阅读说明：本技术 工程机械用的提醒注意装置 (Attention reminding device for engineering machinery ) 是由 上村佑介 山崎洋一郎 于 2018-11-13 设计创作，主要内容包括：本发明提供一种装置,可在工程机械的周围适当地设定提醒注意区域,使工程机械周围的人适当地认知到该提醒注意区域。工程机械包括：第1动作信息获取部,获取第1动作信息,即工程机械的回转动作和行驶动作中至少其中一种动作的状态信息；区域设定部,根据所述第1动作信息在所述工程机械的周围设定提醒注意区域；显示形成部,利用可见光形成显示,从视觉上使人认知到所述提醒注意区域。(The invention provides a device which can set attention reminding areas around a construction machine properly and make people around the construction machine recognize the attention reminding areas properly. The construction machine includes: a 1 st operation information acquiring unit that acquires 1 st operation information, which is information on a state of at least one of a turning operation and a traveling operation of the construction machine; an area setting unit that sets a caution area around the construction machine based on the 1 st operation information; and a display forming unit for forming a display by using visible light and visually making a person recognize the attention-calling area.)

1. A warning attention device that engineering machine used characterized by including:

a 1 st operation information acquiring unit that acquires 1 st operation information, the 1 st operation information being information indicating a state of at least one of a turning operation and a traveling operation of the construction machine;

an area setting unit that sets an attention calling area, which is an area for calling attention of people located around the construction machine, in the periphery of the construction machine, the area setting unit setting the attention calling area based on the 1 st operation information acquired by the 1 st operation information acquiring unit; and the number of the first and second groups,

and a display forming unit that forms, in the caution region, a display for making a person around the construction machine visually recognize the caution region by using visible light.

2. The attention reminding device for construction machinery according to claim 1, wherein:

the 1 st action information includes direction information regarding a direction of an action of the construction machine in at least one of a turning action and a traveling action of the construction machine,

the region setting unit sets the position of the caution region based on the direction information acquired by the 1 st operation information acquiring unit.

3. A warning device for a construction machine according to claim 1 or 2, wherein:

the 1 st action information includes speed information regarding a speed of the action of the construction machine in at least one of a turning action and a traveling action of the construction machine,

the area setting unit sets the size of the caution area based on the speed information acquired by the 1 st operation information acquiring unit.

4. A warning device for a construction machine according to any one of claims 1 to 3, further comprising:

a 2 nd operation information acquiring unit configured to acquire 2 nd operation information, the 2 nd operation information being information indicating an operation state of a movable working device mounted on the construction machine,

the region setting unit sets the caution region based on the 1 st motion information acquired by the 1 st motion information acquiring unit and the 2 nd motion information acquired by the 2 nd motion information acquiring unit.

5. The attention reminding device for construction machinery according to any one of claims 1 to 4, further comprising:

an object detection unit capable of detecting an object located around the construction machine, wherein,

the display forming unit forms a 1 st display in the caution region when the object detecting unit detects an object in the caution region, and forms a 2 nd display different from the 1 st display in the caution region when the object detecting unit does not detect an object in the caution region.

6. The attention reminding device for construction machinery according to any one of claims 1 to 4, further comprising:

an object detection unit capable of detecting an object located around the construction machine, wherein,

the area setting unit may set a plurality of attention calling areas independent of each other around the construction machine,

when the object detection unit detects an object in one of the plurality of attention areas and does not detect an object in another one of the plurality of attention areas, the display forming unit forms a 1 st display in the one attention area and forms a 2 nd display different from the 1 st display in the another attention area.

7. A warning device for a construction machine according to claim 5 or 6, wherein:

the display forming unit forms the 1 st display and the 2 nd display so that the color of the 1 st display and the color of the 2 nd display are different from each other.

Technical Field

The present invention relates to a warning device for warning a worker or the like of a surrounding of a construction machine such as a hydraulic excavator.

Background

Conventionally, as shown in patent document 1, for example, there is known a technique of setting a circular danger area having a size corresponding to an extension length of an arm or the like around a hydraulic excavator as a construction machine, and applying visible light to the danger area to alert an operator located around the hydraulic excavator.

Disclosure of Invention

In the technique disclosed in patent document 1, the surrounding area of a construction machine such as a hydraulic excavator is set as a dangerous area in all directions. However, in this case, the range in which the worker located around the construction machine can move is excessively restricted, and the workability of the construction machine at the work site is easily affected.

For example, when the revolving structure of the hydraulic excavator performs a revolving operation in the counterclockwise direction, the necessity of warning is relatively low in the region on the right front side of the revolving structure as compared with the region on the left front side (the downstream side in the revolving direction). However, in the technique of patent document 1, the visible light is irradiated to an area in all directions around the hydraulic excavator including the right front side area. Therefore, the range in which the worker can move around the hydraulic excavator is excessively restricted.

The present invention has been made in view of the above circumstances, and an object thereof is to provide a warning device that can appropriately set a warning area around a construction machine according to the risk and allow people around the construction machine to recognize the warning area.

In view of the above background, an object of the present invention is to provide a caution apparatus for a construction machine, including: a 1 st operation information acquiring unit that acquires 1 st operation information, the 1 st operation information being information indicating a state of at least one of a turning operation and a traveling operation of the construction machine; an area setting unit that sets an attention calling area, which is an area for calling attention of people located around the construction machine, in the periphery of the construction machine, the area setting unit setting the attention calling area based on the 1 st operation information acquired by the 1 st operation information acquiring unit; and a display forming unit that forms, in the attention prompting region, a display that allows people around the construction machine to visually recognize the attention prompting region by using visible light.

Drawings

Fig. 1 is a side view of a hydraulic excavator as a construction machine according to an embodiment of the present invention.

Fig. 2 is a block diagram of a control processing system provided in the hydraulic excavator according to the embodiment of the present invention.

Fig. 3 is a flowchart showing processing executed by the controller of the control processing system shown in fig. 2 according to embodiment 1 of the present invention.

Fig. 4A is a diagram showing an example of setting the caution notice area in the swing operation.

Fig. 4B is a diagram showing an example of setting the caution notice area in the swing operation.

Fig. 5A is a diagram showing an example of setting the caution notice area in the swing operation.

Fig. 5B is a diagram showing an example of setting the caution notice area in the swing operation.

