captured image of the image pickup device 40 (camera 40X) is relatively low.

Further, in the present embodiment, the display device 50 or the like has a partial image having a relatively high evaluation value among the plurality of partial images of the captured image of the imaging device 40 (camera 40X), and the captured image has a relatively high evaluation value. When the area occupied by the collection of partial images having a relatively high evaluation value exceeds a predetermined standard, the operator is notified of the low detection accuracy region around the excavator 100.

Similarly, in a state where the excavator 100 is remotely controlled, the output device 230 of the management device 200 has a partial image having a relatively high evaluation value among the plurality of partial images of the image captured by the image pickup device 40 (camera 40X). If there is, and the area occupied by a collection of partial images with a relatively high evaluation value in the captured image exceeds a predetermined standard, the circumference of the excavator 100 is low with respect to the operator who remotely controls the excavator 100. Notify the detection accuracy area.

As a result, the excavator 100 and the management device 200 determine that an image area (collection of partial images) having a size that is actually misidentified as a monitoring target or assimilate the monitoring target is a low detection accuracy area, and the operator Can be notified regarding the low detection accuracy region.

[Notification method for low detection accuracy area to operator]
Next, with reference to FIG. 10, the details of the notification method regarding the low detection accuracy region will be described.

FIG. 10 is a diagram showing an example of a notification method regarding a low detection accuracy region. Specifically, FIG. 10 is a diagram showing an example of a notification screen (hereinafter, “low detection accuracy notification screen”) relating to a low detection accuracy region displayed on the display device 50.

As shown in FIG. 10, the display device 50 displays the captured image IMG1 of the image pickup device 40 (camera 40X) under the control of the controller 30. Further, under the control of the controller 30, the display device 50 displays frames 1010, 1020, 1030 superposed on the captured image IMG1 to represent an image area corresponding to a low detection accuracy area around the excavator 100. The frames 1010, 1020, and 1030 correspond to the image areas 910, 920, and 930 of FIG. 9, respectively. As a result, the display device 50 can emphasize and display the image area corresponding to the low detection accuracy area around the excavator 100 on the image captured by the image pickup device 40 (camera 40X). Therefore, the operator of the cabin 10 can visually recognize the existence of the low detection accuracy region around the excavator 100 and its specific location.

Further, the low detection accuracy region around the excavator 100 may be emphasized by a method other than the frames 1010, 1020, and 1030. For example, under the control of the controller 30, the display device 50 displays another type of marker in the image area corresponding to the low detection accuracy area, or sets the brightness of the image area corresponding to the low detection accuracy area to another image area. It may be higher.

For example, the frames 1010, 1020, and 1030 are always displayed between the time when the judgment result by the detection accuracy judgment unit 305 is output and the time when the next judgment result is output (that is, the judgment result is updated). good. Further, the timing at which the frames 1010, 1020, and 1030 are displayed may be limited. As a result, the controller 30 can suppress the annoyance felt by the operator by displaying the frames 1010, 1020, and 1030 while alerting the operator to the low detection accuracy region around the excavator 100. For example, the frames 1010, 1020, and 1030 may be displayed only for a predetermined period (for example, several minutes) after the determination result by the detection accuracy determination unit 305 is output. Further, for example, the frames 1010, 1020, and 1030 are periodically displayed and not displayed between the time when the determination result is output by the detection accuracy determination unit 305 and the time when the next determination result is output. And may be switched. Further, for example, in the frames 1010, 1020, 1030, when the object detection unit 302 detects the monitoring target between the time when the detection accuracy determination unit 305 outputs the determination result and the time when the next determination result is output. In addition, the mode may be displayed. For example, when the monitoring target is actually detected, if the detected monitoring target moves to the low detection accuracy region, the monitoring target may not be detected and the alarm may be canceled. be.

