WO2021149775A1 - 作業機械、情報処理装置 - Google Patents

作業機械、情報処理装置 Download PDF

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Publication number
WO2021149775A1
WO2021149775A1 PCT/JP2021/002079 JP2021002079W WO2021149775A1 WO 2021149775 A1 WO2021149775 A1 WO 2021149775A1 JP 2021002079 W JP2021002079 W JP 2021002079W WO 2021149775 A1 WO2021149775 A1 WO 2021149775A1
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WO
WIPO (PCT)
Prior art keywords
safety
excavator
operator
work machine
around
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2021/002079
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
晋 相澤
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sumitomo Heavy Industries Ltd
Original Assignee
Sumitomo Heavy Industries Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sumitomo Heavy Industries Ltd filed Critical Sumitomo Heavy Industries Ltd
Priority to JP2021572797A priority Critical patent/JPWO2021149775A1/ja
Priority to DE112021000693.2T priority patent/DE112021000693T5/de
Priority to CN202180006998.4A priority patent/CN114787454A/zh
Publication of WO2021149775A1 publication Critical patent/WO2021149775A1/ja
Priority to US17/812,779 priority patent/US20220349150A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/205—Remotely operated machines, e.g. unmanned vehicles
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/2033—Limiting the movement of frames or implements, e.g. to avoid collision between implements and the cabin
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/24—Safety devices, e.g. for preventing overload
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E02F9/261—Surveying the work-site to be treated
    • E02F9/262—Surveying the work-site to be treated with follow-up actions to control the work tool, e.g. controller
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E02F9/264—Sensors and their calibration for indicating the position of the work tool
    • E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING SYSTEMS, e.g. PERSONAL CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
    • G08B21/18—Status alarms
    • G08B21/24—Reminder alarms, e.g. anti-loss alarms
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like

Definitions

  • This disclosure relates to work machines, etc.
  • the image information of the image pickup device that captures the surroundings of the work machine, or the image information of at least one of the side and the rear side of the work machine generated based on the output of the image pickup device is received from the work machine.
  • Communication device and A display device for displaying image information indicating the state of at least one of the side and the rear of the work machine based on the image information received by the communication device is provided. Prompts the user to confirm the image information displayed on the display device at predetermined time intervals.
  • An information processing device is provided.
  • the safety of the work machine can be further improved.
  • FIG. 1 is a schematic diagram 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.
  • the excavator management system SYS includes an excavator 100 and a management device 200.
  • the excavator 100 included in the excavator management system SYS may be one unit or a plurality of excavator units.
  • the number of management devices 200 included in the excavator management system SYS may be plural. That is, the plurality of management devices 200 may carry out the processing related to the excavator management system SYS in a distributed manner.
  • the plurality of management devices 200 communicate with each other with some of the excavators 100 in charge of the plurality of excavators 100, and execute a process targeting some of the excavators 100. good.
  • 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 swivels with respect to the lower traveling body 1 by being driven by the swivel hydraulic motor 2A.
  • the boom 4 is vertically attached to 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 attached 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.
  • 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.
  • 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.
  • 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 swing body 3.
  • the excavator 100 is provided with 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.
  • 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.
  • the excavator 100 can transmit (upload) the information acquired by the excavator 100 to the management device 200.
  • the excavator 100 operates the driven elements such as the lower traveling body 1 (crawler 1CL, 1CR), the upper turning body 3, the boom 4, the arm 5, and the bucket 6 in response to the operation of the operator boarding the cabin 10.
  • the driven elements such as the lower traveling body 1 (crawler 1CL, 1CR), the upper turning body 3, the boom 4, the arm 5, and the bucket 6 in response to the operation of the operator boarding the cabin 10.
  • the excavator 100 may be configured to be operable by an operator boarding the cabin 10, or in addition, may be configured to be remotely controlled (remote operation) from the outside of the excavator.
  • the inside of the cabin 10 may be unmanned.
  • 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 excavator 100 is operated by an operation input related to the actuator of the excavator 100 performed by a predetermined external device.
  • the predetermined external device is, for example, the management device 200.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the excavator 100 may automatically operate the actuator regardless of the content of the operator's operation.
  • the excavator 100 automatically operates at least a part of the driven elements such as the lower traveling body 1, the upper rotating body 3, the boom 4, the arm 5, and the bucket 6 (so-called “automatic driving function” or “automatic driving function” or ". Realize the machine control function ").
  • the automatic operation function is a function (so-called “semi-automatic luck function") in which a driven element (actuator) other than the driven element (actuator) to be operated is automatically operated in response to an operator's operation on the operating device 26 or a remote control.
  • "operation support type machine control function” may be included.
  • 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.
  • the fully automatic driving function is enabled in the excavator 100, the inside of the cabin 10 may be unmanned.
  • the semi-automatic driving function, the fully automatic driving function, and the like may include a mode in which the operation content of the driven element (actuator) to be automatically driven 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.
  • the management device 200 (an example of an information processing device) is, for example, communicably connected to the excavator 100 through a predetermined communication line NW, and manages the state and operation of the excavator 100 based on various information received from the excavator 100. Perform (monitoring). Further, the management device 200 supports remote control of the excavator 100, for example. Further, the management device 200 supports the remote monitoring work of the excavator 100 operated by the automatic driving function (typically, the fully automatic driving function), which is carried out by a user such as an administrator or a worker. ..
  • a user who remotely monitors the excavator 100 operated by the automatic driving function may be referred to as a “monitorer”.
  • 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.
  • 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.
  • the hydraulic drive system of the excavator 100 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 (motor) 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 prime mover of the excavator 100 may be an electric motor driven by a built-in power storage device or an electric power supplied from the outside instead of or in addition to the engine 11.
  • 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.
  • the main pump 14 is mounted on the rear part of the upper swing body 3 like the engine 11, and supplies hydraulic oil to the control valve 17 through the 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 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.
  • 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 part 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.
  • the operating device 26 is used by the operator to operate a plurality of hydraulic actuators for driving each driven element.
  • 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 is included.
  • the operation device 26 is, for example, a hydraulic pilot type that outputs hydraulic oil having a pilot pressure corresponding to the operation content.
  • 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.
  • 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.
  • 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.
  • operation signal an electric signal
  • 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.
  • 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
  • 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.
  • 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.
  • two hydraulic control valves 31 are provided for each of a plurality of driven elements (hydraulic actuators), for example.
  • 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.
  • 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.
  • 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. ..
  • 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".
  • 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.
  • 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.
  • 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).
  • 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 to the pilot port of the corresponding control valve of the control valve 17 through the pilot line 27.
  • 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.
  • 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.
  • 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 remote control function of.
  • two shuttle valves 32 are provided for each of a plurality of driven elements (hydraulic actuators), for example.
  • 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.
  • 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.
  • 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).
  • the hydraulic control valve 33 is provided on the pilot line 27A that connects the operating 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.
  • 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.