Fig. 6A is a diagram showing an example of setting the caution notice area in the driving operation.

Fig. 6B is a diagram showing an example of setting the caution notice area in the driving operation.

Fig. 7A is a graph illustrating the relationship between the angles θ 1 and θ 2 and the rotation speed shown in fig. 4A to 5B.

Fig. 7B is a graph showing a relationship between the distance D and the travel speed shown in fig. 6A and 6B, for example.

Fig. 8 is a flowchart showing processing executed by the controller of the control processing system shown in fig. 2 according to embodiment 2 of the present invention.

Fig. 9 is a flowchart showing processing executed by the controller of the control processing system shown in fig. 2 according to embodiment 3 of the present invention.

Fig. 10 is a view showing the attention calling area irradiated with visible light in embodiment 3 of the present invention.

Fig. 11 is a schematic cross-sectional view for explaining functions of an irradiation light source and a reflector according to a modified embodiment of the present invention.

Fig. 12 is a perspective view showing a rotation direction of the mirror of fig. 11.

Detailed Description

[ embodiment 1 ]

Embodiment 1 of the present invention is explained with reference to fig. 1 to 7B. Fig. 1 is a side view of a hydraulic excavator 1 as a construction machine according to an embodiment of the present invention. Fig. 2 is a block diagram of a control processing system 20 provided in the hydraulic excavator 1 according to the embodiment of the present invention. Fig. 3 is a flowchart showing processing executed by the controller 30 of the control processing system 20 shown in fig. 2 according to embodiment 1 of the present invention. Fig. 4A, 4B, 5A, and 5B are diagrams illustrating examples of setting the caution notice area when the hydraulic excavator 1 performs the swing operation. Fig. 6A and 6B are diagrams of an example of setting the caution notice area during the travel operation of hydraulic excavator 1. Fig. 7A is a graph illustrating the relationship between the angles θ 1 and θ 2 and the rotation speed shown in fig. 4A to 5B. Fig. 7B is a graph showing a relationship between the distance D and the travel speed shown in fig. 6A and 6B, for example. Referring to fig. 1, in the present embodiment, a hydraulic excavator 1 as an example of a construction machine includes a crawler type traveling body 2, a revolving unit 3 mounted on the traveling body 2, a movable work implement 4 attached to the revolving unit 3, a cab 5, a machine room 6, and a hydraulic motor 7 for revolving.

The traveling body 2 includes a pair of left and right crawler belts 2R and 2L (fig. 4A), and the crawler belts 2R and 2L are driven by separate hydraulic motors for traveling (not shown).

The revolving unit 3 is attached to the traveling unit 2 so as to be rotatable in a predetermined revolving direction (also referred to as a yaw direction (yaw direction)) around a revolving shaft Cz extending in the vertical direction with respect to the traveling unit 2 by driving of a hydraulic motor 7 for revolving. The revolving structure 3 has a cab 5 on which workers get on at the front part and a machine room 6 in which an engine, hydraulic equipment, and the like are accommodated at the rear part.

The working device 4 includes: a boom 11 extending from the front of the revolving unit 3; a boom 12 extending from a front end of the follower arm 11; an attachment 13 (a bucket in the example of the drawing) attached to a front end portion of the arm 12; a boom cylinder 14 that swings the boom 11 in a predetermined swing direction (also referred to as a pitch direction) with respect to the revolving unit 3, the direction around an axis extending in the left-right direction of the revolving unit 3; an arm cylinder 15 configured to swing the arm 12 in the pitch direction with respect to the boom 11; the attachment cylinder 16 swings the attachment 13 in the pitch direction with respect to the arm 12.

Although fig. 1 illustrates a hydraulic excavator 1 having a basic configuration, the hydraulic excavator to which the present invention is applicable is not limited to the above configuration. For example, the attachment 13 is not limited to a bucket, but may be other types of attachments (a crusher, a hydraulic shear, etc.).

Further, boom 11 may be driven by another actuator independent of boom cylinder 14 and may be swingable in the yaw direction with respect to revolving unit 3 or movable in the left-right direction of revolving unit 3, in addition to being swingable in the pitch direction with respect to revolving unit 3.

Further, in the hydraulic excavator 1, a dozer device not shown and the like may be attached in addition to the work implement 4 including the boom 11. Hydraulic excavator 1 may include an electric actuator in addition to the hydraulic actuator.

The hydraulic excavator 1 according to the present embodiment may further include a control processing system 20 configured as shown in fig. 2. The control processing system 20 includes functions as an example of the attention calling device of the present invention, including: a rotation speed detection unit 21 that detects the rotation speed of the rotator 3; a traveling speed detection unit 22 for detecting the traveling speed of the traveling body 2; a work device posture detection unit 23 that detects the posture of the work device 4; an operation command detection unit 24 that detects an operation command issued by a not-shown manipulator of the hydraulic excavator 1; an object detection unit 25 that detects objects (including people) located around the hydraulic excavator 1; an irradiation light source 28 that can irradiate visible light around the hydraulic excavator 1; and a controller 30 having a function of controlling the irradiation light source 28.

The turning speed detection unit 21 detects the turning speed of the turning body 3 (turning speed around the turning axis Cz) with respect to the traveling body 2 using, for example, a sensor such as a gyro sensor or the like, or a sensor capable of detecting the rotation speed of the turning hydraulic motor 7 (a rotary encoder, a resolver or the like), and outputs detection data indicating the detected value of the turning speed to the controller 30.

The travel speed detection unit 22 detects the travel speed of the traveling body 2 using, for example, a GNSS (Global navigation satellite system) or sensors (rotary encoders, resolvers, and the like) that can detect the rotation speeds of the traveling hydraulic motors on the left and right sides of the traveling body 2, and outputs detection data indicating the detected travel speed to the controller 30.

The work implement posture detecting unit 23 detects a displacement amount of the boom 11 with respect to the revolving unit 3 (a rotation angle around a swing fulcrum of the boom 11), a displacement amount of the arm 12 with respect to the boom 11 (a rotation angle around a swing fulcrum of the arm 12), and a displacement amount of the attachment 13 with respect to the arm 12 (a rotation angle around a swing fulcrum of the attachment 13) by using sensors such as a rotary encoder and a potentiometer, respectively, and outputs detection data indicating the detected values of the displacement amounts to the controller 30.