Further, on the display device 50, under the control of the controller 30, the pop-up window 1040 is displayed by superimposing the captured image IMG1. Specifically, the pop-up window 1040 is superposed on the lower end of the captured image IMG1 and displayed.

The pop-up window 1040 contains textual information that represents a notification regarding the low detection accuracy region. Specifically, the pop-up window 1040 includes character information (warning text) indicating that the detection accuracy of the monitoring target is relatively low in the low detection accuracy region corresponding to the frames 1010, 1020, 1030. In this example, the warning message "The detection function may not work properly within the frame range. Please note" is displayed in the pop-up window 1040. As a result, the controller 30 can urge the operator to pay more attention to the periphery of the excavator 100 (low detection accuracy region).

For example, the pop-up window 1040 may be displayed at all times between the time when the determination result by the detection accuracy determination unit 305 is output and the time when the next determination result is output (that is, the determination result is updated). Further, as in the case of the frames 1010, 1020, and 1030, the timing at which the pop-up window 1040 is displayed may be limited.

Further, as described above, the notification regarding the low detection accuracy region may be given instead of or in addition to the display device 50 through the sound output device 52. For example, the sound output device 52 may output voice information corresponding to the character information included in the pop-up window 1040.

For example, the voice information corresponding to the character information included in the pop-up window 1040 is repeatedly and continuously (continuously) from the time when the judgment result by the detection accuracy judgment unit 305 is output to the time when the next judgment result is output. It may be output. Further, the number of times that the voice information corresponding to the character information included in the pop-up window 1040 is output may be limited. For example, the voice information corresponding to the character information included in the pop-up window 1040 is provided with a predetermined interval between the output of the determination result by the detection accuracy determination unit 305 and the output of the next determination result. It may be output periodically. Further, for example, the voice information corresponding to the character information included in the pop-up window 1040 may be output a predetermined number of times (for example, once) after the determination result by the detection accuracy determination unit 305 is output. .. As a result, the controller 30 can suppress the annoyance felt by the operator due to the output of voice information while alerting the operator to the low detection accuracy region around the excavator 100.

Further, in the management device 200 as well, under the control of the control device 210, the notification regarding the low detection accuracy region may be performed through the output device 230 in the same manner.

As described above, in the present embodiment, when the display device 50 (an example of the display unit) has a low detection accuracy region around the excavator 100, the display device 50 displays a peripheral image showing the surrounding state of the excavator 100 and also displays a peripheral image. The image area corresponding to the low detection accuracy area in the image may be highlighted and displayed.

Similarly, when the excavator 100 is remotely controlled, the output device 230 (display device) of the management device 200 has a peripheral image showing the surroundings of the excavator 100 when there is a low detection accuracy region around the excavator 100. May be displayed, and the image area corresponding to the low detection accuracy area in the surrounding image may be emphasized and displayed.

As a result, the excavator 100 and the management device 200 can visually notify the operator of the low detection accuracy region around the excavator 100.

Further, in the present embodiment, when the display device 50 has a low detection accuracy region around the excavator 100, the display device 50 displays a surrounding image showing the surrounding state of the excavator 100, and periodically or for a predetermined period of time, or. When the monitoring target is detected, the image area corresponding to the low detection accuracy area in the surrounding image may be highlighted and displayed.

Similarly, when the excavator 100 is remotely controlled, the output device 230 (display device) of the management device 200 has a peripheral image showing the surroundings of the excavator 100 when there is a low detection accuracy region around the excavator 100. Is displayed, and the image area corresponding to the low detection accuracy area in the surrounding image may be emphasized and displayed periodically for a predetermined period or when the monitoring target is detected.

Thereby, the excavator 100 and the management device 200 can limit the number of times, the time, and the like of displaying the visual information for notifying the low detection accuracy region around the excavator 100. Therefore, the excavator 100 and the management device 200 can improve the safety of the excavator 100 while suppressing the annoyance felt by the operator.