  • 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 work reliably. Therefore, for example, the controller 30 can more appropriately realize the remote control function of the excavator 100 by controlling the hydraulic control valve 33 in addition to the hydraulic control valve 31.
  • two hydraulic control valves 33 are provided for each of a plurality of driven elements (hydraulic actuators), for example.
  • 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.
  • 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.
  • the spool of the control valve can be brought closer to the neutral state, and the operation of the hydraulic actuator can be suppressed.
  • the operation of the hydraulic actuator in the first direction is performed.
  • the corresponding hydraulic control valve 31 may be controlled.
  • the flood control valve 33 of FIG. 3 may be provided on the pilot line 27B of FIG.
  • 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.
  • the control system of the excavator 100 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, the line-of-sight detection device 56, and the communication device T1 are included.
  • the control system of the excavator 100 according to the present embodiment includes an operation pressure sensor 29 when the operation 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.
  • 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.
  • 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 realizes various functions by loading various programs installed in the auxiliary storage device into the memory device and executing them on the CPU, for example.
  • the controller 30 controls, for example, the engine 11 and the main pump 14.
  • the controller 30 records, for example, log information (hereinafter, simply “log information”) regarding various states of the excavator 100 in an auxiliary storage device or an external storage device that is communicably connected.
  • the log information may include, for example, information indicating that a predetermined operation has been performed on the excavator 100. Further, the log information may include, for example, information indicating that a predetermined operation or a predetermined work has been performed on the excavator 100. Further, the log information may include, for example, information indicating that the excavator 100 has fallen into a predetermined static or dynamically unstable posture state. Further, the log information may be transmitted to the management device 200. The user of the management device 200 can check the log information of one or more excavators 100.
  • controller 30 includes, for example, a remote control control unit 301, an object detection unit 302, a safety confirmation detection unit 303, and a safety control unit 304 as functional units.
  • the image pickup device 40 (an example of an ambient situation information acquisition device) is attached to the upper part of the upper swivel body 3 and captures an image of the surroundings of the shovel 100 extending from a region relatively close to the shovel 100 to a region relatively far from the shovel 100. To get.
  • 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.
  • the camera 40X is a monocular camera (that is, a wide-angle camera) having a very wide angle of view.
  • 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.
  • 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).
  • 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. .
  • 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. .
  • 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 an 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 (an example of the ambient situation information acquisition device) is attached to the upper part of the upper swivel body 3 and acquires information on objects around the excavator 100.
  • the peripheral object information acquisition device 45 includes sensors 45BL, 45BR, 45L, and 45R.
  • 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.
  • the sensor 45X is a LIDAR (Light Detection and Ringing).
  • the sensor 45X may be, for example, a millimeter wave radar, an ultrasonic sensor, or the like.
  • 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.
  • the senor 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.
  • TOF information information on the time from infrared irradiation to light reception
  • light receiving intensity information Information on the intensity of the reflected light to be received
  • 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.
  • the senor 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.
  • the senor 45X is attached to the upper part of the upper swing 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 that is relatively close to the excavator 100. It has an infrared irradiation range in the vertical direction.
  • the sensor 45X outputs light receiving information at predetermined intervals from the start to the stop of the excavator 100, respectively.
  • 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 surrounding state of the excavator 100 (hereinafter, “surrounding image”) based on the image captured by 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.
  • 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 the seated operator in the cabin 10, receives various inputs from the operator, and outputs signals corresponding to the inputs to the controller 30.
  • 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.
  • 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.
  • the operation input device may include, for example, a knob switch provided at the tip of the operation device 26 (lever device).
  • 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 line-of-sight detection device 56 is provided in the cabin 10 and detects the line-of-sight of the operator.
  • the detection information corresponding to the operator's line of sight detected by the line-of-sight detection device 56 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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. ..
  • AI artificial intelligence
  • 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.
  • a position for example, a foot position
  • the recognized monitoring target person
  • the existing position is determined (estimated).
  • the object detection unit 302 is based on the recognized size of the monitored object on the captured image (for example, the size in the height direction on the captured image), and the distance in the horizontal direction as seen from the excavator 100 (hereinafter, “” Horizontal distance ”) is estimated.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 received light 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.
  • 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.
  • the management device 200 can recognize that the monitoring target exists in the monitoring area around the excavator 100.
  • 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.
  • 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 a 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 confirmation detection unit 303 detects the presence or absence of safety confirmation around the excavator 100 by the operator of the cabin 10.
  • the safety confirmation around the excavator 100 by the operator includes, for example, confirmation (visual recognition) of the blind spot area by the operator.
  • the blind spot region includes, for example, at least one of a rear region, a left side region, a right side region, and the like of the upper swing body 3 as described above.
  • the operator usually operates the excavator 100 while directly visually recognizing the end attachment such as the bucket 6 in front of the excavator 100 and the front of the upper swivel body 3 including the periphery thereof, and operates the shovel 100 behind the upper swivel body 3, to the left side, and so on.
  • the safety confirmation around the excavator 100 by the operator means, for example, a state in which the blind spot area is continuously viewed for a certain period of time (for example, several seconds) without including a state in which the blind spot area is momentarily viewed.
  • the safety confirmation of the surroundings of the excavator 100 by the operator not only the state in which the operator directly confirms (visually recognizes) the blind spot area, but also indirectly through the rearview mirror, the side mirror, the surrounding image of the display device 50, and the like.
  • a state of confirmation (visual recognition) may be included.
  • the safety confirmation detection unit 303 detects, for example, the presence or absence of safety confirmation around the excavator 100 by the operator based on the output of the line-of-sight detection device 56 (an example of the acquisition device). Specifically, the safety confirmation detection unit 303 directly or indirectly looks at the blind spot region of the excavator 100 (that is, at least one on the left side, the right side, and the rear side of the excavator 100) for a certain period of time or longer. It may be detected that the operator has confirmed the safety around the excavator 100 when the state is represented.
  • the safety confirmation detection unit 303 performs an operation input (predetermined) to a predetermined operation target (for example, an icon) displayed on the display device 50 together with the surrounding image through the operation input device (an example of the acquisition device) included in the input device 54. (Example of input of) is accepted, it may be detected that the safety confirmation around the excavator 100 has been performed by the operator. Further, the safety confirmation detection unit 303 may perform voice input (for example, "safety confirmation good") indicating that the safety confirmation has been performed by the operator through the voice input device (an example of the acquisition device) included in the input device 54. ) (An example of a predetermined input) may be detected that the operator has confirmed the safety around the excavator 100.
  • a predetermined operation target for example, an icon displayed on the display device 50 together with the surrounding image through the operation input device (an example of the acquisition device) included in the input device 54.
  • voice input for example, "safety confirmation good”
  • the safety confirmation detection unit 303 allows the operator to confirm the safety in a situation where the excavator 100 is in a predetermined state (hereinafter, “safety confirmation suitable state”) relatively suitable for the operator to confirm the safety around the excavator 100.