Here, hydraulic excavator 1 defines the overall attitude of work implement 4 with respect to revolving structure 3 by a combination of the respective displacement amounts of boom 11, arm 12, and attachment 13. Therefore, the combination of the detection data of the displacement amounts indicates the overall posture of the working device 4.

The operation command detected by the operation command detecting unit 24 is information indicating a request for an operation state of each actuator of the hydraulic excavator 1 (a request for an operation direction and an operation speed of each actuator), and includes at least an operation command related to an operation of the turning hydraulic motor 17 and an operation command related to an operation of the traveling hydraulic motor on the left and right of the traveling body 2.

In the present embodiment, the operation command detecting unit 24 detects, for example, pilot pressures (pilot pressures applied to the 2 pilot ports of the directional control valve for supplying hydraulic oil to the actuators) generated in response to an operation of an operation lever (not shown) for operating each actuator of the hydraulic excavator 1 by a driver of the hydraulic excavator 1 by a pressure sensor, and outputs detection data indicating a detected value of the pilot pressures to the controller 30 as detection data of operation commands for the actuators.

Here, in hydraulic excavator 1, when each actuator is operated in a target direction, an operation lever for operating the actuator is operated in a direction corresponding to the target operation direction of the actuator. In this case, of the 2 pilot ports of the direction switching valve for supplying the hydraulic oil to the actuator, the pilot pressure is applied to the pilot port corresponding to the operation direction of the actuator.

In this case, the larger the operation amount of the operation lever for operating each actuator, the larger the pilot pressure applied to the direction switching valve corresponding to the actuator, and the larger the flow rate of the hydraulic oil supplied to the actuator through the direction switching valve. As a result, the operating speed of the actuator increases.

Therefore, the detected value of the pilot pressure generated by the operation of the operation lever for operating each actuator is detected data indicating an operation command for the actuator (specifically, a request for the operating direction and the operating speed of the actuator).

For example, the detected value of the pilot pressure (hereinafter, referred to as a turning pilot pressure) generated by the operation of the operation lever for operating the turning hydraulic motor 7 is data indicating a request for the operating direction and the operating speed of the turning hydraulic motor 7 (and further indicating a request for the turning direction and the turning speed of the turning body 3).

The detected values of the pilot pressures (hereinafter, also referred to as "traveling pilot pressures") generated by the operation of the operating levers for operating the left and right traveling hydraulic motors of the traveling body 2 are data indicating the requests for the operating directions and the operating speeds of the left and right traveling hydraulic motors, respectively (and further indicating the requests for the traveling directions and the traveling speeds of the traveling body 2).

Note that, an operation amount (including an operation direction) of an operation lever for operating each actuator may be detected by a sensor such as a potentiometer, and a detected value of the operation amount may be used as detection data of an operation command for the actuator instead of the pilot pressure.

When remote control of hydraulic excavator 1 is possible or when automatic driving of hydraulic excavator 1 is possible, command data transmitted from an external control device (not shown) to hydraulic excavator 1 or command data generated by a control device for automatic driving may be used as data indicating operation commands (operation targets of respective actuators) related to the respective actuators.

The object detection unit 25 detects an object (an installation on the ground or an object moving by a person or the like) located around the hydraulic excavator 1 by a plurality of distance measurement sensors such as TOF sensors (Time of Flight) and stereo cameras, and outputs the detection data to the controller 30. In this case, the detection data output by the object detection unit 25 includes data indicating the distance and direction of the object from the hydraulic excavator 1 (in other words, data indicating the relative position of the object with respect to the hydraulic excavator 1). Each distance measuring sensor may be attached to a peripheral portion of the revolving unit 3, for example.

The irradiation light source 28 may be constituted by a light source of visible light such as a laser light source or a projector. In the present embodiment, a plurality of irradiation light sources 28 are attached to the peripheral edge of revolving unit 3 as shown in fig. 4A and the like so that visible light can be irradiated on the ground around hydraulic excavator 1 (the ground within a predetermined distance from hydraulic excavator 1) in substantially all directions (all directions in the yaw direction). Each of the irradiation light sources 28 can variably control the irradiation area of visible light within a specified range. For this reason, the irradiation light source 28 may be supported on the revolving structure 3 so as to be rotatable about a predetermined axis so that the irradiation direction can be switched. The irradiation light source 28 may include a plurality of light emitting elements arranged adjacent to each other in the vertical direction or the horizontal direction.

Although fig. 4A and the like show an example of hydraulic excavator 1 including 4 irradiation light sources 28, hydraulic excavator 1 may be equipped with more irradiation light sources 28.

The irradiation light source 28 may be a light source that outputs only a single color of visible light such as blue or red, may be a light source that simultaneously or selectively outputs a plurality of colors of visible light, may be a light source that outputs visible light having a predetermined pattern such as a grid or a stripe, or may be a light source that partially adds text information, graphic information, or the like to an irradiation region.

The controller 30 is constituted by 1 or more electronic circuit units including a microcomputer, a memory, an interface circuit, and the like. The controller 30 includes: a warning region setting unit 31 (region setting unit) that sets a warning region around the hydraulic excavator 1 as a function realized by the installed hardware configuration and program (software configuration); and an irradiation control unit 32 (display forming unit) for controlling the irradiation light source 28 to irradiate the set attention calling region with visible light. Further, the controller 30 may include a function of controlling the operation of the hydraulic excavator 1.

In addition, in the present embodiment, the operation command detecting unit 24 corresponds to the 1 st operation information acquiring unit of the present invention. In this case, the operation command related to the operation of the turning hydraulic motor 17 and the operation command related to the operation of the traveling hydraulic motors on the left and right sides of the traveling body 2 correspond to the 1 st operation information indicating the turning operation state and the traveling operation state. The operation command related to the operation of the turning hydraulic motor 17 corresponds to command information (direction information and speed information) related to the operation direction and the operation speed of the turning operation, and the operation command related to the operation of the left and right traveling hydraulic motors corresponds to command information (direction information and speed information) related to the operation direction and the operation speed of the traveling operation. In this way, the operation command detection unit 24 acquires the 1 st operation information, that is, information indicating at least one of the operation states of the swing operation and the travel operation of the hydraulic excavator 1. The 1 st action information includes direction information regarding a direction in which at least one of the swing action and the travel action of the hydraulic excavator 1 is operated by the hydraulic excavator 1. The 1 st operation information includes speed information regarding a speed at which at least one of the swing operation and the travel operation of the hydraulic excavator 1 is operated by the hydraulic excavator 1.