Further, in the present embodiment, when the sound output device 52 (an example of the audio output unit) has a low detection accuracy region around the excavator 100, the sound output device 52 is a work machine corresponding to the emphasized image region in the surrounding image. In the surrounding area, voice information indicating that the detection accuracy of the monitored object is relatively low may be output.

Similarly, when the excavator 100 is remotely controlled, the output device 230 (sound output device) of the management device 200 is emphasized in the surrounding image when there is a low detection accuracy region around the excavator 100. In the area around the work machine corresponding to the image area, audio information indicating that the detection accuracy of the monitored object is relatively low may be output.

As a result, the excavator 100 and the management device 200 can notify the operator of information regarding the low detection accuracy region around the excavator 100 by voice information in addition to the visual information.

Further, in the present embodiment, the sound output device 52 may output voice information only a predetermined number of times or periodically when there is a low detection accuracy region around the excavator 100.

Similarly, when the excavator 100 is remotely controlled, the output device 230 (sound output device) of the management device 200 receives a predetermined number of times or periodically when there is a low detection accuracy region around the excavator 100. , Audio information may be output.

Thereby, the excavator 100 and the management device 200 can limit the time and the number of times that the voice information is output. Therefore, the excavator 100 and the management device 200 can improve the safety of the excavator 100 while suppressing the annoyance felt by the operator.

[Transform / Change]
Although the embodiments for carrying out the present invention have been described in detail above, the present invention is not limited to such specific embodiments, and various aspects are within the scope of the gist of the present invention described in the claims. Can be transformed / changed.

For example, in the above-described embodiment, the function of urging attention and safety confirmation for the low detection accuracy region around the excavator 100 has been described, but the same function may be adopted for a work machine other than the excavator 100. Other work machines may include, for example, bulldozers, wheel loaders, mobile cranes and the like.

1 Lower traveling body 3 Upper rotating body 30 Controller 40 Imaging device (acquisition unit)
40B, 40F, 40L, 40R camera 45 Peripheral object information acquisition device (acquisition unit)
45BL, 45BR, 45L, 45R sensor 50 display device (alarm output unit, notification unit)
52 Sound output device (alarm output unit, notification unit)
54 Input device 100 Excavator (working machine)
200 Management device (information processing device)
210 Control device 220 Communication device 230 Output device (notification unit, alarm output unit)
230A Display device 240 Input device 240A Operation device 301 Remote control control unit 302 Object detection unit 303 Safety control unit 304 Evaluation value calculation unit (calculation unit)
305 Detection accuracy judgment unit (judgment unit)
306 Low detection accuracy notification unit 2101 Remote control support unit 2102 Safety control unit 2103 Low detection accuracy notification unit T1 communication device

Claims (16)