  • the presence or absence may be detected. That is, when the safety confirmation detection unit 303 is not in the safety confirmation suitable state, the safety confirmation detection unit 303 does not determine that the safety confirmation has been performed by the operator even if the safety confirmation is performed by the operator, and the safety confirmation "none" by the operator is performed. It may be detected.
  • the controller 30 performs an inappropriate safety check around the shovel 100 by the operator. Can be excluded from the certification target.
  • the suitable state for safety confirmation includes, for example, a state in which all the driven elements of the excavator 100 are stopped. Further, the safety confirmation suitable state includes, for example, a neutral state in which the operation input to the driven element (actuator) of the excavator 100 (for example, the operation input to the operation device 26 or the operation input for remote control) is zero. Further, the suitable state for safety confirmation includes, for example, a state in which the gate lock lever is lowered and the gate lock function (operation invalid function of the actuator of the excavator 100) is activated.
  • the above-mentioned log information may include information detected by the safety confirmation detection unit 303, indicating that the safety confirmation has been performed by the operator of the excavator 100.
  • the user of the management device 200 can grasp the status of safety confirmation around the excavator 100 for each operator of the excavator 100.
  • the safety control unit 304 controls the safety function of the excavator 100. Specifically, the safety control unit 304 controls the safety function for avoiding contact between the excavator 100 and an object around it.
  • the safety control unit 304 operates 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.
  • first safety function a predetermined safety function
  • 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 304 activates the notification function, for example, when the object detection unit 302 detects a monitoring target within a predetermined range included in the monitoring area (hereinafter, "notification range").
  • 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.
  • the safety control unit 304 controls the sound output device 52 to operate a sound (that is, auditory method) notification function for at least one of the inside and the outside of the cabin 10.
  • a sound that is, auditory method
  • the sound output device 52 can realize an auditory notification function under the control of the controller 30.
  • the safety control unit 304 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.
  • the safety control unit 304 operates the notification function by displaying the image information to the inside of the cabin 10 by controlling the display device 50, for example.
  • the safety control unit 304 may display an image indicating that the monitoring target has been detected on the surrounding image displayed on the display device 50.
  • the safety control unit 304 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 304 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.
  • the display device 50 can realize a visual notification function to the operator under the control of the controller 30.
  • the safety control unit 304 controls, for example, a headlight or an external display device provided in a house unit or the like of the upper swivel body 3, so that the operator, the supervisor, or the like around the excavator 100 can visually control the safety control unit 304.
  • the notification function may be activated by any method.
  • the safety control unit 304 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.
  • 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.
  • the safety control unit 304 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.
  • the safety control unit 304 when the monitoring target detected by the object detection unit 302 within the notification range exists at a position relatively far from the excavator 100, the safety control unit 304 is relative to the extent that the operator or the like is alerted to the monitoring target.
  • An alarm with a low degree of urgency hereinafter, "attention level alarm”
  • the range of the notification range that is relatively far from the excavator 100 that is, the range corresponding to the caution level alarm may be referred to as the "attention notification range” for convenience.
  • the safety control unit 304 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 urgency (hereinafter, "alert of alert level”) may be output to inform that.
  • the range in which the distance from the excavator 100 is relatively short that is, the range corresponding to the warning of the warning level may be referred to as the “warning notification range”.
  • the safety control unit 304 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 304 monitors an image indicating that a monitoring target displayed on the surrounding image displayed on the display device 50 is detected between the caution level alarm and the alert level alarm. The color, shape, size, presence / absence of blinking, blinking cycle, etc. of an image (for example, a frame, a marker, etc.) that emphasizes the position of the target or the monitoring target may be different.
  • 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 notifying the operator in the cabin 10 to confirm the safety around the excavator 100 (hereinafter, "safety confirmation function").
  • the safety control unit 304 activates the safety confirmation function when, for example, the object detection unit 302 detects a monitoring target within a predetermined range (hereinafter, "safety confirmation range") included in the monitoring area.
  • the safety confirmation 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.
  • the safety control unit 304 may operate the safety confirmation function by an auditory method, for example, by controlling the sound output device 52. Specifically, the safety control unit 304 may output the voice information prompting the sound output device 52 to confirm the safety around the excavator 100.
  • the safety control unit 304 may operate the safety confirmation function by a visual method, for example, by controlling the display device 50. Specifically, the safety control unit 304 may display the character information prompting the display device 50 to confirm the safety around the excavator 100.
  • the safety confirmation function may include a plurality of stages of safety confirmation functions in which the degree of strength for prompting the operator to confirm the safety is different from each other.
  • the safety control unit 304 periodically blows the pitch, sound pressure, timbre, and sound of the sound output from the sound output device 52 for each of the safety confirmation functions in a plurality of stages.
  • the content of the information may be different.
  • the safety control unit 304 may make the color, shape, size, presence / absence of blinking, blinking cycle, etc. of the image displayed on the display device 50 different for each of the safety confirmation functions in a plurality of stages.
  • the safety control unit 304 may also teach the safety confirmation suitable state of the excavator 100 through the display device 50 and the sound output device 52. As a result, the safety control unit 304 can prompt the operator in a more appropriate manner to confirm the safety around the excavator 100. Therefore, the safety of the excavator 100 can be further improved.
  • the safety control unit 304 is safe for the operator when the safety confirmation detection unit 303 does not detect the safety confirmation around the excavator 100 by the safety confirmation detection unit 303 because the excavator 100 is not in a suitable state for safety confirmation. You may notify that the condition is not suitable for confirmation. Further, the safety control unit 304 makes the shovel 100 safe for the operator when the safety confirmation detection unit 303 does not detect the safety confirmation around the excavator 100 by the safety confirmation detection unit 303 because the excavator 100 is not in a suitable state for safety confirmation. The confirmation may be set to a suitable state, and a notification prompting the user to confirm the safety around the excavator 100 may be given again. As a result, the safety control unit 304 can prompt the operator in a more appropriate manner to confirm the safety around the excavator 100. Therefore, the safety of the excavator 100 can be further improved.
  • 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 304 activates the operation restriction function when, for example, the object detection unit 302 detects a monitoring target within a predetermined range included in the monitoring area (hereinafter, "operation restriction range").
  • 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.
  • 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.
  • 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.
  • the operation stop range is, for example, a range close to the excavator 100 in the operation limit range
  • the operation deceleration range is the operation limit range. It is a range set outside the operation stop range of.
  • the safety control unit 304 may operate the operation limiting function by controlling a predetermined hydraulic control valve provided on the pilot line 25. Specifically, the safety control unit 304 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 304 may operate the operation stop function by making the pilot line 25 in a non-communication state by using the hydraulic control valve.
  • the safety control unit 304 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.
  • the safety control unit 304 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.
  • the safety control unit 304 may operate the operation stop function by preventing the control signal itself from being output to the flood control valve 31.
  • the safety control unit 304 may operate the operation limiting function by controlling the hydraulic control valve 33, for example. Specifically, the safety control unit 304 operates 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 304 may operate the operation stop function by using the hydraulic control valve 33 to bring the pilot line 27B into a communicating state.