The work device posture detecting unit 23 corresponds to the 2 nd operation information acquiring unit of the present invention. The work implement posture detection unit 23 acquires the 2 nd operation information, that is, information indicating the operation state of the movable work implement mounted on the hydraulic excavator 1. In this case, the combination of the displacement amounts of the boom 11, the arm 12, and the attachment 13 corresponds to the 2 nd operation information of the present invention.

Note that the caution region setting unit 31 corresponds to a region setting unit of the present invention, the irradiation control unit 32 and the irradiation light source 28 correspond to a display forming unit of the present invention, and the object detection unit 25 corresponds to an object detection unit of the present invention. The attention calling area setting unit 31 sets an attention calling area, that is, an area that gives attention to people located around the hydraulic excavator 1, around the hydraulic excavator 1. In this case, the caution region setting unit 31 sets the caution region based on the 1 st operation information acquired by the 1 st operation information acquiring unit. The caution region setting unit 31 sets (determines) the position of the caution region based on the direction information acquired by the 1 st motion information acquiring unit. The caution region setting unit 31 sets (determines) the size of the caution region based on the speed information acquired by the 1 st operation information acquiring unit. The caution region setting unit 31 sets the caution region based on the 2 nd operation information acquired by the 2 nd operation information acquiring unit.

The irradiation control unit 32 and the irradiation light source 28 form a display in the caution region by visible light, and visually recognize the caution region by people located around the hydraulic excavator 1.

Next, the operation of irradiating the periphery of the hydraulic excavator 1 with light will be described. During operation of hydraulic excavator 1, controller 30 sequentially executes the processes shown in the flowchart of fig. 3 at predetermined control process cycles. In step S1, the controller 30 acquires detection data of the present operation command from the operation command detecting section 24. In this case, the acquired detection data only needs to be the detection data on the operation commands of the turning hydraulic motor 7 and the left and right traveling hydraulic motors.

Next, in step S2, the controller 30 determines whether or not a turning operation of the turning body 3 (operation of the turning hydraulic motor 7) or a traveling operation of the traveling body 2 (operation of one or both of the left and right traveling hydraulic motors) is requested based on the detection data acquired in step S1.

In this case, when the detected value of the turning pilot pressure (or the detected value of the operation amount of the operation lever) generated in accordance with the operation of the operation lever for operating the turning hydraulic motor 7 is larger than the predetermined value, the controller 30 determines that the turning operation of the turning body 3 is requested (yes in step S2).

Further, when the detected value of the travel pilot pressure (or the detected value of the operation amount of the operation lever) generated in association with the operation of at least one of the operation levers for operating the hydraulic motors for left and right traveling of the traveling body 2 is larger than the predetermined value, the controller 30 determines that the traveling operation of the traveling body 2 is requested (yes in step S2).

If the determination result at step S2 is negative (no) (if there is no request for the turning operation or the traveling operation), the controller 30 ends the processing of fig. 3 in the current control processing cycle.

If the determination result at step S2 is affirmative (yes) (if one or both of the turning operation and the traveling operation are requested), at the next step S3, the controller 30 acquires the detection data of the current posture of the work implement 4 from the work implement posture detection unit 23.

Next, in step S4, controller 30 sets a caution area around hydraulic excavator 1. The process of step S4 is the process of the attention area setting unit 31.

In this process, when the warning notice area setting unit 31 determines in step S2 that there is a request for a turning operation of the turning body 3, warning notice areas AR1 and AR2 are set as shown in fig. 4A to 5B based on the detected value of the pilot pressure generated in association with the operation of the operating lever of the hydraulic motor 7 for turning (in other words, based on the request for the turning direction and the turning speed of the turning body 3 indicated by the pilot pressure).

When it is determined in step S2 that the traveling operation of the traveling body 2 is requested, the caution region setting unit 31 sets a caution region AR3 as shown in fig. 6A and 6B, based on the detected value of the pilot pressure generated as a result of operating the operating lever of the hydraulic motor for left and right traveling (in other words, based on the request for the traveling direction and the traveling speed of the traveling body 2 indicated by the pilot pressure).

When both the turning operation of the turning body 3 and the traveling operation of the traveling body 2 are requested, the caution region setting unit 31 sets a region in which the caution regions AR1 and AR2 related to the turning operation and the caution region AR3 related to the traveling operation are combined as the caution region.

The attention calling areas AR1 and AR2 related to the swing operation are set as follows in the present embodiment. When the revolving operation of the revolving unit 3 is requested, the attention calling areas AR1 and AR2 set by the attention calling area setting unit 31 include: an area AR1 for reminding of contact with work implement 4 rotating together with rotating body 3 (hereinafter referred to as "1 st attention-calling area AR 1"); area AR2 is for reminding of contact with revolving unit 3 (hereinafter referred to as "2 nd attention-calling area AR 2"). The 1 st caution area AR1 is an area where the requirement for evacuation of surrounding persons is relatively high with respect to other areas in order to avoid contact with the work implement 4 when the revolving unit 3 performs a revolving operation, and the 2 nd caution area AR12 is an area where the requirement for evacuation of surrounding persons is relatively high with respect to other areas in order to avoid contact with the revolving unit 3 when the revolving unit 3 performs a revolving operation.

As shown in fig. 4A to 5B, the 1 st attention calling region AR1 is a region in a circular region Ci1 (a region bounded on the outer side by an arc of a radius R1) of a radius R1 of a revolving shaft Cz of the revolving structure 3 in the ground around the hydraulic excavator 1, and is set to a region that is turned by an angle θ 1 around the revolving shaft Cz from a direction that coincides or substantially coincides with an extending direction of a projection of the working device 4 on a plane orthogonal to the revolving shaft Cz in the same direction as the revolving direction of the revolving structure 3 (the revolving direction required for the operation command).

