WO2023228758A1 - Construction machine and assistance system for construction machine - Google Patents

Abstract

This construction machine includes: a lower travelling body; an upper revolving body that is revolvingly mounted on the lower travelling body; a cabin that is mounted on the upper revolving body; and a spatial recognition device that is disposed on a pillar in the cabin.

Description

Construction machinery and construction machinery support systems

The present invention relates to construction machines and support systems for construction machines.

Conventionally, a camera is placed at a position where it can take images of the operator seated in the driver's seat and the control lever operated by the operator, and a camera is placed at a position where it is possible to take images of the travel control lever and the travel control pedal. Construction machinery is known. Furthermore, it is known that in this construction machine, images taken by these cameras are used to prevent malfunctions that are not intended by the operator.

Japanese Patent Application Publication No. 2020-111895

The operator seated in the driver's seat does not always face forward. For this reason, with conventional techniques, it is not possible to capture images of facial parts such as the eyes, nose, and mouth of the operator.

Therefore, in view of the above circumstances, the objective is to capture images of the parts of the operator's face.

The disclosed construction machine includes a lower traveling body, an upper rotating body rotatably mounted on the lower traveling body, a cabin mounted on the upper rotating body, and a space recognition system disposed on a pillar in the cabin. It is a construction machine having a device.

The disclosed construction machine support system is a construction machine support system including a construction machine and a management device, wherein the construction machine includes a lower traveling body and an upper part rotatably mounted on the lower traveling body. a revolving body, a cabin mounted on the upper revolving body, a space recognition device disposed on a pillar in the cabin, and an output unit that outputs a plurality of image data captured by the space recognition device to the management device. and, the management device is a construction machine support system having a storage unit that stores the plurality of image data.

The purpose is to capture images of the parts of the operator's face.

FIG. 1 is a diagram showing an example of a system configuration of an excavator support system. It is a figure explaining arrangement of an imaging device inside a cabin. FIG. 6 is a diagram showing a state in which the front window is in the middle of being opened. FIG. 2 is a block diagram showing a configuration example of a drive system of an excavator. FIG. 3 is a diagram illustrating an example of a state detection method by a state detection unit. It is a flowchart explaining the processing of the shovel of a first embodiment. FIG. 3 is a first diagram showing an example of image data to be output. FIG. 7 is a second diagram showing an example of output image data. It is a flowchart explaining operation of the excavator of a second embodiment. FIG. 3 is a diagram illustrating a system configuration of a construction machine support system according to a third embodiment.

(First embodiment)
Embodiments will be described below with reference to the drawings. Note that in the accompanying drawings, the X-axis, Y-axis, and Z-axis are axes that are orthogonal to each other. Specifically, the X-axis extends along the longitudinal axis of the shovel, the Y-axis extends along the left-right axis of the shovel, and the Z-axis extends along the pivot axis of the shovel. In this embodiment, the X-axis and Y-axis extend horizontally, and the Z-axis extends vertically.

FIG. 1 is a diagram showing an example of the system configuration of an excavator support system. The shovel support system SYS of this embodiment includes a shovel 100 and a management device 200. In the following description, the shovel support system SYS will be simply expressed as the support system SYS.

In the support system SYS of this embodiment, the excavator 100 and the management device 200 are connected via a network or the like. Excavator 100 is an example of a working machine.

In the excavator 100 of this embodiment, a plurality of imaging devices are arranged in the cabin 10, which will be described later, at positions where the face image of the operator seated in the driver's seat is always captured. Further, in this embodiment, the operator's condition is detected based on image data captured by a plurality of imaging devices arranged in the cabin 10, and the detection result and the image data are stored in association with each other.

Further, the excavator 100 of the present embodiment may transmit information including image data captured by a plurality of imaging devices and detection results to the management device 200, and have the management device 200 manage the information.

Furthermore, in the present embodiment, the management device 200 may display the detection results of the operator's condition and the image data. Details of the operator's status in this embodiment will be described later.

Image data in this embodiment includes moving image data and still image data. Further, in the example of FIG. 1, the support system SYS includes the shovel 100 and the management device 200, but is not limited to this. The support system SYS may include a support device that supports an operator who operates the shovel 100. The support device may be a portable terminal device, such as a smartphone, a tablet terminal, a wearable terminal, or the like.

Furthermore, in the example of FIG. 1, the management device 200 is realized by one information processing device, but the present invention is not limited to this. The management device 200 may be realized by a plurality of information processing devices. In other words, the functions realized by the management device 200 may be realized by a plurality of information processing devices.

Furthermore, in this embodiment, a plurality of imaging devices are arranged in the cabin 10, but the present invention is not limited to this. The imaging device only needs to be placed at a position where the facial image of the operator seated in the driver's seat is always captured.

The excavator 100 of this embodiment will be described below. FIG. 1 shows a side view of excavator 100.

The excavator 100 is an example of a construction machine, and includes a lower traveling body 1, a swing mechanism 2, and an upper rotating body 3. In the excavator 100, an upper rotating body 3 is rotatably mounted on the lower traveling body 1 via a rotating mechanism 2. A boom 4 is attached to the upper revolving body 3. An arm 5 is 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.

The boom 4, arm 5, and bucket 6 constitute a digging attachment as an example of an attachment. The boom 4 is driven by a boom cylinder 7, the arm 5 is driven by an arm cylinder 8, and the bucket 6 is driven by a bucket cylinder 9. A boom angle sensor S1 is attached to the boom 4, an arm angle sensor S2 is attached to the arm 5, and a bucket angle sensor S3 is attached to the bucket 6.

The boom angle sensor S1 is configured to detect the rotation angle of the boom 4. In this embodiment, the boom angle sensor S1 is an acceleration sensor, and can detect the rotation angle of the boom 4 with respect to the upper rotating structure 3 (hereinafter referred to as "boom angle"). For example, the boom angle becomes the minimum angle when the boom 4 is lowered the most, and increases as the boom 4 is raised.

The arm angle sensor S2 is configured to detect the rotation angle of the arm 5. In this embodiment, the arm angle sensor S2 is an acceleration sensor, and can detect the rotation angle of the arm 5 with respect to the boom 4 (hereinafter referred to as "arm angle"). For example, the arm angle becomes the minimum angle when the arm 5 is most closed, and increases as the arm 5 is opened.

The bucket angle sensor S3 is configured to detect the rotation angle of the bucket 6. In this embodiment, the bucket angle sensor S3 is an acceleration sensor, and can detect the rotation angle of the bucket 6 with respect to the arm 5 (hereinafter referred to as "bucket angle"). For example, the bucket angle becomes the minimum angle when the bucket 6 is most closed, and increases as the bucket 6 is opened.

The boom angle sensor S1, arm angle sensor S2, and bucket angle sensor S3 are each a potentiometer using a variable resistor, a stroke sensor that detects the stroke amount of the corresponding hydraulic cylinder, and a rotation angle around the connecting pin. It may be a rotary encoder, a gyro sensor, or a combination of an acceleration sensor and a gyro sensor.

A boom rod pressure sensor S7R and a boom bottom pressure sensor S7B are attached to the boom cylinder 7. An arm rod pressure sensor S8R and an arm bottom pressure sensor S8B are attached to the arm cylinder 8.