  • the safety control unit 304 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.
  • the safety control unit 304 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.
  • the safety control unit 304 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.
  • the safety control unit 304 may operate the operation limiting function (operation stop function) by, for example, reducing the output of the engine 11 as a prime mover or stopping the engine 11.
  • the safety control unit 304 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.
  • the safety control unit 304 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 304 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 304 notifies when the object detection unit 302 detects a monitoring target within the notification range (hereinafter, “first notification range” for convenience) from the image captured by the image pickup device 40.
  • the operation limit range hereinafter, “first operation limit range” for convenience
  • first operation limit range 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.
  • the safety control unit 304 may detect the monitoring target. Activate the safety confirmation function and operation restriction function. Further, the safety control unit 304 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.
  • 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.
  • 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.
  • the above log information may include information indicating that the first safety function has been activated.
  • the user of the management device 200 can check the operating status of the first safety function for each excavator 100.
  • the safety control unit 304 has a predetermined safety function (hereinafter, for convenience, "second") when the safety confirmation around the excavator 100 by the operator in the cabin 10 has not been performed for more than a predetermined time. "Safety function" is activated. In other words, the safety control unit 304 may activate the second safety function when the frequency of safety confirmation around the excavator 100 by the operator in the cabin 10 is relatively low.
  • the second safety function includes, for example, a safety confirmation function that prompts the operator in the cabin 10 to confirm the safety around the excavator 100.
  • the safety control unit 304 may operate the safety confirmation function in the same manner as in the case of the first safety function.
  • the second safety function includes, for example, an operation limiting function for limiting or prohibiting the operation of the excavator 100 with respect to the operation of the driven element (hydraulic actuator) (specifically, the operation of the operating device 26). good.
  • the operation limiting function includes at least one of the operation deceleration function and the operation stop function as in the case of the first safety function.
  • the safety control unit 304 may operate the operation limiting function in the same manner as in the case of the first safety function.
  • the above log information may include information indicating that the second safety function has been activated.
  • the user of the management device 200 can check the operating status of the second safety function for each excavator 100.
  • the management device 200 includes a control device 210, a communication device 220, an output device 230, an input device 240, and a line-of-sight detection device 250.
  • 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.
  • 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.
  • 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 confirmation detection unit 2102, and a safety control unit 2103 as functional units realized by executing a program installed in the auxiliary storage device on the CPU. include.
  • 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).
  • 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.
  • the communication device T1 may be, for example, a satellite communication module connected to a satellite communication network using a communication satellite.
  • the communication device T1 may be, for example, a WiFi communication module or a Bluetooth communication module that performs short-range communication.
  • the output device 230 outputs various information to the user of the management device 200 under the control of the control device 210.
  • the user of the management device 200 includes, for example, an administrator of the management device 200, an operator, an operator who remotely controls the excavator 100, an observer who monitors the operation of the excavator 100 operated by the automatic operation function, and the like.
  • 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 user of the management device 200.
  • the display device is, for example, a liquid crystal display or an organic EL display.
  • the output device 230 includes, for example, a sound output device that aurally outputs various information about the management device 200 to the user of the management device 200.
  • the sound output device is, for example, a buzzer, a speaker, or the like.
  • the output device 230 includes a display device 230A used by an operator who remotely controls the excavator 100, a monitor who remotely monitors the excavator 100 operated by the automatic operation function, and the like.
  • the display device 230A displays various information images that support remote control and remote monitoring 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.
  • 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 control device 210 may display the log information received from the excavator 100 on the display device 230A through, for example, the communication device 220. As a result, the user of the management device 200 can confirm various states in the excavator 100.
  • the control device 210 may display information on the status of safety confirmation (for example, frequency of safety confirmation) around the excavator 100 by the operator on the display device 230A for each of the plurality of excavators 100.
  • the user of the management device 200 can determine whether or not the operator appropriately confirms the safety around the excavator 100 for each of the plurality of excavators 100.
  • the control device 210 may extract or emphasize the excavator 100 in which the frequency of safety confirmation around the excavator 100 by the operator is relatively low among the plurality of excavators 100. As a result, the user of the management device 200 can use this information to call attention to the operator of the excavator 100 who tends to neglect to check the safety of the surroundings.
  • the input device 240 receives the input from the user 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 an operation input of a user of the management device 200.
  • the operation input device includes, for example, a keyboard, a mouse, a touch panel, and the like.
  • the input device 240 may include, for example, a voice input device that accepts the voice input of the user of the management device 200, a gesture input device that accepts the gesture input, and the like.
  • the voice input device includes, for example, a microphone.
  • the gesture input device includes, for example, an imaging device that images a gesture performed by a user of the management device 200.
  • 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 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 input device 240 may include an input device for emergency stopping the excavator 100 operating by the automatic operation function and an input device for releasing the emergency stop state.
  • the observer can use the input device 240 to make an emergency stop of the excavator 100, for example, in a situation where contact between the excavator 100 and a surrounding object is likely to occur.
  • the observer can restart the operation by the automatic operation function of the excavator 100 by using the input device 240.
  • the line-of-sight detection device 250 is provided near a seat where an operator who remotely controls the excavator 100, that is, an operator who operates the operating device 240A or an observer who monitors the excavator 100 operating by the automatic driving function is seated. Detect the line of sight of operators and observers. The detection information corresponding to the line of sight of the remote-controlled operator detected by the line-of-sight detection device 250 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.
  • 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, for example.
  • 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.
  • 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.
  • 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.
  • the operation content of the operation device 240A can be reflected in the operation of the excavator 100, and the remote operation of the excavator 100 can be realized.
  • the safety confirmation detection unit 2102 confirms the safety around the excavator 100 by the operator or the observer of the management device 200, that is, the operator who remotely controls the excavator 100 or the observer who remotely monitors the excavator 100 operated by the automatic driving function. Detects the presence or absence of.
  • the operator or the observer may check the blind spot area (for example, the left side, the right side, and the rear side of the upper swivel body 3) included in the surrounding image of the display device 50. The state of confirming (visualizing) at least one of) is included.
  • the safety confirmation detection unit 2102 detects, for example, the presence or absence of safety confirmation around the excavator 100 by the operator or the observer based on the output of the line-of-sight detection device 250, as in the case of the safety confirmation detection unit 303. Further, as in the case of the safety confirmation detection unit 303, the safety confirmation detection unit 2102 may be operated by an operator or an observer when a predetermined operation target displayed on the display device 230A together with the surrounding image is operated through the input device 240, as in the case of the safety confirmation detection unit 303. It may be detected that the safety confirmation around the excavator 100 has been performed by.
  • the safety confirmation detection unit 2102 accepts voice input indicating that the safety confirmation has been performed by the operator or the observer through the voice input device included in the input device 240, as in the case of the safety confirmation detection unit 303, for example. If so, it may be detected that the safety confirmation around the excavator 100 has been performed by the operator or the observer.