In this case, the caution region setting unit 31 may variably set the radius R1 of the 1 st caution region AR1 based on the posture detection data of the work machine 4. Specifically, attention area setting unit 31 may calculate a distance (distance from pivot axis Cz, hereinafter referred to as a work implement projecting amount) from the tip end of work implement 4 when work implement 4 is projected onto a plane orthogonal to pivot axis Cz, based on the posture detection data of work implement 4 and size data of boom 11, arm 12, and attachment 13 of work implement 4 stored in advance in controller 30. Then, the notice area setting unit 31 sets the calculated value of the projecting amount of the working device or a value obtained by adding the calculated value to the predetermined distance as the radius R1.

The caution region setting unit 31 sets the angle θ 1 of the 1 st caution region AR1 variably in accordance with the detection data of the operation command of the turning hydraulic motor 7. Specifically, as shown in fig. 7A, the caution-attention-region setting unit 31 sets the angle θ 1 based on a table, a calculation formula, or the like generated in advance, and the angle θ 1 is made closer to the predetermined upper limit value as the magnitude of the turning speed of the turning body 3 required in response to the operation command of the turning hydraulic motor 7 is larger (as the detection value of the turning pilot pressure is larger, or as the detection value of the operation amount of the turning operation lever is larger).

In the present embodiment, the 1 st caution area AR1 is set as described above. Thus, the 1 st caution notice area AR1 is variably set based on the detection data of the operation command of the turning hydraulic motor 7 as shown in fig. 4A and 4B.

Here, the 1 st caution region AR1 in fig. 4A is an example of a case where the turning direction of the turning body 3 required for the operation command of the turning hydraulic motor 7 is the counterclockwise direction indicated by the arrow Yt in the drawing and the required turning speed of the turning body 3 is relatively small, and the 1 st caution region AR1 in fig. 4B is an example of a case where the turning direction of the turning body 3 required for the operation command of the turning hydraulic motor 7 is the counterclockwise direction indicated by the arrow Yt in the drawing and the required turning speed of the turning body 3 is relatively large. In fig. 4A and 4B, the work device projection amounts are the same.

As shown in fig. 4A and 4B, the angle θ 1 in the 1 st attention calling area AR1 is larger when the turning speed is larger (fig. 4B) than when the turning speed of the turning body 3 required by the operation command of the turning hydraulic motor 7 is smaller (fig. 4A). In this way, the 1 st attention calling area AR1 is set to expand in the direction (yaw direction) around the rotation axis Cz as the rotation speed of the rotation body 3 required by the operation command of the hydraulic motor 7 for rotation increases.

As shown in fig. 5A and 5B, the 1 st caution area AR1 is variably set based on the work device protrusion amount calculated from the posture detection data of the work device 4.

Here, the 1 st caution region AR1 in fig. 5A is an example of a case where the turning direction of the turning body 3 required for the operation command of the turning hydraulic motor 7 is counterclockwise as indicated by an arrow Yt in the drawing and the work implement projecting amount is relatively large, and the 1 st caution region AR1 in fig. 5B is an example of a case where the turning direction of the turning body 3 required for the operation command of the turning hydraulic motor 7 is counterclockwise as indicated by an arrow Yt in the drawing and the work implement projecting amount is relatively small. In fig. 5A and 5B, the rotation speeds of the rotation body 3 required for the operation command are the same.

As shown in fig. 5A and 5B, the radius R1 of the 1 st caution-giving area AR1 is larger (fig. 5A) than when the projecting amount of the working device is smaller (fig. 5B). In this way, the 1 st caution area AR1 is set such that the radius R1 (in other words, the maximum distance from the pivot axis Cz) increases as the work implement protrusion amount (the protrusion amount of the work implement 4 in the direction orthogonal to the pivot axis Cz) corresponding to the posture of the work implement 4 increases.

Note that, as shown in fig. 4A to 5B, the 2 nd notice-giving region AR2 is a region in which a partial region (a partial region having an arc of a radius R2 as an outer boundary line) within a circular region Ci2 around the rotation axis Cz of the revolving structure 3 in the ground around the hydraulic excavator 1 is set to a region which is turned by an angle θ 2 around the rotation axis Cz from the direction from the rotation axis Cz to the rear end portion of the revolving structure 3 in the same direction as the revolving direction of the revolving structure 3 (the revolving direction required by the operation command).

In this case, the radius R2 of the 2 nd warning notice area AR2 is a predetermined fixed value, and is set to a value that matches the maximum distance from the revolving axis Cz to the rear outer periphery of the revolving unit 3, or a value obtained by adding a predetermined distance to the maximum distance.

Further, similarly to the angle θ 1 in the 1 st caution area AR1, the caution area setting unit 31 variably sets the angle θ 2 in the 2 nd caution area AR2 based on the detection data of the operation command of the turning hydraulic motor 7. That is, as shown in fig. 7A, the caution-calling area setting unit 31 sets the angle θ 2 based on a data table, a calculation formula, or the like generated in advance, and the angle θ 2 is made closer to the predetermined upper limit value as the angle θ 2 becomes larger as the magnitude of the turning speed of the turning body 3 required in accordance with the operation command of the turning hydraulic motor 7 becomes larger (as the detection value of the turning pilot pressure becomes larger, or as the detection value of the operation amount of the turning operation lever becomes larger).

The angle θ 2 of the 2 nd caution area AR2 may be set to the same angle as the angle θ 1 of the 1 st caution area AR 1. In the example shown in fig. 4A to 5B, the direction of the starting end of the range of angle θ 2 of attention-calling area 2 AR2 is a direction (the direction from rotation axis Cz to the rear end portion of rotor 3) slightly deviating from the front-rear direction of rotor 3, but the direction of the starting end may be made to coincide with the front-rear direction of rotor 3.

In the present embodiment, the 2 nd reminder attention area AR2 is set as described above. As described above, the 2 nd notice-giving area AR2 is set to expand in the direction (yaw direction) around the revolving shaft Cz as the revolving speed of the revolving unit 3 required by the operation command of the revolving hydraulic motor 7 increases, as shown in fig. 4A and 4B. In fig. 5A and 5B, since the rotation speeds of the rotation body 3 are the same, the respective 2 nd notice notifying area AR2 are the same area.