A bucket rod pressure sensor S9R and a bucket bottom pressure sensor S9B are attached to the bucket cylinder 9. Boom rod pressure sensor S7R, boom bottom pressure sensor S7B, arm rod pressure sensor S8R, arm bottom pressure sensor S8B, bucket rod pressure sensor S9R, and bucket bottom pressure sensor S9B are also collectively referred to as "cylinder pressure sensors."

The boom rod pressure sensor S7R detects the pressure in the rod side oil chamber of the boom cylinder 7 (hereinafter referred to as "boom rod pressure"), and the boom bottom pressure sensor S7B detects the pressure in the bottom side oil chamber of the boom cylinder 7 (hereinafter referred to as "boom rod pressure"). , "boom bottom pressure"). The arm rod pressure sensor S8R detects the pressure in the rod side oil chamber of the arm cylinder 8 (hereinafter referred to as "arm rod pressure"), and the arm bottom pressure sensor S8B detects the pressure in the bottom side oil chamber of the arm cylinder 8 (hereinafter referred to as "arm rod pressure"). , "arm bottom pressure") is detected.

The bucket rod pressure sensor S9R detects the pressure in the rod side oil chamber of the bucket cylinder 9 (hereinafter referred to as "bucket rod pressure"), and the bucket bottom pressure sensor S9B detects the pressure in the bottom side oil chamber of the bucket cylinder 9 (hereinafter referred to as "bucket rod pressure"). , "bucket bottom pressure").

The upper revolving body 3 is provided with a cabin 10 which is a driver's room, and is equipped with a power source such as an engine 11. Furthermore, a sensor for detecting the amount of CO ₂ emissions may be provided near the exhaust mechanism of the engine 11.

Further, the upper revolving body 3 includes a controller 30, a display device 40, an input device 42, an audio output device 43, a storage device 47, a positioning device P1, a body tilt sensor S4, a turning angular velocity sensor S5, an imaging device S6, and a communication device T1. is installed.

The upper revolving structure 3 may be equipped with a power storage unit that supplies electric power, a motor generator that generates electricity using the rotational driving force of the engine 11, and the like. The power storage unit is, for example, a capacitor, a lithium ion battery, or the like. A motor generator may function as an electric motor to drive a mechanical load, or may function as a generator to supply power to an electrical load.

The controller 30 functions as a main control unit that controls the drive of the shovel 100. In this embodiment, the controller 30 is composed of a computer including a CPU, RAM, ROM, and the like. Various functions of the controller 30 are realized, for example, by the CPU executing programs stored in the ROM. The various functions may include, for example, at least one of a machine guidance function that guides the manual operation of the shovel 100 by the operator, and a machine control function that automatically supports the manual operation of the shovel 100 by the operator. good.

The display device 40 is configured to display various information. The display device 40 may be connected to the controller 30 via a communication network such as CAN, or may be connected to the controller 30 via a dedicated line.

The input device 42 is configured to allow an operator to input various information to the controller 30. The input device 42 includes at least one of a touch panel, a knob switch, a membrane switch, etc. installed in the cabin 10.

The audio output device 43 is configured to output audio. The audio output device 43 may be, for example, an in-vehicle speaker connected to the controller 30, or may be an alarm device such as a buzzer. In this embodiment, the audio output device 43 is configured to output various information as audio in response to audio output commands from the controller 30.

The storage device 47 is configured to store various information. The storage device 47 is, for example, a nonvolatile storage medium such as a semiconductor memory. The storage device 47 may store information output by various devices while the shovel 100 is in operation, or may store information acquired via the various devices before the shovel 100 starts operating.

Specifically, the storage device 47 may store information including image data captured by a plurality of imaging devices (cameras) arranged in the cabin 10 and the detection result of the operator's state by the controller 30. .

Furthermore, the storage device 47 may store data regarding the target construction surface acquired via the communication device T1 or the like, for example. The target construction surface may be set by the operator of the excavator 100, or may be set by a construction manager or the like.

The positioning device P1 is configured to measure the position of the upper revolving structure 3. The positioning device P1 may be configured to be able to measure the orientation of the upper rotating body 3. In this embodiment, the positioning device P1 is, for example, a GNSS compass, detects the position and orientation of the upper rotating body 3, and outputs the detected value to the controller 30. Therefore, the positioning device P1 can also function as a direction detection device that detects the direction of the upper rotating body 3. The orientation detection device may be an orientation sensor attached to the upper revolving body 3.

The body tilt sensor S4 is configured to detect the tilt of the upper revolving body 3. In this embodiment, the body inclination sensor S4 is an acceleration sensor that detects the longitudinal inclination angle around the longitudinal axis and the lateral inclination angle around the left-right axis of the upper revolving superstructure 3 with respect to the virtual horizontal plane. The longitudinal axis and the lateral axis of the upper revolving body 3 are perpendicular to each other at, for example, the center point of the shovel, which is one point on the swing axis of the shovel 100.

The turning angular velocity sensor S5 is configured to detect the turning angular velocity of the upper rotating structure 3. The turning angular velocity sensor S5 may be configured to detect or calculate the turning angle of the upper rotating body 3. In this embodiment, the turning angular velocity sensor S5 is a gyro sensor. The turning angular velocity sensor S5 may be a resolver, a rotary encoder, or the like.

The imaging device S6 is an example of a space recognition device, and is configured to acquire images around the excavator 100. In this embodiment, the imaging device S6 includes a front camera S6F that images the space in front of the shovel 100, a left camera S6L that images the space to the left of the shovel 100, and a right camera S6R that images the space to the right of the shovel 100. , and a rear camera S6B that images the space behind the shovel 100.

Furthermore, the imaging device S6 of this embodiment may include a plurality of imaging devices provided within the cabin 10. Details of the arrangement of the plurality of imaging devices provided in the cabin 10 will be described later.

The imaging device S6 is, for example, a monocular camera having an imaging device such as a CCD or CMOS, and outputs the captured image to the display device 40. The imaging device S6 may be a stereo camera, a distance image camera, or the like. Furthermore, the imaging device S6 may be replaced with another spatial recognition device such as a three-dimensional distance image sensor, an ultrasonic sensor, a millimeter wave radar, a LIDAR or an infrared sensor, or a combination of another spatial recognition device and a camera. May be replaced.

The front camera S6F is attached to the ceiling of the cabin 10, that is, inside the cabin 10, for example. However, the front camera S6F may be attached to the outside of the cabin 10, such as the roof of the cabin 10 or the side surface of the boom 4. The left camera S6L is attached to the left end of the upper surface of the revolving upper structure 3, the right camera S6R is attached to the right end of the upper surface of the upper revolving structure 3, and the rear camera S6B is attached to the rear end of the upper surface of the revolving upper structure 3. .

The communication device T1 controls communication with external equipment outside the excavator 100. In this embodiment, the communication device T1 controls communication with an external device via a satellite communication network, a mobile phone communication network, an Internet network, or the like. The external device may be, for example, the management device 200 such as a server installed in an external facility, or may be a support device such as a smartphone carried by a worker around the excavator 100.