  • the safety confirmation detection unit 2102 may detect the presence or absence of safety confirmation by the operator in a situation where the excavator 100 is in a suitable state for safety confirmation, as in the case of the safety confirmation detection unit 303, for example. That is, when the safety confirmation detection unit 2102 is not in the safety confirmation suitable state, the safety confirmation detection unit 2102 does not determine that the safety confirmation has been performed by the operator even if the safety confirmation is performed by the operator, and the safety confirmation "none" by the operator is performed. It may be detected.
  • the safety control unit 2103 controls the safety function of the excavator 100. Specifically, the safety control unit 2103 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 304.
  • the safety control unit 2103 has a predetermined safety function (for example, when the communication device 220 receives the monitoring target detection signal from the excavator 100, that is, when the object detection unit 302 detects the monitoring target in the monitoring area.
  • a predetermined safety function for example, when the communication device 220 receives the monitoring target detection signal from the excavator 100, that is, when the object detection unit 302 detects the monitoring target in the monitoring area.
  • the “third safety function” is activated.
  • the third safety function includes, for example, as in the case of the first safety function, an alarm function is output to notify the operator or the observer of the management device 200 that the monitoring target has been detected. Is included.
  • the safety control unit 2103 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 304, for example.
  • the safety control unit 2103 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 304, for example.
  • the output device 230 can realize an auditory notification function under the control of the control device 210.
  • the safety control unit 2103 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 304, for example.
  • the output device 230 can realize a visual notification function to the operator or the observer under the control of the control device 210.
  • the third safety function includes, for example, the operator of the management device 200, that is, the operator who remotely controls the excavator 100 and the observer who remotely monitors the excavator 100 operated by the automatic driving function.
  • a safety confirmation function that encourages safety confirmation around the area.
  • the safety control unit 2103 activates the safety confirmation function when the object detection unit 302 detects a monitoring target within the safety confirmation range included in the monitoring area, as in the case of the safety control unit 304, for example.
  • the safety control unit 2103 may operate the safety confirmation function by an auditory method by controlling the sound output device included in the output device 230, as in the case of the safety control unit 304, for example. Specifically, the safety control unit 2103 may output voice information from the output device 230 (sound output device) prompting the user to confirm the safety around the excavator 100.
  • the safety control unit 2103 may operate the safety confirmation function by a visual method by controlling the display device included in the output device 230, as in the case of the safety control unit 304, for example. Specifically, the safety control unit 2103 may display the character information prompting the output device 230 (display device) to confirm the safety around the excavator 100.
  • the safety control unit 2103 confirms the safety around the excavator 100 by, for example, an operator of the management device 200, that is, an operator who remotely controls the excavator 100 or an observer who remotely monitors the excavator 100 operated by the automatic driving function. Is not performed for more than a predetermined time, a predetermined safety function (hereinafter, “fourth safety function” for convenience) is activated. In other words, the safety control unit 2103 may activate the fourth safety function when the frequency of safety confirmation around the excavator 100 by the operator of the management device 200 is relatively low.
  • the fourth safety function includes, for example, a safety confirmation function that prompts the operator or the observer of the management device 200 to confirm the safety around the excavator 100.
  • the safety control unit 2103 may operate the safety confirmation function in the same manner as in the case of the third safety function, for example.
  • the fourth safety function may include, for example, an operation limiting function that limits or prohibits the operation of the excavator 100 with respect to the remote control of the driven element (hydraulic actuator).
  • the operation limiting function includes at least one of the operation deceleration function and the operation stop function as in the case of the first safety function and the second safety function.
  • the safety control unit 2103 confirms the safety around the excavator 100 by an operator who remotely controls the excavator 100 or an observer who remotely monitors the excavator 100 operated by the automatic driving function.
  • the operation restriction function may be activated when the operation has not been performed for more than a predetermined time.
  • the safety control unit 2103 may transmit a signal requesting the operation of the operation restriction function (hereinafter, “operation restriction request signal”) to the excavator 100 through the communication device 220.
  • operation restriction request signal a signal requesting the operation of the operation restriction function
  • the controller 30 can realize the operation restriction function in response to the operation restriction request signal received from the management device 200 by the communication device T1.
  • FIG. 5 is a flowchart schematically showing a first example of the control process related to the safety function by the controller 30.
  • FIG. 5 is a flowchart schematically showing a specific example of the control process related to the first safety function by the controller 30. This flowchart is repeatedly executed at predetermined time intervals, for example, from the start (for example, ON of the key switch) to the stop (for example, OFF of the key switch) of the excavator 100.
  • step S102 the object detection unit 302 performs the detection process of the monitoring target in the monitoring area.
  • the controller 30 proceeds to step S104.
  • step S104 the object detection unit 302 determines whether or not the monitored object has been detected by the detection process in step S102.
  • the object detection unit 302 proceeds to step S106, and when the monitoring target is not detected, the object detection unit 302 ends the processing of the current flowchart.
  • step S106 the safety control unit 304 activates the first safety function. Specifically, the safety control unit 304 notifies at least one of the inside and the outside of the cabin 10 that the monitoring target has been detected, and the safety control unit 304 confirms the safety around the excavator 100 to the operator of the cabin 10. Activate the safety confirmation function that prompts.
  • the controller 30 proceeds to step S108.
  • step S108 the safety confirmation detection unit 303 performs a detection process for the presence or absence of safety confirmation around the excavator 100 by the operator of the cabin 10.
  • the controller 30 proceeds to step S110.
  • step S110 the safety confirmation detection unit 303 determines whether or not the safety confirmation around the excavator 100 by the operator of the cabin 10 has been detected by the detection process in step S108.
  • the safety confirmation detection unit 303 proceeds to step S112, otherwise returns to step S108 and repeats the processes of steps S108 and S110.
  • step S112 the safety control unit 304 cancels the notification function and the safety confirmation function during continuous operation by the process of step S106, and stops the notification function and the safety confirmation function.
  • the controller 30 ends the process of this flowchart.
  • the display device 50 and the sound output device 52 confirm the safety around the excavator 100 to the operator of the cabin 10 when the monitoring target is detected in the monitoring area under the control of the controller 30. To urge.
  • the operator may not notice it, or even if he / she notices it, he / she may neglect to check the safety around the excavator 100.
  • the excavator 100 can positively urge the operator of the cabin 10 to confirm the safety around the excavator 100 (own machine). Therefore, when a monitoring target is detected around the excavator 100, it is possible to increase the possibility that the operator of the cabin 10 confirms the safety around the excavator 100. Therefore, it is possible to suppress a situation in which an object around the excavator 100 comes into contact with the excavator 100 and improve the safety of the excavator 100.
  • FIG. 6 is a flowchart schematically showing a second example of the control process related to the safety function by the controller 30.
  • FIG. 6 is a flowchart schematically showing a specific example (one example) of the control process related to the second safety function by the controller 30.