In addition, in the present embodiment, the radius R1 of the 1 st caution area AR1 and the radius R2 of the 2 nd caution area AR2 are set independently of each other, but the radii R1 and R2 may be made to coincide with each other. For example, radii R1 and R2 may be set to be equal to each other and larger than the larger of the work implement projecting amount and the maximum distance from pivot Cz to the outer periphery of revolving unit 3.

The attention calling area AR3 related to the traveling operation of the traveling body 2 is set as follows in the present embodiment. When the travel operation of the walking stick 2 is requested, the attention calling area AR3 set by the attention calling area setting unit 31 is an area in which the request for surrounding people to retreat from other areas is relatively high in order to avoid contact with the hydraulic excavator 1 when the walking stick 2 performs the travel operation.

In the present embodiment, as shown in fig. 6A and 6B, this 3 rd attention calling area AR3 is an area on the ground around hydraulic excavator 1, which is located at a position separated by a distance D from the front end portion of traveling unit 2 on the forward side in the traveling direction to the forward side in the traveling direction of traveling unit 2, and is set to have a width that matches or substantially matches the width of traveling unit 2 in the left-right direction (or a width obtained by adding a predetermined amount of separation distance to the width of traveling unit 2 in the left-right direction). The front end portion of the traveling member 2 on the forward side in the traveling direction means the front end portion of the traveling member 2 when the traveling direction of the traveling member 2 (traveling direction required by the operation command) is the forward direction, and means the rear end portion of the traveling member 2 when the traveling direction of the traveling member 2 is the backward direction.

In this case, the attention calling area setting unit 31 variably sets the distance D corresponding to the 3 rd attention calling area AR3 based on the detection data of the operation commands of the left and right hydraulic motors for traveling. Specifically, as shown in fig. 7B, the caution-attention-region setting unit 31 sets the distance D based on a previously generated map, a calculation formula, or the like, such that the distance D approaches the predetermined upper limit value as the distance D increases as the magnitude of the traveling speed of the traveling body 2 required in accordance with the operation command of the hydraulic motors for left and right traveling increases (as the average value of the detected values of the traveling pilot pressures corresponding to the hydraulic motors for left and right traveling increases, or as the average value of the detected values of the operation amounts for operating the operation levers for the hydraulic motors for left and right traveling increases).

When the traveling direction of the traveling unit 2 is the backward direction, the distance D is set to be larger than the amount of rearward projection of the revolving unit 3 from the rear end of the traveling unit 2. When the traveling direction of the traveling body 2 is the forward direction, the distance D is set to be larger than the amount of forward projection of the working device 4 from the position of the front end portion of the traveling body 2.

In the present embodiment, the 3 rd attention area AR3 is set as described above. Here, fig. 6A shows an example of the 3 rd attention calling area AR3 set when the traveling body 2 travels backward (travels in the direction of the arrow Y3) at a relatively small traveling speed, and fig. 6B shows an example of the 3 rd attention calling area AR3 set when the traveling body 2 travels backward (travels in the direction of the arrow Y3) at a relatively large traveling speed.

As shown in fig. 6A and 6B, the distance D corresponding to the 3 rd caution area AR3 (in other words, the length of the 3 rd caution area AR3 in the traveling direction of the traveling body 2) is larger than that when the traveling speed of the traveling body 2 is small (fig. 7A) and is larger (fig. 7B). In this way, the 3 rd reminder area AR3 is set to an area that is longer forward in the traveling direction of the traveling body 2 as the required traveling speed of the traveling body 2 increases.

Note that, when the moving speeds of the left and right crawler belts 2R and 2L required by the operation commands of the left and right traveling hydraulic motors are different from each other (that is, when the traveling body 2 is caused to perform the turning movement), the left and right boundary lines of the 3 rd notice-alerting region AR3 may be arc-shaped curves having radii corresponding to the moving speeds of the left and right crawler belts 2R and 2L, respectively.

Further, distance D in attention calling area 3 AR3 may be set to vary depending on the turning angle of revolving unit 3 and the posture of work implement 4, in addition to the required traveling speed of traveling body 2. For example, when the traveling direction of the traveling unit 2 is the backward direction, the amount of protrusion of the revolving unit 3 from the position of the rear end of the traveling unit 2 to the backward side may be calculated based on the detection data of the revolving angle of the revolving unit 3, and the distance D may be set to be larger as the amount of protrusion is larger.

For example, when the traveling direction of traveling body 2 is the forward direction, the amount of protrusion of work implement 4 from the position of the front end of traveling body 2 to the forward side may be calculated based on the detection data of the turning angle of revolving unit 3 and the posture detection data of work implement 4, and the distance D may be set to be larger as the amount of protrusion is larger.

Further, the width of 3 rd notice area AR3 (width in the left-right direction of traveling body 2) may be set to be variable depending on the turning angle of revolving unit 3 and the posture of work implement 4. For example, the entire width of hydraulic excavator 1 in the left-right direction of traveling structure 2 may be calculated based on the detection data of the turning angle of revolving unit 3 and the detection data of the posture of work implement 4, and the width of 3 rd attention calling area AR3 may be set to match the entire width or the width obtained by adding a predetermined amount of distance to the entire width.

Referring back to fig. 3, in step S4, as described above, when a request for a turning operation of the rotor 3 is made, the 1 st reminder area AR1 and the 2 nd reminder area AR2 are set, and when a request for a running operation of the traveling body 3 is made, the 3 rd reminder area AR3 is set. When there are two requests for the turning operation of the revolving unit 3 and the traveling operation of the traveling unit 2, an area obtained by combining the 1 st to 3 rd attention calling areas AR1, AR2, and AR3 is set as the attention calling area. In this case, the 3 rd reminder attention area AR3 is usually merged with the 1 st reminder attention area AR1 or the 2 nd reminder attention area.

Next, in step S5, the controller 30 executes control processing for the irradiation light source 28 to irradiate light in the attention calling region set in step S4. The processing of step S5 is the processing of the irradiation control unit 32.

In this process, the irradiation control unit 32 controls the irradiation light source 28 to illuminate with visible light having a color or pattern so that the set caution region can be visually recognized and distinguished from other regions. The irradiation light source 28 thus irradiates the attention calling region with visible light to form a predetermined display.

In this case, as the designated display, the notice-alert region may be partially added with visible light information indicating that the notice-alert region is a character or a figure prohibited from entering the inside region. Further, in order to make visible light irradiated in the attention calling area easily recognizable, for example, the color, pattern, or the like of the irradiated visible light may also be made different between day and night.