The excavator 100 may transmit image data captured by the imaging device S6 to an external device such as the management device 200 via the communication device T1. With this configuration, a worker, a manager, or the like outside the excavator 100 can visually check the status of the surroundings of the excavator 100 and the status of the operator through a display device such as a monitor connected to the management device 200 or the support device.

Next, with reference to FIG. 2, the arrangement of the imaging device S6 inside the cabin 10 of this embodiment will be described. FIG. 2 is a diagram illustrating the arrangement of the imaging device inside the cabin.

FIG. 2 is a perspective view of the inside of the cabin 10, showing the state seen from the driver's seat inside the cabin 10.

As shown in FIG. 2, a driver's seat 90 is installed inside the cabin 10. A left console 90L is installed on the left side of the driver's seat 90, and a right console 90R is installed on the right side of the driver's seat 90. A left operating lever 26L is attached to the upper front end of the left console 90L, and a right operating lever 26R is attached to a position corresponding to the left operating lever 26L on the right console 90R. A main monitor 40M, which is one of the display devices 40, is attached to the upper front end of the right console 90R.

Inside the cabin 10, a camera S6PL is attached to the left pillar 111L, and a camera S6PR is attached to the right pillar 111R. The left pillar 111L and the right pillar 111R are part of the frame body 110 shown in FIG. 3. Camera S6PL and camera S6PR are imaging devices and are examples of three-dimensional sensors.

In addition, in the present embodiment, the cameras S6PL and S6PR are mounted on the left and right pillars from the height H1 of the seat surface 90m of the driver's seat 90 to the upper end of the headrest 90c of the driver's seat 90, as shown in FIG. It can be installed at a position up to the height H2. Note that the "height" in this embodiment may be, for example, a vertical distance from the floor surface 10f of the cabin 10.

In this embodiment, by arranging the cameras S6PL and S6PR in this way, it is possible to image the operator who is sitting in the driver's seat 90 and looking forward from both the left side and the right side.

Specifically, for example, when the operator seated in the driver's seat 90 is facing to the right, the camera S6PR attached to the right pillar 111R can capture an image including the parts of the operator's face. . Further, when the operator seated in the driver's seat 90 is facing to the left, the camera S6PL attached to the left pillar 111L can capture an image including the parts of the operator's face.

Furthermore, the cameras S6PL and S6PR of this embodiment are mounted so as not to obstruct the operator's view through the front window 62. Therefore, the cameras S6PL and S6PR of this embodiment are sized to fit within the widths of the left pillar 111L and right pillar 111R.

In this embodiment, by making the cameras S6PL and S6PR of such sizes, it is possible to prevent the cameras S6PL and S6PR from interfering with the opening and closing of the window front section 60. In other words, in this embodiment, the cameras S6PL, S6PR and the opening/closing operation of the front window 62 can be made non-interfering.

Note that in the example of FIG. 2, one imaging device is attached to each of the left and right pillars, but the number of pillars that are attached to the left pillar 111L and the right pillar 111R is not limited to this. In this embodiment, for example, a plurality of imaging devices may be attached to each of the left and right pillars.

Furthermore, the cameras S6PL and S6PR of this embodiment may be movable. Specifically, for example, rails having grooves are attached to each of the left pillar 111L and the right pillar 111R, and the cameras S6PL and S6PR are fitted into the rails attached to the left pillar 111L and the right pillar 111R. You can.

In this case, the operator can move the mounting positions of the cameras S6PL and S6PR by sliding the cameras S6PL and S6PR on the rail.

Furthermore, in this embodiment, for example, each of the left pillar 111L and the right pillar 111R may be provided with a plurality of attachment parts for attaching the cameras S6PL and S6PR. Specifically, the attachment part may be, for example, a USB hub including a plurality of USB (Universal Serial Bus) connectors.

In this case, the mounting positions of the cameras S6PL and S6PR can be moved by connecting the cameras S6PL and S6PR to any USB connectors that the USB hub has.

Furthermore, the cameras S6PL and S6PR of this embodiment may be provided with fixing members for fixing to the left pillar 111L and the right pillar 111R, respectively, on the back surface of the housing, for example. For example, when the left pillar 111L and the right pillar 111R are made of metal such as iron, the fixing member may be a magnet or the like, or a screw.

In this case, by fixing the cameras S6PL and S6PR at arbitrary positions on the left pillar 111L and the right pillar 111R, the mounting positions of the cameras S6PL and S6PR can be moved.

In this way, in this embodiment, the cameras S6PL and S6PR are movable, so that the cameras can be positioned at positions suitable for capturing the operator's face image depending on the seat height when the operator is seated in the driver's seat 90. S6PL and S6PR can be moved.

Although not shown in the present embodiment, a left monitor and a right monitor may be provided in the left pillar 111L and the right pillar 111R at positions that do not interfere with the cameras S6PL and S6PR.

In this case, the left monitor is preferably mounted at a height higher than the height of the main monitor 40M and lower than the height of the left rear mirror 10c. "Height" is, for example, a vertical distance from the ground. Moreover, it is desirably mounted at approximately the same height as the left camera S6L. Similarly, the right monitor is preferably mounted at a height higher than the height of the main monitor 40M and lower than the height of the left rear mirror 10c. Moreover, it is desirably mounted at approximately the same height as the right camera S6R.

The back monitor 40B is attached to the upper part of the right pillar 111R so as to be arranged along the front ceiling frame 113. The front ceiling frame 113 is a part of the frame body 110 shown in FIG.

The back monitor 40B may be attached to the top of the left pillar 111L so as to be disposed along the front ceiling frame 113.

In this way, the left monitor may be placed on the left side of the visual field of the excavator operator who is sitting in the driver's seat and looking straight ahead, as if it were a left rear mirror. Furthermore, the right monitor may be placed on the right side of the visual field as if it were a right rear mirror.

Furthermore, in this embodiment, the rear monitor 40B is arranged in the upper part of the field of view as if it were a rear mirror. Therefore, the excavator operator can intuitively recognize that the image displayed on the left monitor is a mirror image of the left rear of the excavator. Similarly, the user can intuitively recognize that the image displayed on the right monitor is a mirror image of the right rear part of the shovel, and that the image displayed on the back monitor 40B is a mirror image of the rear part of the shovel.

The images displayed on the left monitor, right monitor, and back monitor 40B correspond to images captured by the left camera S6L, right camera S6R, and rear camera S6B, respectively. That is, the left monitor, right monitor, and back monitor 40B each independently display images in different directions. Further, the display on the left monitor, right monitor, and back monitor 40B starts simultaneously with the activation of the main monitor 40M when the operator turns on the key. However, it may be started at the same time as the engine 11 is started.

Furthermore, the left monitor, right monitor, and back monitor 40B are installed so as not to obstruct the operator's view through the front window 62. Therefore, in this embodiment, the left monitor and right monitor have sizes that fit within the widths of the left pillar 111L and right pillar 111R, and the back monitor 40B is attached to the upper right corner of the front window 62. However, the left monitor and the right monitor may have a width wider than the width of the left pillar 111L and the right pillar 111R, and the back monitor 40B may have a size that fits within the width of the front ceiling frame 113. Further, the left monitor, right monitor, and back monitor 40B are installed at positions that do not interfere with opening and closing of the front window 62.