  • This flowchart is repeatedly executed at predetermined time intervals, for example, from the start (for example, ON of the key switch) to the stop (for example, OFF of the key switch) of the excavator 100. Further, this flowchart may be repeatedly executed at predetermined time intervals, for example, only when the monitoring target is not detected by the object detection unit 302.
  • step S202 the safety confirmation detection unit 303 performs a detection process for the presence or absence of safety confirmation around the excavator 100 by the operator of the cabin 10.
  • step S204 the controller 30 proceeds to step S204.
  • step S204 the safety confirmation detection unit 303 determines whether or not the state in which the operator of the cabin 10 has not confirmed the safety around the excavator 100 exceeds a predetermined time.
  • the safety confirmation detection unit 303 proceeds to step S206 when the state without safety confirmation around the excavator 100 by the operator of the cabin 10 exceeds a predetermined time, and otherwise ends the process of this flowchart. ..
  • step S206 the safety control unit 304 activates a safety confirmation function that prompts the operator of the cabin 10 to confirm the safety around the excavator 100.
  • the controller 30 proceeds to step S208.
  • steps S208 and S210 Since the processing of steps S208 and S210 is the same as that of steps S108 and S110 of FIG. 5, the description thereof will be omitted.
  • step S212 the safety control unit 304 cancels the safety confirmation function during continuous operation and stops the safety confirmation function by the process of step S206.
  • the controller 30 ends the process of this flowchart.
  • the controller 30 prompts the operator of the cabin 10 to confirm the safety around the excavator 100 when the operator of the cabin 10 has not confirmed the safety around the excavator 100 for a predetermined time. Activate the confirmation function.
  • the object detection unit 302 cannot detect the monitoring target even though the monitoring target exists in the monitoring area.
  • the safety function based on the detection of the monitoring target (for example, the first safety function) cannot be activated, and the operator does not notice the monitoring target, so that the excavator 100 and the monitoring target come into contact with each other. There is a possibility that it will end up.
  • the excavator 100 can urge the operator of the cabin 10 to confirm the safety around the excavator 100 at least at intervals of a predetermined time (at intervals of a predetermined time or less). Therefore, even if the object detection unit 302 cannot detect the monitoring target, the excavator 100 can increase the possibility that the operator of the cabin 10 will grasp the existence of the monitoring target. Therefore, the excavator 100 can suppress a situation in which an object around the excavator 100 comes into contact with the excavator 100 (own machine), and can improve the safety of the shovel 100 (own machine).
  • the above-mentioned predetermined time corresponding to the time interval for prompting the safety confirmation around the excavator 100 may be changed depending on the work content of the excavator 100. That is, the above-mentioned predetermined time may be set differently depending on the work content of the excavator 100. For example, the presence or absence and number of objects to be monitored (for example, workers) around the excavator 100 differ depending on the work content of the excavator 100, and the criteria for checking the safety around the excavator 100 at what time interval. Can be different.
  • the work of the excavator 100 includes, for example, excavation work, compaction work, loading work of earth and sand on a truck, crane work, and the like.
  • the work content of the excavator 100 may be automatically determined based on, for example, the captured image of the image pickup device 40, the operation content of the plurality of driven elements (hydraulic actuators), or the like, or through the input device 54 or the input device 240. It may be set manually by the operator's predetermined input. As a result, it is possible to achieve both work efficiency and safety of the excavator 100.
  • the above-mentioned predetermined time may be changed depending on the operation content (operation state) of the excavator 100. That is, the above-mentioned predetermined time may be set differently depending on the operation content (operation state) of the excavator 100. For example, in a situation where only the attachment of the excavator 100 is operated, the operator captures the operating range of the attachment in the front field of view, so that the above predetermined time is a somewhat long time (for example, several tens of seconds). May be set. On the other hand, when the lower traveling body 1 is moved backward with reference to the front of the upper turning body 3, a non-existent person advances within 10 seconds when the operator confirms the safety around the excavator 100 before the reverse operation.
  • the predetermined time may be set to a somewhat short time (for example, less than 10 seconds).
  • the predetermined time may be set to a somewhat short time.
  • the above-mentioned predetermined time may be set to a somewhat short time. This is because when the operation is started from the neutral state, a situation may occur in which the operator inadvertently neglects to confirm the safety.
  • FIG. 7 is a flowchart schematically showing a third example of the control process related to the safety function by the controller 30. Specifically, FIG. 7 is a flowchart showing a specific example (other example) of the control process related to the second safety function by the controller 30.
  • steps S302 and S304 is the same as that of steps S202 and S204 of FIG. 6, so the description thereof will be omitted.
  • step S306 the safety control unit 304 provides a safety confirmation function that prompts the operator of the cabin 10 to confirm the safety around the excavator 100, and an operation restriction function that restricts or prohibits the operation of the excavator 100 in response to the operator's operation. Activate.
  • the controller 30 proceeds to step S308.
  • steps S308 and S310 Since the processing of steps S308 and S310 is the same as that of S208 and S210 of FIG. 6, the description thereof will be omitted.
  • step S312 the safety control unit 304 cancels the safety confirmation function and the operation restriction function during work continuation by the process of step S306, and stops the safety confirmation function and the operation restriction function.
  • step S312 the controller 30 ends the process of this flowchart.
  • the controller 30 limits or prohibits the operation of the shovel 100 with respect to the operation of the operator of the cabin 10 when the operator of the cabin 10 has not confirmed the safety around the shovel 100 for a predetermined time. Activate the operation restriction function.
  • the excavator 100 can urge the operator of the cabin 10 to confirm the safety around the excavator 100 at intervals of a predetermined time or less. Therefore, the excavator 100 suppresses a situation in which an object around the excavator 100 (own machine) comes into contact with the shovel 100 (own machine), and enhances the safety of the shovel 100 (own machine). Can be done.
  • the display device 50 and the sound output device 52 continue the operation limiting function of limiting or prohibiting the operation of the shovel 100 until the operator confirms the safety around the shovel 100 under the control of the controller 30. Let me.
  • the excavator 100 can substantially oblige the operator of the cabin 10 to confirm the safety around the excavator 100. Therefore, the excavator 100 further suppresses a situation in which an object around the excavator 100 (own aircraft) comes into contact with the excavator 100 (own aircraft), and further enhances the safety of the excavator 100 (own aircraft). Can be enhanced.
  • the first example (FIG. 5) to the third example (FIG. 7) of the control process relating to the above-mentioned safety function may be appropriately modified or modified.
  • the notification function and the safety are provided even if the operator has not confirmed the safety around the excavator 100.
  • the confirmation function may be temporarily stopped. As a result, for example, it is possible to suppress a situation in which the operator becomes accustomed to the state in which the notification function and the safety confirmation function continue to operate, and the effect is diminished.
  • step S108 of FIG. 5 the controller 30 executes a process of determining whether or not a certain time has elapsed from the start of operation of the notification function and the safety confirmation function (hereinafter, “first additional process”). You can do it. Then, in the first additional process, the controller 30 may proceed to step S112 if a certain time has elapsed from the start of operation of the notification function and the safety confirmation function, and may proceed to step S110 if not.