By thus irradiating the attention calling area with light (illumination), the person P located around the hydraulic excavator 1 can easily recognize the attention calling area around the hydraulic excavator 1 and distinguish it from other areas as shown in fig. 4A to 6B. Therefore, it is possible to effectively prevent people located around the hydraulic excavator 1 from entering the attention-calling area.

Further, since the set caution region is a local region set in the entire periphery of hydraulic excavator 1 (omni-directional region) in accordance with the revolving speed of revolving unit 3, the traveling speed of traveling unit 2, and the posture of work implement 4, it is possible to suppress the caution region from being excessively enlarged. Further, it is possible to prevent excessive restriction of the movement of the operator around hydraulic excavator 1. The position and size of the caution-calling area can be adapted to the operation state of hydraulic excavator 1.

In the present embodiment, the processing of the controller 30 (the processing of the flowchart of fig. 3) does not use the detection data of the turning speed detection unit 21, the traveling speed detection unit 22, and the object detection unit 25. Therefore, the turning speed detection unit 21, the travel speed detection unit 22, and the object detection unit 25 can be omitted in this embodiment.

[ 2 nd embodiment ]

Next, embodiment 2 of the present invention will be described with reference to fig. 8. In addition, since the present embodiment is different from embodiment 1 mainly in a part of the processing of the controller 30, the description will be given mainly on the differences from embodiment 1, and the description on the same matters as embodiment 1 will be omitted.

In the present embodiment, during operation of hydraulic excavator 1, controller 30 sequentially executes the processing shown in the flowchart of fig. 8 at predetermined control processing cycles. In step S11, the controller 30 acquires the current rotation speed detection data of the revolving unit 3 and the current running speed detection data of the traveling unit 2 from the rotation speed detecting unit 21 and the running speed detecting unit 22, respectively.

Next, in step S12, the controller 30 determines whether or not the turning operation of the turning body 3 or the traveling operation of the traveling body 2 is being executed, based on the detection data acquired in step S11.

In this case, when the detected value of the turning speed of the turning body 3 deviates from the specified range around zero, the controller 30 determines that the turning body 3 is in the process of performing the turning operation (yes in step S12), and when the detected value of the traveling operation of the traveling body 2 deviates from the specified range around zero, determines that the traveling body 2 is in the process of performing the traveling operation (yes in step S12).

If the determination result of step S12 is negative (no) (if neither the turning operation nor the traveling operation is being executed), the controller 30 ends the processing of fig. 3 in the current control processing cycle.

If the determination result at step S12 is affirmative (yes) (if one or both of the turning operation and the traveling operation is being executed), at the next step S13, the controller 30 acquires the detection data of the current posture of the work implement 4 from the work implement posture detection unit 23.

Next, in step S14, controller 30 sets a caution notice area around hydraulic excavator 1. In this case, during the swing operation of the swing body 3, the controller 30 (the attention calling area setting unit 31) sets the 1 st attention calling area AR1 and the 2 nd attention calling area AR2 in the same manner as in embodiment 1.

However, in the present embodiment, angle θ 1 in respect of attention calling area AR 11 and angle θ 2 in respect of attention calling area AR2 are set as shown in fig. 7A based on the detected value of the rotation speed of revolving unit 3 shown in the detection data acquired in step S11. That is, angles θ 1 and θ 2 are set based on the detected value of the rotation speed, and angles θ 1 and θ 2 are set to be larger as the rotation speed of rotator 3 is larger.

During execution of the running operation of the traveling body 2, the controller 30 (attention calling area setting unit 31) sets the 3 rd attention calling area AR3 in the same manner as in embodiment 1.

However, in the present embodiment, the distance D corresponding to the 3 rd attention calling area AR3 is set as shown in fig. 7B based on the detected value of the traveling speed of the traveling body 2 shown in the detected data acquired in step S11. That is, the distance D is set based on the detected value of the traveling speed such that the distance D increases as the traveling speed of the traveling body 2 increases.

In the case where both the turning operation of the revolving unit 3 and the traveling operation of the traveling unit 2 are being performed, as in embodiment 1, the regions synthesized from the 1 st to 3 rd attention calling regions AR1 to AR3 are set as the attention calling regions.

The process of setting the caution-giving area in step S14 is the same as that of embodiment 1 except for the above-described matters.

Next, in step S15, the controller 30 controls the irradiation light source 28 by the irradiation control unit 32 to irradiate the attention calling area set in step S14 with light. The process of step S15 is the same as the process of step S5 in embodiment 1.

This embodiment is the same as embodiment 1 except for the above-described matters. In addition, in the present embodiment, the turning speed detection unit 21 and the traveling speed detection unit 22 correspond to the 1 st operation information acquisition unit of the present invention. In this case, the detected value of the turning speed in the turning direction of the turning body 3 corresponds to the 1 st operation information and also to the detected information (direction information, speed information) on the operation direction and the operation speed of the turning operation, and the detected value of the running speed in the running direction of the traveling body 2 corresponds to the 1 st operation information and also to the detected information (direction information, speed information) on the operation direction and the operation speed of the running operation.

Further, as in embodiment 1, the working device posture detecting unit 23 corresponds to the 2 nd operation information acquiring unit of the present invention, the attention notifying area setting unit 31 corresponds to the area setting unit of the present invention, and the irradiation control unit 32 and the irradiation light source 28 correspond to the display forming unit of the present invention.

In the present embodiment described above, during the turning operation of the turning body 3 or the running operation of the traveling body 2, the attention calling region is set as described above, and light is irradiated to the attention calling region. This provides the same effects as those of embodiment 1.

In the present embodiment, the angles θ 1 and θ 2 of the 1 st attention calling area AR1 and the 2 nd attention calling area AR2 are set based on the actual rotation speed detection value of the rotation body 3, and the distance D of the 3 rd attention calling area AR3 is set based on the actual running speed detection value of the traveling body 2.

Therefore, even if the actual turning speed of the turning body 3 and the actual traveling speed of the traveling body 2 change with delay in response to changes in the turning hydraulic motor 7 and the traveling hydraulic motor operation commands, the size of each of the 1 st warning attention area AR1 and the 2 nd warning attention area AR2 can be set to a size that is suitable for the actual turning speed of the turning body 3 in real time, and the size of the 3 rd warning attention area AR3 can be set to a size that is suitable for the actual traveling speed of the traveling body 2 in real time.