The screen size and resolution of each of the left monitor, right monitor, and back monitor 40B are preferably such that an image of a person within a predetermined distance (for example, 12 m) from the excavator is larger than a predetermined size (for example, 7 mm x 7 mm) on the screen. selected for display. For example, a monitor with a screen size of 7 inches (7 inches) or more is used as the left monitor and right monitor, and preferably a monitor with a screen size of 7 inches (7 inches) or 8 inches (8 inches) is used. .

Additionally, the left monitor and right monitor are mounted at the same height with respect to the reference horizontal plane. The reference horizontal plane is, for example, the ground on which the shovel is located. In this embodiment, they are attached so as to be symmetrical with respect to the center line of the driver's cab shown by the dashed line in FIG.

Further, the left monitor, right monitor, and back monitor 40B may be configured so that the mounting angles can be adjusted according to the body shape, working posture, etc. of the operator sitting in the driver's seat 90.

As shown in FIG. 2, a driver's seat 90 is provided in the center of the cabin 10, and a left operating lever 26L and a right operating lever 26R are provided on both sides of the driver's seat 90. Therefore, the operator can move the bucket 6 to a desired position and perform excavation work by operating the left operating lever 26L with his left hand and operating the right operating lever 26R with his right hand while sitting in the driver's seat 90. can.

An image display section 41M of a main monitor 40M and a switch panel 42M are installed on the right front side of the driver's seat 90. The excavator operator can grasp the operating state of the excavator by looking at the image display section 41M. In the example of FIG. 2, the image display section 41M displays an overhead image. The bird's-eye view image is an example of a composite image generated based on images captured by the rear camera S6B and the left and right side cameras. Specifically, the bird's-eye view image is a viewpoint-converted image that shows the surroundings of the excavator as viewed from a virtual viewpoint directly above.

A left monitor is attached to the left pillar 111L, and a right monitor is attached to the right pillar 111R. The left and right monitors may be mounted in positions such that the operator has a peripheral vision of the left and right monitors when the operator has a central vision of the bucket 6 through the front window 62 of the cabin 10. Therefore, while performing excavation work while keeping the bucket 6 in the central field of vision, the operator can use his peripheral vision to see the left rear and right rear of the excavator displayed on the left and right monitors without moving his line of sight. be able to.

A selection dial 52 and an operating device 53 are installed on the left console 90L. If the operator wishes to change the range displayed by the left monitor that displays the left rear image of the excavator, the operator operates the selection dial 52 to select the left camera S6L. Then, by operating the operating device 53 and changing the direction of the left camera S6L, the range displayed on the left monitor can be changed. The same applies when changing the range reflected by the left rear mirror 10c.

Next, opening and closing of the front window 62 will be described with reference to FIG. 3. FIG. 3 is a diagram showing a state in which the front window is in the middle of being opened, with FIG. 3(A) showing a front view and FIG. 3(C) showing a left side view.

The cabin 10 includes an operating device 26 as a driving control section, a driver's seat 90, a display device 40, a gate lock lever 45, cameras S6PL, S6PR, and the like. Although not shown in the drawings, the cabin 10 is equipped with a controller 30 shown in FIG. 1 and the like.

The operating device 26 includes a left operating lever 26L, a right operating lever 26R, a travel lever 26B, a pedal 26C, and the like. A gate lock lever 45 and a gate lock valve 19 are provided below the left side of the driver's seat 90. When the gate lock lever 45 is pulled up to prevent the operator from exiting the cabin 10, the gate lock valve 19 is switched to the communicating state (open state), thereby communicating the pilot line and making the various operating devices operable. . On the other hand, when the gate lock lever 45 is pushed down to allow the operator to exit the cabin 10, the gate lock valve 19 is switched to a non-communicating state (closed state), thereby cutting off the pilot line and disabling various operating devices. It becomes inoperable.

The driver's seat 90 has an armrest 90a, a backrest 90b, and a headrest 90c. In this embodiment, the height from the floor surface 10f of the cabin 10 to the seat surface 90m of the driver's seat 90 is H1, and the height from the floor surface 10f of the cabin 10 to the upper end of the headrest 90c is H2.

Here, the cameras S6PL and S6PR of this embodiment are arranged at positions where the height from the floor surface 10f of the cabin 10 is between H1 and H2 in the left pillar 111L and the right pillar 111R, respectively. In other words, the cameras S6PL and S6PR of this embodiment are arranged so that the heights from the floor surface 10f of the cabin 10 are within the height range H3.

In this embodiment, by arranging the cameras S6PL and S6PR in this way, it is possible to capture an image of the operator's face regardless of the sitting height of the operator who is seated on the seat surface of 90 m.

The cabin 10 has a frame body 110. The frame body 110 is formed by combining a vertical frame, a horizontal frame, and a connecting frame. The vertical frame has a pair of left and right pillars 111 (111L, 111R) located on the front side (travel direction side, Z1 side) and a pair of left and right vertical frames (pillars) 112 located on the rear side (Z2 side). ing. The horizontal frame includes a front ceiling frame 113 horizontally suspended between a left pillar 111L and a right pillar 111R on the front side, and a rear ceiling frame 114 on the rear side horizontally suspended between left and right pillars 112 on the rear side. ing. The pair of left and right pillars 111 on the front side and the pair of left and right pillars 112 on the rear side are connected by a pair of left and right connecting frames 115, respectively.

In this embodiment, in the example of FIG. 2, an imaging device may be attached to each of the left and right pillars 112 on the rear side. In this case, at least four imaging devices will be provided within the cabin 10.

In this embodiment, by attaching an imaging device to each of the rear left and right pillars 112, it is possible to capture an image of the operator's face even when the operator faces backward.

The cabin 10 has a window front portion 60 disposed in a front frame formed by a frame body 110. Further, the cabin 10 has side windows 65 arranged in the left and right frames formed by the frame body 110, respectively. Furthermore, the cabin 10 has a head window arranged in the upper frame formed by the frame body 110.

The window front section 60 has a lower front window 61, a front window 62, and an upper front window 63.

The front window 62 has a sliding mechanism that can slide the front window 62. In this embodiment, the front window 62 and the lower front window 61 are separated so that the front window 62 can be stored inside the cabin 10 when the front window 62 is slid.

The slide mechanism of this embodiment includes a pair of left and right slide rails 111a provided on the inner surfaces of the left and right pairs of pillars 111, and a pair of left and right slide rails 115a provided on the inner surfaces of the left and right connecting frames 115, respectively. have. The front window 62 is arranged between the left and right slide rails 111a and between the left and right slide rails 115a. The slide rail 111a and the slide rail 115a are formed so that the rail grooves are continuous, and a sliding part (not shown) provided at the end of the front window 62, etc. is configured to be movable from the slide rail 111a to the slide rail 115a. may be considered. The sliding part may be a roller or the like.

The front window 62 is arranged between the lower front window 61 and the upper front window 63 when closed. When the front window 62 is opened, it separates from the lower front window 61 and the upper front window 63 and slides in the opening direction (Y1 side). When the front window 62 is closed, it slides in the closing direction (Y2 side) and is disposed between the lower front window 61 and the upper front window 63.