  • the safety confirmation function may be temporarily stopped. As a result, for example, it is possible to suppress a situation in which the operator becomes accustomed to the state in which the safety confirmation function continues to operate and the effect is diminished.
  • the controller 30 may execute a process of determining whether or not a certain time has elapsed from the start of operation of the safety confirmation function (hereinafter, “second additional process”). .. Then, in the second additional process, the controller 30 may proceed to step S212 if a certain time has elapsed from the start of operation of the safety confirmation function, and may proceed to step S210 if not.
  • second additional process a process of determining whether or not a certain time has elapsed from the start of operation of the safety confirmation function.
  • the controller 30 when the controller 30 continues for a predetermined period or longer in a situation where the operator does not confirm the safety around the excavator 100 after the detection of the monitoring target, the environment around the excavator 100 is not confirmed.
  • a safety confirmation function that warns (strongly urges) to perform a safety confirmation may be activated.
  • the controller 30 can more strongly urge the operator to confirm the safety around the excavator 100 in a situation where the operator does not confirm the safety around the excavator 100 even when the operation of the safety confirmation function is started.
  • controller 30 increases the degree of prompting the operator to confirm the safety around the excavator 100 in three stages each time the predetermined period elapses for a period in which the operator does not confirm the safety around the excavator 100.
  • the above may be strengthened step by step.
  • step S106 the controller 30 activates the first safety confirmation function, which has a relatively low degree of prompting the safety confirmation around the excavator 100.
  • the controller 30 executes a process of determining whether or not the situation in which the operator does not confirm the safety around the excavator 100 continues for a predetermined period or longer (hereinafter, "third additional process"). ..
  • the controller 30 has a relative degree of prompting the safety confirmation around the excavator 100 instead of the first safety confirmation function.
  • step S110 A process for activating the second safety confirmation function (hereinafter, “fourth additional process”), which is relatively high, is executed, and the process proceeds to step S108.
  • the controller 30 proceeds to step S108 as it is.
  • the controller 30 determines in step S110 that there is no safety confirmation by the operator, the controller 30 returns to the third additional process, and the third additional process, the fourth additional process, step S108, and the like until the safety confirmation is made.
  • step S110 A series of processes according to step S110 are repeated.
  • the controller 30 performs the safety confirmation around the excavator 100 when the safety confirmation around the excavator 100 is not performed by the operator for a certain period of time or longer.
  • a warning (more strongly urged) safety confirmation function may be activated.
  • the predetermined period is set to a period longer than the predetermined time.
  • controller 30 increases the degree of prompting the operator to confirm the safety around the excavator 100 in three stages each time the predetermined period elapses for a period in which the operator does not confirm the safety around the excavator 100.
  • the above may be strengthened step by step.
  • step S206 the controller 30 operates the first safety confirmation function, which has a relatively low degree of prompting the safety confirmation around the excavator 100.
  • the controller 30 executes a process of determining whether or not the situation in which the operator does not confirm the safety around the excavator 100 continues for a predetermined period or more (hereinafter, "fifth additional process"). ..
  • the controller 30 has a relative degree of prompting the safety confirmation around the excavator 100 instead of the first safety confirmation function.
  • step S208 A process for activating the second safety confirmation function (hereinafter, “sixth additional process”), which is relatively high, is executed, and the process proceeds to step S208.
  • the controller 30 proceeds to step S208 as it is.
  • the controller 30 determines in step S210 that there is no safety confirmation around the excavator 100 by the operator, the controller 30 returns to the fifth additional process, and the fifth additional process and the sixth additional process are performed until the safety confirmation is made. , Step S208, and step S210 are repeated.
  • the safety control unit 304 has a notification function and a safety confirmation function as in the case of step S306 of the flowchart of FIG. 7 (third example).
  • the operation restriction function may be activated.
  • the excavator 100 suppresses a situation in which an object around the excavator 100 (own machine) comes into contact with the shovel 100 (own machine), and enhances the safety of the shovel 100 (own machine). Can be done.
  • the safety control unit 304 operates in addition to the notification function and the safety confirmation function, as in the case of step S312 of the flowchart of FIG. 7 (third example). You may cancel the restriction function.
  • the excavator 100 can continue the operation limiting function until the operator of the cabin 10 confirms the safety around the excavator 100.
  • the operator of the excavator 100 can be substantially obliged to confirm the safety around the excavator 100 when a monitoring target is detected around the excavator 100. Therefore, the excavator 100 further suppresses a situation in which an object around the excavator 100 (own aircraft) comes into contact with the excavator 100 (own aircraft), and further enhances the safety of the excavator 100 (own aircraft). Can be enhanced.
  • the controller 30 continues for a predetermined period or more in which the safety confirmation by the operator is not performed after the detection of the monitoring target.
  • the operation restriction function may be activated.
  • the controller 30 can allow the operator to continue the operation of the excavator 100 to some extent while prompting the operator to confirm the safety around the excavator 100. Therefore, the controller 30 can ensure the safety of the excavator 100 and the work site of the excavator 100 and suppress the decrease in the work efficiency of the excavator 100 at the same time.
  • the controller 30 determines whether or not the situation in which the operator does not confirm the safety around the excavator 100 continues for a predetermined period or more (hereinafter, "the first”. 7 additional processing ”) is executed.
  • the controller 30 executes a process of activating the operation restriction function (hereinafter, "10th additional process”) when the situation in which the safety confirmation around the excavator 100 is not performed by the operator continues for a predetermined period or longer. , Step S308.
  • the controller 30 proceeds to step S308 as it is.
  • step S310 determines in step S310 that there is no safety confirmation around the excavator 100 by the operator.
  • the controller 30 returns to the ninth additional process, and the ninth additional process and the tenth additional process are performed until the safety confirmation is made. , Step S308, and step S310 are repeated.
  • the controller 30 may activate the operation limiting function when the safety confirmation is not performed at intervals of a predetermined time or less by the operator for a predetermined period of time.
  • the predetermined period is set to a period longer than the predetermined time.
  • step S306 the controller 30 operates only the safety confirmation function, and after the completion of the operation, whether or not the situation in which the operator does not confirm the safety around the excavator 100 continues for a predetermined period or more.
  • the determination process (hereinafter, "9th additional process”) is executed.
  • the controller 30 executes a process of activating the operation restriction function (hereinafter, "10th additional process”) when the situation in which the safety confirmation around the excavator 100 is not performed by the operator continues for a predetermined period or longer. , Step S308.
  • the controller 30 proceeds to step S308 as it is.
  • step S310 determines in step S310 that there is no safety confirmation around the excavator 100 by the operator.
  • the controller 30 returns to the ninth additional process, and the ninth additional process and the tenth additional process are performed until the safety confirmation is made. , Step S308, and step S310 are repeated.