An acquisition unit that acquires information about objects around the work machine,
An alarm output unit that outputs an alarm to the operator when a predetermined object is detected around the work machine based on the information acquired by the acquisition unit.
When there is a region around the work machine where the detection accuracy of the predetermined object is relatively low, a notification unit for notifying the operator of the region around the work machine where the detection accuracy is relatively low is provided. Prepare, prepare
Work machine. When the detection target range of the predetermined object around the work machine includes a region having a relatively low detection accuracy, the notification unit sets a region around the work machine having a relatively low detection accuracy. Notify the operator,
The work machine according to claim 1. The acquisition unit includes a first acquisition unit that acquires a first information about an object around the work machine and a second acquisition unit that acquires a second information about an object around the work machine.
When the notification unit has a region around the work machine in which at least one of the detection accuracy based on the first information and the detection accuracy based on the second information is relatively low, the detection accuracy is relatively low. Notifies the operator of the area around the work machine where the detection accuracy is relatively low.
The work machine according to claim 1 or 2. In the notification unit, a region of the detection accuracy based on the first information and the detection accuracy based on the second information, which is relatively high in normal times and whose detection accuracy is relatively low, is the work machine. If it is in the vicinity, it notifies the operator of the area around the work machine where the detection accuracy is relatively low.
The work machine according to claim 3. A calculation unit for calculating an evaluation value indicating the degree to which the information acquired by the acquisition unit represents the predetermined object in a state where the alarm is not output is provided.
When the notification unit has an area around the work machine from which information having a relatively high evaluation value is acquired by the acquisition unit, the detection accuracy around the work machine is relatively high with respect to the operator. Notify about low areas,
The work machine according to any one of claims 1 to 4. The acquisition unit includes an imaging device that acquires an captured image showing the surroundings of the work machine.
The calculation unit calculates the evaluation value for each of the plurality of partial images included in the captured image in a state where the alarm is not output.
When the plurality of partial images include a partial image having a relatively high evaluation value, the notification unit notifies the operator of a region around the work machine having a relatively low detection accuracy. I do,
The work machine according to claim 5. In the notification unit, the area occupied by a collection of partial images having a relatively high evaluation value in the plurality of partial images and having a relatively high evaluation value in the captured image is occupied. When the predetermined standard is exceeded, the operator is notified of the area around the work machine where the detection accuracy is relatively low.
The work machine according to claim 6. The notification unit includes a display unit.
When the area having a relatively low detection accuracy is around the work machine, the display unit displays image information representing the state around the work machine, and the detection accuracy in the image information is relative. The image area corresponding to the lower area is highlighted and displayed.
The work machine according to any one of claims 1 to 7. When the area having a relatively low detection accuracy is around the work machine, the display unit displays image information showing the state of the surroundings of the work machine, and periodically or for a predetermined period of time, or the predetermined area. When the object is detected, the image area is highlighted and displayed.
The work machine according to claim 8. The notification unit includes an audio output unit.
When the region having a relatively low detection accuracy is around the work machine, the audio output unit indicates that the detection accuracy is relatively low in the region around the work machine corresponding to the image region. Output information,
The work machine according to claim 8 or 9. The voice output unit outputs the voice information a predetermined number of times or periodically when a region having a relatively low detection accuracy is around the work machine.
The work machine according to claim 10. When the predetermined object is detected in a region where the detection accuracy is relatively low, the alarm output unit outputs an alarm indicating a relatively high alertness to the operator.
The work machine according to any one of claims 1 to 11. At the time of starting the work machine, it is determined whether or not there is a region having a relatively low detection accuracy around the work machine, and at least the operation of the portion of the work machine to which the acquisition portion is attached and the movement of the work machine. A determination unit for determining whether or not there is a region having a relatively low detection accuracy around the work machine when one occurs is provided.
When the determination unit determines that a region having a relatively low detection accuracy is around the work machine, the notification unit has a relatively low detection accuracy around the work machine with respect to the operator. Notify about the area,
The work machine according to any one of claims 1 to 12. The alarm output unit cancels the alarm when the predetermined object is no longer detected or when a predetermined input for canceling the alarm is received.
When the alarm is output, the determination unit releases the alarm when at least one of the operation of the portion of the work machine to which the acquisition unit is attached and the movement of the work machine occur. , Determines if there is a region with relatively low detection accuracy around the work machine.
The work machine according to claim 13. When at least one of the movement of the part of the work machine and the movement of the work machine occurs relatively frequently, the determination unit periodically has a relatively low detection accuracy around the work machine. Determine if there is an area,
The work machine according to claim 13 or 14. An operation unit that accepts remote control of work machines,
A communication unit that transmits the contents of remote control received by the operation unit to the work machine, and
An alarm output unit that outputs an alarm to an operator who performs remote control when a predetermined object is detected around the work machine based on information about an object around the work machine acquired by the work machine. ,
When there is a region around the work machine where the detection accuracy of the predetermined object is relatively low, a notification unit that notifies the operator of the region around the work machine where the detection accuracy is relatively low, and a notification unit. With,
Information processing device.

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