The front window 62 is provided with handles 62a at an upper left position and an upper right position, respectively. The handle portion 62a may be provided only on either the left or right side. The operator grasps the handle portion 62a and slides the front window 62 in the opening direction or closing direction. The handle portion 62a may have a locking mechanism that fixes the front window 62 between the lower front window 61 and the upper front window 63.

A sealing member (not shown) may be interposed between the upper front window 63 and the front window 62. The sealing member may be provided at the lower edge of the upper front window 63 and the upper edge of the front window 62. The seal member provided at the lower edge of the upper front window 63 may have an eaves portion on the front side (Z1 side). The eaves prevent rainwater from entering between the two seal members. The two seal members may be configured to be able to be separated from each other.

The lower front window 61 is directly fixed to the frame body 110 or the like. A sealing member may be interposed between the lower front window 61 and the front window 62.

When the front window 62 is closed, it is arranged flush with the upper front window 63 with the sealing member interposed therebetween, and constitutes a window front portion 60 of the cabin 10. When the operator opens the handle portion 62a to open the front window 62, the front window 62 moves rearward (Z2 side) and separates from the upper front window 63. At this time, the front window 62 also separates from the lower front window 61. The opening operation refers to an unlocking operation for releasing the fixation of the front window 62 and an operation for sliding the front window 62 upward.

Next, when the operator grasps the handle 62a of the front window 62 and operates to open it, the front window 62 slides in the opening direction (Y1 direction) as shown in FIG. 3(A). At this time, since the cameras S6PL and S6PR have a size that fits within the width of the left pillar 111L and the right pillar 111R, the front window 62 and the cameras S6PL and S6PR do not touch. In other words, the cameras S6PL and S6PR do not interfere with the opening/closing operation of the front window 62.

As the front window 62 is slid, it is placed in a position parallel to the top surface of the cabin 10. At this time, the front part of the cabin 10 where the front window 62 was placed is in an open state.

Next, the configuration of the drive system of the excavator 100 will be described with reference to FIG. 4. FIG. 4 is a block diagram showing a configuration example of a drive system of an excavator. In FIG. 4, the mechanical power system, high-pressure hydraulic line, pilot line, and electric control system are shown by double lines, thick solid lines, broken lines, and dotted lines, respectively.

The drive system of the excavator 100 mainly includes an engine 11, a regulator 13, a main pump 14, a pilot pump 15, a control valve 17, an operating device 26, a discharge pressure sensor 28, an operating pressure sensor 29, a controller 30, a proportional valve 31, and an operating system. It includes a mode selection dial 32 and the like.

The engine 11 is a driving source for the excavator. In this embodiment, the engine 11 is, for example, a diesel engine that operates to maintain a predetermined rotation speed. Further, the output shaft of the engine 11 is connected to the input shafts of the main pump 14 and the pilot pump 15.

The main pump 14 supplies hydraulic oil to the control valve 17 via a high-pressure hydraulic line. In this embodiment, the main pump 14 is a swash plate type variable displacement hydraulic pump.

The regulator 13 controls the discharge amount of the main pump 14. In this embodiment, the regulator 13 controls the discharge amount of the main pump 14 by adjusting the tilt angle of the swash plate of the main pump 14 in accordance with a control command from the controller 30 .

The pilot pump 15 supplies hydraulic oil to various hydraulic control devices including the operating device 26 and the proportional valve 31 via the pilot line. In this embodiment, the pilot pump 15 is a fixed displacement hydraulic pump.

The control valve 17 is a hydraulic control device that controls the hydraulic system in the excavator. Control valve 17 includes control valves 171 to 176 and bleed valve 177. The control valve 17 can selectively supply the hydraulic fluid discharged by the main pump 14 to one or more hydraulic actuators through the control valves 171 to 176.

The control valves 171 to 176 control the flow rate of hydraulic oil flowing from the main pump 14 to the hydraulic actuator and the flow rate of hydraulic oil flowing from the hydraulic actuator to the hydraulic oil tank. The hydraulic actuator includes a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, a left travel hydraulic motor 1A, a right travel hydraulic motor 1B, and a swing hydraulic motor 2A.

The bleed valve 177 controls the flow rate of the hydraulic oil discharged by the main pump 14, which flows into the hydraulic oil tank without passing through the hydraulic actuator (hereinafter referred to as "bleed flow rate"). The bleed valve 177 may be installed outside the control valve 17.

The operating device 26 is a device used by an operator to operate the hydraulic actuator. In this embodiment, the operating device 26 supplies the hydraulic fluid discharged by the pilot pump 15 to the pilot port of the control valve corresponding to each of the hydraulic actuators via the pilot line. The pressure of the hydraulic oil (pilot pressure) supplied to each of the pilot ports is a pressure that corresponds to the direction and amount of operation of the lever or pedal (not shown) of the operating device 26 corresponding to each of the hydraulic actuators. .

The discharge pressure sensor 28 detects the discharge pressure of the main pump 14. In this embodiment, the discharge pressure sensor 28 outputs the detected value to the controller 30.

The operating pressure sensor 29 detects the content of the operator's operation using the operating device 26. In this embodiment, the operating pressure sensor 29 detects the operating direction and operating amount of the lever or pedal of the operating device 26 corresponding to each of the hydraulic actuators in the form of pressure (operating pressure), and sends the detected value to the controller 30. Output against. The operation content of the operating device 26 may be detected using a sensor other than the operating pressure sensor.

The controller 30 is a control unit that controls the entire shovel 100. Details of the functions of the controller 30 of this embodiment will be described later.

The proportional valve 31 operates according to a control command output by the controller 30. In this embodiment, the proportional valve 31 is an electromagnetic valve that adjusts the secondary pressure introduced from the pilot pump 15 into the pilot port of the bleed valve 177 in the control valve 17 in accordance with the current command output by the controller 30. The proportional valve 31 operates, for example, so that the larger the current command, the larger the secondary pressure introduced into the pilot port of the bleed valve 177.

The work mode selection dial 32 is a dial for the operator to select a work mode, and allows switching between a plurality of different work modes. Further, the work mode selection dial 32 constantly sends data to the controller 30 indicating the setting state of the engine speed and the setting state of acceleration/deceleration characteristics according to the work mode.

The work mode selection dial 32 allows the work mode to be switched in multiple stages including SP mode, H mode, A mode, and IDLE mode. In other words, the work mode selection dial 32 of this embodiment can switch the setting conditions of the excavator 100.

Note that the SP mode is an example of the first mode, and the H mode is an example of the second mode. Further, FIG. 4 shows a state in which the SP mode is selected with the work mode selection dial 32.

The SP mode is a work mode selected when it is desired to prioritize the amount of work, and utilizes the highest engine speed and the highest acceleration/deceleration characteristics. The H mode is a work mode selected when it is desired to achieve both work volume and fuel efficiency, and uses the second highest engine speed and the second highest acceleration/deceleration characteristics.

Mode A is a work mode selected when you want to moderate the acceleration and deceleration characteristics of the hydraulic actuator that corresponds to lever operation, improve accurate operability and safety, and operate the excavator with low noise. It uses the third highest engine speed and the third highest acceleration/deceleration characteristics. The IDLE mode is a work mode selected when it is desired to put the engine 11 in a low idling state, and uses the lowest engine speed and the lowest acceleration/deceleration characteristics.