  • control processing by the control device of the management device [Specific example of control processing by the control device of the management device] Next, the control process by the control device 210 of the management device 200 will be specifically described with reference to FIGS. 5 to 7.
  • step S102 is replaced with a process in which the control device 210 confirms the received data from the excavator 100.
  • step S104 is replaced with a process of determining whether or not the control device 210 has detected the monitoring target detection signal from the excavator 100 through the communication device 220.
  • the management device 200 confirms the safety around the excavator 100, that is, to the operator who remotely controls the excavator 100 and the observer who remotely monitors the excavator 100 operated by the automatic driving function. It is possible to positively urge the confirmation of the surrounding image of the display device 230A. Therefore, when a monitoring target is detected around the excavator 100, an operator who remotely controls the excavator 100 or an observer who remotely monitors the excavator 100 operated by the automatic driving function confirms the safety around the excavator 100. You can increase your chances of doing it. Therefore, it is possible to suppress a situation in which the monitoring target around the excavator 100 and the excavator 100 come into contact with each other, and improve the safety of the excavator 100.
  • the output device 230 is around the excavator 100 by an operator who remotely controls the excavator 100 or an observer who remotely monitors the excavator 100 which operates by the automatic operation function under the control of the control device 210.
  • the operator or the observer can be urged to confirm the safety around the excavator 100, that is, to confirm the surrounding image of the display device 230A.
  • the excavator 100 can urge the operator or the observer of the management device 200 to confirm the safety around the excavator 100 at intervals of a predetermined time or less.
  • the management device 200 monitors the operator who remotely controls the excavator 100 or the excavator 100 which operates by the automatic operation function. It is possible to increase the possibility that a person will know the existence of the monitored object. Therefore, the management device 200 can suppress a situation in which the monitoring target around the excavator 100 and the excavator 100 come into contact with each other, and can improve the safety of the excavator 100.
  • the operator who remotely controls the excavator 100 over a predetermined time and the observer who remotely monitors the excavator 100 operated by the automatic driving function confirm the safety around the excavator 100. That is, when the surrounding image of the display device 230A is not confirmed, the operation restriction function that restricts or prohibits the operation of the excavator 100 with respect to the remote control of the operator or the automatic operation function can be activated. Then, unless the operator who remotely controls the excavator 100 or the observer who remotely monitors the excavator 100 operated by the automatic driving function confirms the safety around the excavator 100, the operation of the excavator 100 is restricted and the work is performed.
  • the management device 200 confirms the safety around the excavator 100 at intervals of a predetermined time or less for the operator who remotely controls the excavator 100 and the observer who remotely monitors the excavator 100 operated by the automatic driving function. Can be prompted. Therefore, the management device 200 can suppress a situation in which an object around the excavator 100 comes into contact with the excavator 100, and can improve the safety of the excavator 100 (own machine).
  • the first to third examples of the control process relating to the above-mentioned safety function may be appropriately modified or changed.
  • the excavator 100 by the operator or the observer waits for a certain period of time after the start of the operation of the notification function and the safety confirmation function. Even if the safety confirmation of the surroundings is not performed, the notification function and the safety confirmation function may be temporarily stopped. As a result, for example, it is possible to suppress a situation in which the operator or the observer becomes accustomed to the state in which the notification function and the safety confirmation function continue to operate, and the effect is diminished.
  • the safety confirmation function may be temporarily stopped.
  • the safety confirmation function may be temporarily stopped.
  • the control device 210 does not confirm the safety around the excavator 100 by the operator or the observer after detecting the monitoring target. If the situation continues for a certain period of time or longer, a safety confirmation function that warns (strongly urges) the safety confirmation around the excavator 100 may be activated. Further, the control device 210 asks the operator or the observer to confirm the safety around the excavator 100 every time a predetermined period elapses for a period in which the safety confirmation around the excavator 100 is not performed by the operator or the observer. The degree of prompting may be strengthened step by step in three or more steps.
  • the control device 210 has a situation in which the safety confirmation around the excavator 100 is not performed by the operator or the observer for a predetermined period or more. If it continues, a safety confirmation function that warns (strongly urges) to perform a safety confirmation around the excavator 100 may be activated.
  • the predetermined period is set to a period longer than the predetermined time.
  • the control device 210 asks the operator and the observer to confirm the safety around the excavator 100 in a situation where the operator and the observer do not confirm the safety around the excavator 100 even when the safety confirmation function starts to operate.
  • control device 210 asks the operator or the observer to confirm the safety around the excavator 100 every time a predetermined period elapses for a period in which the safety confirmation around the excavator 100 is not performed by the operator or the observer.
  • the degree of prompting may be strengthened step by step in three or more steps.
  • the safety control unit 304 activates the operation restriction function in addition to the notification function and the safety confirmation function. May be good.
  • the control device 210 is directed to the operator and the observer of the management device 200 around the excavator 100 as in the case of the third example. It is possible to prompt for safety confirmation. Therefore, the management device 200 suppresses a situation in which an object around the shovel 100 (own machine) comes into contact with the shovel 100 (own machine), and enhances the safety of the shovel 100 (own machine). be able to.
  • the safety control unit 304 may cancel the operation restriction function at the same timing in addition to the notification function and the safety confirmation function.
  • the control device 210 can continue the operation limiting function until the operator or the observer of the management device 200 confirms the safety around the excavator 100. Therefore, it is possible to substantially oblige the operator or the observer of the management device 200 to confirm the safety around the excavator 100 when the monitored object is detected around the excavator 100. Therefore, the control device 210 can further suppress a situation in which an object around the excavator 100 comes into contact with the excavator 100, and further enhance the safety of the excavator 100.
  • the control device 210 continues for a predetermined period or more in which the safety confirmation by the operator or the observer is not performed after the detection of the monitoring target. If this is the case, the operation restriction function may be activated. As a result, the control device 210 can allow the operator and the observer to continue the operation of the excavator 100 to some extent while prompting the operator and the observer to confirm the safety around the excavator 100. Therefore, the control device 210 can achieve both ensuring the safety of the excavator 100 and the work site of the excavator 100 and suppressing a decrease in the work efficiency of the excavator 100.
  • the control device 210 has continued for a predetermined period of time in which the operator does not confirm the safety at intervals of a predetermined time or less.
  • the operation restriction function may be activated.
  • the predetermined period is set to a period longer than the predetermined time.
  • the safety confirmation function for prompting the operator of the excavator 100 to confirm the safety of the surroundings has been described, but the same function may be adopted for other work machines other than the excavator 100.
  • Other work machines may include, for example, bulldozers, wheel loaders, mobile cranes and the like.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Business, Economics & Management (AREA)
  • Emergency Management (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Operation Control Of Excavators (AREA)
  • Component Parts Of Construction Machinery (AREA)
PCT/JP2021/002079 2020-01-24 2021-01-21 作業機械、情報処理装置 Ceased WO2021149775A1 (ja)

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CN202180006998.4A CN114787454A (zh) 2020-01-24 2021-01-21 施工机械、信息处理装置
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