Here, when the operation of each actuator is stopped while the engine is driving in each work mode (high idling state), the controller 30 causes the engine 11 to maintain the rotation speed set for each work mode. The controller 30 may switch the engine speed to a low idling state when the high idling state continues for a predetermined period of time. The idling state includes a high idling state and a low idling state.

Note that in the above description, the names of each stage of the work mode are SP mode, H mode, A mode, and IDLE mode, but the names of each stage are not limited to these. For example, the names of SP mode, H mode, and A mode may be POWER mode, STD mode, ECO mode, and IDLE mode (low idling state). The work mode is not limited to this embodiment, and may be set in five or more stages.

The engine 11 is controlled to have a constant rotation speed at the engine speed of the work mode set by the work mode selection dial 32. Further, the opening of the bleed valve 177 is controlled based on the bleed valve opening characteristic of the work mode set by the work mode selection dial 32.

In this embodiment, each of the above-mentioned work modes may be expressed as a setting condition of the shovel 100, and information indicating the setting condition may be expressed as setting condition information. Setting condition information is information in which specified items are associated with item values. The designated item is, for example, an item indicating the state of the engine rotation speed corresponding to each work mode, or an item indicating the state of the acceleration/deceleration characteristic. Therefore, the setting condition information of this embodiment includes items and item values indicating the state of engine rotation speed corresponding to each work mode, and items and item values indicating the state of acceleration/deceleration characteristics.

In the configuration diagram of FIG. 4, the ECO mode is set as one of the modes selected by the work mode selection dial 32, but an ECO mode switch may be provided separately from the work mode selection dial 32. In this case, the engine speed is adjusted according to each mode selected using the work mode selection dial 32, and when the ECO mode switch is turned on, the acceleration/deceleration corresponding to each mode of the work mode selection dial 32 is adjusted. The characteristics may be changed gradually.

Additionally, the work mode may be changed by voice input. In that case, the excavator is provided with a voice input device for inputting the voice emitted by the operator to the controller 30. Further, the controller 30 is provided with a voice identification unit that identifies the voice input by the voice input device.

In this way, the work mode is selected by the mode selection section such as the work mode selection dial 32, the ECO mode switch, and the voice recognition section.

Next, the functions of the controller 30 of this embodiment will be explained. The controller 30 of this embodiment includes an image data acquisition section 301, a state detection section 302, and an output section 303.

The image data acquisition unit 301 acquires image data captured by the imaging device S6. More specifically, the image data acquisition unit 301 acquires image data (video data) captured by the camera S6PL and the camera S6PR. Note that, if cameras are also arranged on the left and right pillars 112 on the rear side, the image data acquisition unit 301 also acquires image data captured by these cameras.

The condition detection unit 302 detects the condition of the operator based on the image data acquired by the image data acquisition unit 301. At this time, in this embodiment, image data suitable for state detection is selected from among the image data captured by each of the camera S6PL and the camera S6PR, depending on the state of the operator to be detected. The state detection unit 302 then detects the state of the operator based on the selected image data. Details of the processing by the state detection unit 302 will be described later.

Furthermore, the controller 30 stores in the storage device 47 information that associates the image data acquired by the image data acquisition unit 301 with the detection results by the state detection unit 302. In the following description, information in which image data (video data) acquired by the image data acquisition unit 301 is associated with a detection result by the status detection unit 302 may be expressed as status history information.

The output unit 303 outputs the state history information stored in the storage device 47 to the communication device T1. In other words, the output unit 303 outputs the state history information to the management device 200 via the communication device T1.

Note that the controller 30 of the present embodiment may stop capturing image data by the camera S6PL and the camera S6PR, for example, when the operator is not seated in the driver's seat 90 for a certain period of time. The state in which no operator is seated in the driver's seat 90 is a state in which an image of the operator is not included in the image represented by the image data acquired by the image data acquisition unit 301. The certain period of time may be, for example, about one hour.

Further, the controller 30 of the present embodiment may turn off the engine 11, which is the drive source, when the operator is not seated in the driver's seat 90 for a certain period of time or more.

The operator's state and the processing of the state detection unit 302 in this embodiment will be explained below.

The state of the operator in this embodiment includes the operator's posture when sitting in the driver's seat 90, whether or not he or she is wearing equipment (helmet, seat belt, etc.), facial expressions, gestures, and the like.

Specifically, the operator's state includes, for example, a state in which the operator is seated with his legs crossed, a state in which he is not wearing a helmet, and the like. The crossed-legged posture may induce erroneous operation, and is an inappropriate posture for operating the excavator 100. Furthermore, the state in which the operator is not wearing a helmet is a state in which equipment for increasing the safety of the operator during work is not installed, which is an undesirable state.

Further, the operator's state includes, for example, a state in which the operator is yawning, a state in which the eyes are closed, a state in which the operator is continuously blinking, and the like. The yawning state is presumed to be a state in which the operator's concentration on work is decreasing. Furthermore, the state in which the operator's eyes are closed for a certain period of time or more is presumed to be a state in which the operator feels sleepy. Furthermore, if the operator is blinking continuously, it is presumed that the operator is feeling fatigued.

Further, the state of the operator includes, for example, a state in which the operator is performing an action unrelated to work. A state in which the operator is performing an action unrelated to work is presumed to be, for example, a state in which the operator is not engaged in the operator's work.

In this embodiment, the state detection unit 302 detects the plurality of states described above as the operator's states. In other words, the condition detection unit 302 can detect the operator's posture, presence or absence of equipment, drowsiness, decreased concentration, degree of fatigue, work attitude, etc. Note that the operator's state detected by the state detection unit 302 may be defined in advance.

Furthermore, when detecting a plurality of states of the operator, the state detection unit 302 of this embodiment selects image data corresponding to the state to be detected from the image data captured by each of the cameras S6PL and S6PR, The state is detected using the selected image data.

Specifically, for example, when detecting the operator's condition such as drowsiness, decreased concentration, degree of fatigue, etc., the operator's facial expression is important. Therefore, the state detection unit 302 selects image data (video data) including a face image from the image data captured by each of the cameras S6PL and S6PR. Then, the state detection unit 302 detects whether the operator is feeling sleepy, whether his concentration has decreased, the degree of fatigue, etc. from the selected image data, and obtains state history information including the detection results. is stored in the storage device 47.

Further, for example, when detecting the operator's condition such as posture, presence of equipment, working attitude, etc., an image of the operator's whole body is important. Therefore, the state detection unit 302 selects image data (video data) that includes the entire body of the operator from the image data captured by each of the cameras S6PL and S6PR. The state detection unit 302 then detects, from the selected image data, whether the operator's posture is appropriate, whether the operator is wearing equipment appropriately, and whether or not he or she is engaged in work. State history information including the results is stored in the storage device 47.

Additionally, the status history information of this embodiment is transmitted to the management device 200 by the output unit 303 and managed by the management device 200. Note that this state history information may include, for example, identification information that identifies the operator and a machine number that identifies the excavator 100.

Therefore, in this embodiment, for example, when an administrator wants to understand a state in which a certain operator's concentration has decreased during work, the manager specifies identification information for identifying the operator and the state to the management device 200. All you have to do is enter the information "decreased concentration". When the management device 200 receives this input, it is sufficient to cause the management device 200 to display image data associated with the detection result “decreased concentration” in the state history information including the identification information of the operator.

The state detection unit 302 of this embodiment may be, for example, a learned model generated by learning using machine learning or the like.

Below, with reference to FIG. 5, a state detection method by the state detection unit 302 of this embodiment will be described.

FIG. 5 is a diagram illustrating an example of a state detection method by the state detection section. The state detection unit 302 of the present embodiment may be a trained model that is configured mainly of a neural network (DNN). In other words, the controller 30 may have a trained model that implements the state detection section 302.

The neural network DNN is a so-called deep neural network that has one or more intermediate layers (hidden layers) between the input layer and the output layer. In the neural network DNN, a weighting parameter representing the strength of connection with a lower layer is defined for each of a plurality of neurons constituting each intermediate layer. Then, the neurons in each layer output the sum of the input values from multiple neurons in the upper layer multiplied by the weighting parameters specified for each neuron in the upper layer to the neurons in the lower layer through the threshold function. In this manner, a neural network DNN is configured.

Machine learning, specifically deep learning, is performed on the neural network DNN to optimize the weighting parameters described above. As a result, the neural network DNN receives the image data acquired by the image data acquisition unit 301 as the input signal x, and outputs the probability that the operator's state is a predefined state as the output signal y. I can do it.

In this embodiment, the output signal y1 output from the neural network DNN indicates that the predicted probability that the operator's state is in an inappropriate posture when the input signal x is input is 10%. Further, the output signal y2 indicates that there is a 50% probability that the operator's state when the input signal x is input is a state in which concentration has decreased.

For example, the state detection unit 302 of this embodiment detects, in the output signal y, a set of a plurality of states included in the output signal y and a probability that the operator's state is each of the plurality of states. It may be obtained as a result and stored as part of the state history information.

In this embodiment, by accumulating status history information in this way, the administrator etc. can grasp the details of the status history of the operator during work even after the operator has finished the work. can.

Furthermore, the state detection unit 302 may set the state with the highest probability among all the states included in the output signal y as the state (detection result) of the operator when the input signal x is input.

Specifically, for example, it is assumed that among the plurality of states included in the output signal y, the state with the highest probability is a state in which concentration has decreased. In this case, the state detection unit 302 may select "a state of decreased concentration" as the operator's state at this timing from among the plurality of states, and may select this as the detection result.

The neural network DNN is, for example, a convolutional neural network (CNN). CNN is a neural network that applies existing image processing techniques (convolution processing and pooling processing).

Next, with reference to FIG. 6, the operation of the shovel 100 of this embodiment will be described. FIG. 6 is a flowchart illustrating the processing of the shovel according to the first embodiment.

The controller 30 of the excavator 100 of this embodiment uses the image data acquisition unit 301 to acquire image data from the camera S6PL and the camera S6PR (step S601).

Next, the state detection unit 302 selects image data to be used for detection according to the type of state from among the plurality of acquired image data, and detects the state of the operator using the selected image data. (Step S602).

Subsequently, the controller 30 uses the output unit 303 to store state history information including the detection result and the image data used for detecting the state in the storage device 47 (step S603).

In this way, the excavator 100 of the present embodiment selects image data suitable for detecting the operator's condition from a plurality of image data (video data) taken by a plurality of imaging devices arranged in the cabin 10. , detecting the operator's condition using the selected image data.

In other words, in this embodiment, for example, when the operator's state that the administrator or the like wants to detect is set as the "purpose", image data suitable for detecting the purpose is selected from a plurality of image data captured in the cabin 10. Automatically selected. In this embodiment, the condition of the targeted operator is detected using the selected image data.

In this manner, in this embodiment, the operator's condition can be detected in accordance with the requests of the operator, the construction manager, etc. who manage the excavator 100, etc.

An example of image data of an operator's condition stored in the storage device 47 as condition history information will be described below with reference to FIGS. 7A and 7B. FIG. 7A is a first diagram showing an example of image data to be output, and FIG. 7B is a second diagram showing an example of image data to be output. An image 71 shown in FIG. 7A is an example of an image output as a result of detecting an inappropriate posture of the operator.

In image 71, it can be seen that the operator is holding the lever. However, the operator operates the lever with his or her legs crossed, and it can be seen that this posture is inappropriate for operation.

An image 72 shown in FIG. 7B shows a state in which the operator is not engaged in work, that is, the operator is not holding a lever and is not wearing equipment (helmet). In this case, this is an example of a screen that is output as a result of detecting that the operator is in an inappropriate posture while the excavator 100 is in an operable state (engine 11 is ON and gate lock valve 19 is open). .

In the image 72, it can be seen that the operator is not wearing a helmet, has his legs crossed, and is not operating the excavator 100. In particular, by combining various detection information output from various sensors attached to the excavator 100, it is possible to check whether the operator's condition is appropriate depending on the condition of the excavator 100 (such as whether it is in an operable condition). .

In this embodiment, by displaying such an image as a detection result in the management device 200, the administrator can understand the behavior of the operator when the condition is detected.

(Second embodiment)
The second embodiment will be described below with reference to the drawings. The second embodiment is characterized in that a three-dimensional model of the operator at work is created from a plurality of image data acquired by a plurality of imaging devices attached to a pillar, and the condition of the operator is detected based on the three-dimensional model. , which is different from the first embodiment. Therefore, in the following description of the second embodiment, differences from the first embodiment will be explained.

FIG. 8 is a flowchart illustrating the operation of the shovel of the second embodiment. In the excavator 100 of this embodiment, the image data acquisition unit 301 of the controller 30 acquires image data (video data) captured by the camera S6PL and the camera S6PR (step S801).

Next, the controller 30 of this embodiment uses the state detection unit 302 to create a three-dimensional model of the operator from the plurality of image data acquired by the image data acquisition unit 301, and determines the state of the operator based on the created three-dimensional model. is detected (step S802). The three-dimensional model of the operator is a three-dimensional model represented by a group of points in a three-dimensional coordinate space.

Next, the controller 30 uses the output unit 303 to store state history information including the detection result and the image data used for detecting the state in the storage device 47 (step S803).

In this way, in this embodiment, since a three-dimensional model of the operator is created from a plurality of image data acquired by the image data acquisition unit 301, it is necessary to select image data suitable for the condition of the operator to be detected. do not have. In other words, in this embodiment, a three-dimensional model created from a plurality of image data of the operator captured from different directions is used to detect the operator's condition, so the direction in which the operator is imaged by the camera does not affect the detection of the condition. .

In this embodiment, the more cameras arranged on the pillars in the cabin 10, the more accurate the three-dimensional model can be created, and the more accurately the operator's condition can be detected.

(Third embodiment)
The third embodiment will be described below. The third embodiment differs from the first and second embodiments in that the state determination function of the shovel 100 is provided in the management device 200.

FIG. 9 is a diagram illustrating the system configuration of the construction machine support system of the third embodiment.

In the excavator support system SYS of this embodiment, the management device 200 includes an image data acquisition section 301, a state detection section 302, and an output section 303A.

Note that the management device 200 may be a general computer including an arithmetic processing unit and a storage device, and the functions of the image data acquisition unit 301, the state detection unit 302, and the output unit 303A are the functions of the storage device of the management device 200. This is achieved by the arithmetic processing unit reading and executing the state detection program stored in the computer.

The excavator 100 of this embodiment transmits image data captured by the camera S6PL and the camera S6PR to the management device 200.

The management device 200 uses a plurality of image data acquisition units 301 to acquire a plurality of image data transmitted from the excavator 100, uses a state detection unit 302 to detect the operator's condition using the plurality of image data, and compares the image data with the image data. Stores state history information including detection results.

The output unit 303A displays the state history information on a display device included in the management device 200, a display connected to the management device 200, or the like.

Specifically, for example, when the operator's identification information and the machine number of the excavator 100 are inputted to the management device 200, as well as information specifying the state that the administrator wants to detect, the output unit 303A outputs the operator's identification information and the machine number of the excavator 100. The machine number of the excavator 100 and the corresponding state history information are read out. Then, the management device 200 may display the specified detection result and the image data associated with the specified detection result among the detection results included in the read state history information.

Furthermore, when only the operator's identification information and the machine number of the excavator 100 are input, the output unit 303A reads out the state history information corresponding to the operator's identification information and the machine number of the excavator 100, and records the detected state. A list may also be displayed. Then, when a certain state is selected in the list of detected states, the output unit 303A may display image data associated with the selected state. Further, for example, when the operator's identification information is input, the output unit 303A may refer to state history information associated with this identification information and display the number of times an inappropriate state has been detected. .

In this embodiment, by outputting the detection result of the operator's condition in this way, the administrator can grasp the operator's condition.

Furthermore, in this embodiment, since the management device 200 detects the states of a plurality of image data, the processing load on the controller 30 of the excavator 100 can be reduced.

Note that in this embodiment, the cabin 10, which is a driver's cab, is the cabin 10 of the excavator 100, but the present invention is not limited to this. This embodiment can also be applied to working machines other than the shovel 100. For example, work machines may include gantry cranes, crawler cranes, traveling cranes, overhead cranes, jib cranes, and the like.

A gantry crane has a pair of legs arranged in the left and right direction that can move forward and backward, a girder that spans between the legs, a main trolley that can traverse along the girder, and a driver that operates the crane. The present embodiment may be applied to a driver's seat of a gantry crane.

In a crawler crane, an upper rotating body is rotatably mounted on a lower traveling body having a crawler belt, and a tower boom is attached to the upper rotating body so that it can be raised and lowered. Further, the upper revolving body is provided with a driver's seat. In a crawler crane, a non-extendable tower jib is pivotally supported on the upper end of the tower boom so that it can be raised and lowered, and on the other part of the upper end of the tower boom, there is a tower jib between the tower jib and the pendant rope. An interposed tower strut is pivotally supported and serves as an auxiliary member when raising and lowering the tower jib. This embodiment may be applied in the driver's seat of a crawler crane.

A traveling crane has, for example, a traveling section that travels on rails, a fixed section provided on the traveling section, a swing section that is swingably provided on the fixed section, and a driver's cab provided on the swing section. , and a jib provided on the rotating section. The traveling crane also includes a lifting device for hanging a load, a wire rope for hoisting and lowering the lifting device, and a drum for winding up and sending out the wire rope. A traveling crane device can transport a load by driving a traveling section to travel on a rail with the load suspended by a hanging device. This embodiment may be applied to a driver's seat of a mobile crane.

Overhead cranes are installed in buildings, and use lifting equipment to lift objects (hereinafter simply referred to as "objects") and move the lifting equipment in the horizontal direction to transport the objects. I do. The overhead crane has a girder provided so as to span between a pair of rails provided in a building, and the girder can run on the rails. Furthermore, a trolley is provided on the girder so that it can traverse along the extending direction of the girder. A hanging device is attached to the trolley. That is, as the girder travels, the hanging tool moves in the traveling direction, and as the trolley moves laterally, the hanging tool moves in the traversing direction. By moving the hanger in this manner, the object is transported. Note that the girder is provided with an operator's cab for operating the overhead crane. This embodiment may be applied in the driver's seat of an overhead crane.

A jib crane has a jib attached to the end of a revolving structure on which a backstay is erected so that it can be raised and lowered freely around the center shaft of the revolving body. is raised and lowered by raising and lowering the hoisting rope. This embodiment may be applied in a driver's seat of a jib crane.

Although the preferred embodiments of the present invention have been described in detail above, the present invention is not limited to the embodiments described above, and various modifications and substitutions can be made to the embodiments described above without departing from the scope of the present invention. can be added.

In addition, this international application claims priority based on Japanese patent application 2022-084645 filed on May 24, 2022, and the entire content of Japanese patent application 2022-084645 is incorporated into this international application. I will use it.

10 cabin 11 engine 30 controller 100 excavator 110 frame body 111, 112 pillar 200 management device 301 image data acquisition section 302 state detection section 303 output section

Claims (10)

1. a lower running body;
   an upper rotating body rotatably mounted on the lower traveling body;
   a cabin mounted on the upper revolving body;
   A construction machine comprising: a space recognition device disposed on a pillar in the cabin.
2. The spatial recognition device includes:
   The construction machine according to claim 1, wherein the construction machine is arranged between a height of a seat surface of a driver's seat provided in the cabin and a height of an upper end of a headrest included in the driver's seat.
3. The spatial recognition device includes:
   The construction machine according to claim 1 or 2, wherein the construction machine is arranged in a position that does not interfere with opening and closing of a front window provided in the cabin.
4. The construction machine according to claim 3, wherein the space recognition device is movable.
5. A plurality of the spatial recognition devices are arranged,
   The pillar has a mounting member for mounting a plurality of the space recognition devices,
   The plurality of spatial recognition devices include:
   The construction machine according to claim 4, further comprising a fixing member that is attachable to and detachable from the attachment member and that fixes the pillar and each space recognition device.
6. The construction machine according to claim 5, wherein the fixing member is a magnet.
7. an image data acquisition unit that acquires a plurality of image data acquired by each of the plurality of space recognition devices;
   The construction machine according to claim 1, further comprising a state detection unit that uses the plurality of image data to detect the state of an operator seated in a driver's seat provided in the cabin.
8. The state detection section includes:
   The construction machine according to claim 7, wherein image data corresponding to the condition of the operator to be detected is selected from the plurality of image data, and the condition of the operator is detected based on the selected image data.
9. The construction machine according to claim 7 or 8, further comprising an output section for displaying image data on a display device when the state of the operator is detected by the state detection section.
10. A construction machine support system including a construction machine and a management device,
    The construction machine is
    a lower running body;
    an upper rotating body rotatably mounted on the lower traveling body;
    a cabin mounted on the upper revolving body;
    a space recognition device disposed on a pillar in the cabin;
    an output unit that outputs a plurality of image data captured by the spatial recognition device to the management device;
    The management device includes:
    A support system for construction machinery, comprising a storage unit that stores the plurality of image data.

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