In the present embodiment, the processing of the controller 30 (the processing of the flowchart of fig. 8) does not use the detection data of the operation command detecting unit 24 and the object detecting unit 25. Therefore, the operation command detection unit 24 and the object detection unit 25 can be omitted in this embodiment.

[ embodiment 3 ]

Next, embodiment 3 of the present invention will be described with reference to fig. 9 and 10. In addition, since the present embodiment is mainly the same as embodiment 1 or embodiment 2 in terms of a part of the processing of the controller 30, the description will be mainly focused on the differences from embodiment 1 or embodiment 2, and the description of the differences from embodiment 1 or embodiment 2 will be omitted.

In the present embodiment, during operation of hydraulic excavator 1, controller 30 sequentially executes the processing shown in the flowchart of fig. 9 at predetermined control processing cycles. In step S21, the controller 30 acquires the current rotation speed detection data of the revolving unit 3 and the current running speed detection data of the traveling unit 2 from the rotation speed detecting unit 21 and the running speed detecting unit 22, respectively.

Next, in step S22, the controller 30 determines whether or not the turning operation of the turning body 3 or the traveling operation of the traveling body 2 is being executed, based on the detection data acquired in step S21. This determination processing is the same as the determination processing of step S12 in embodiment 2.

If the determination result of step S22 is negative (no) (if neither the turning operation nor the traveling operation is being executed), the controller 30 ends the processing of fig. 9 in the current control processing cycle.

If the determination result at step S22 is affirmative (yes) (when one or both of the swing operation and the travel operation are being performed), at next step S23, controller 30 acquires detection data of the current posture of work implement 4 from work implement posture detection unit 23, and also acquires detection data relating to an object located around hydraulic excavator 1 from object detection unit 25.

Next, in step S24, controller 30 sets a caution notice area around hydraulic excavator 1. This process is the same as the process of step S14 in embodiment 2.

Next, in step S25, the controller 30 determines whether or not an object such as a person is present in the set attention-calling area based on the detection data acquired from the object detection unit 25.

Then, when the determination result of step S25 is affirmative or negative, the controller 30 determines the type of visible light in steps S26 and S27 so that the type of visible light irradiated in the attention calling region is different.

Specifically, if the determination result in step S25 is affirmative (yes), in step S26, the controller 30 determines the color of the visible light irradiated onto the attention calling region (continuous region) in which the object is detected out of the set entire attention calling region as a specific accent color (for example, red) that emphasizes the attention calling region. Further, the controller 30 determines the color of the visible light irradiated on the caution region where the object is not detected (the caution region separated from the caution region where the object is detected) to be a designated color other than the highlight color (for example, blue).

For example, as shown in fig. 10, when it is detected that the person P enters the 1 st reminder area AR1 and no object is detected in the 2 nd reminder area AR2 in the 1 st reminder area AR1 and the 2 nd reminder area AR2 set in step S24 during the swing operation of the swing body, the color of the visible light irradiated in the 1 st reminder area AR1 is determined to be a highlight color (for example, red), and the color of the visible light irradiated in the 2 nd reminder area AR2 is determined to be a color other than the highlight color (for example, blue). That is, in the present embodiment, the notice area setting unit 31 can set a plurality of notice areas independent of each other around the hydraulic excavator 1. Further, when the object detection unit 25 detects an object in a certain reminder area (1 st reminder area AR1) among the plurality of reminder areas, and when no object is detected in the other reminder area (2 nd reminder area AR2) among the plurality of reminder areas, the irradiation control unit 32 and the irradiation light source 28 form a 1 st display (also referred to as a 1 st visible image and irradiated with accent colors) in the certain reminder area, and form a 2 nd display (also referred to as a 2 nd visible image and irradiated with colors other than accent colors) different from the 1 st display in the other reminder area.

If the caution region set in step S24 is a continuous single region, the visible light color of the entire caution region is determined to be an accent color in step S26. That is, the illumination control unit 32 and the illumination light source 28 form a 1 st display (also referred to as a 1 st visible image, illuminated with accent colors) in the attention area when the object detection unit 25 detects an object in the attention area, and form a 2 nd display (also referred to as a 2 nd visible image, illuminated with colors other than accent colors) different from the 1 st display in the attention area when the object detection unit 25 does not detect an object in the attention area.

As described above, by forming the 1 st display and the 2 nd display in such a manner that the color of the 1 st display and the color of the 2 nd display are different from each other, a person who enters the attention calling area can quickly recognize that the person enters an area where the person should not enter.

It is further added that the color of visible light in the attention-calling area in which the presence of the object is detected, for example, may also be changed in the hue of the highlight color in the area near the position where the object is present and in other areas (for example, the closer to the position where the object is present, the more intense the highlight color).

If the determination result in step S25 is negative (no), the controller 30 determines the color of the visible light irradiated on the entire caution-alert region as a color other than the emphasis color (for example, blue) in step S27.

Next, in step S28, the controller 30 executes control processing for the irradiation light source 28 to irradiate light in the attention calling region set in step S24. In this case, the irradiation light source 28 is controlled so that the color of the visible light irradiated to the attention calling region is the color determined as described above, and a predetermined display (an image formed by the visible light, also referred to as a visible image) is formed.

The present embodiment is the same as embodiment 1 or embodiment 2 except for the above-described matters. In addition, in the present embodiment, the turning speed detection unit 21 and the traveling speed detection unit 22 correspond to the 1 st operation information acquisition unit of the present invention, as in the above-described embodiment 2. Further, as in embodiment 1, the working device posture detecting unit 23 corresponds to the 2 nd operation information acquiring unit of the present invention, the caution region setting unit 31 corresponds to the region setting unit of the present invention, the irradiation control unit 32 and the irradiation light source 28 correspond to the display forming unit of the present invention, and the object detecting unit 25 corresponds to the object detecting unit of the present invention.

In the present embodiment described above, during the turning operation of the turning body 3 or the traveling operation of the traveling body 2, the attention calling region is set as described above, and light is irradiated to the attention calling region. This can provide the same effects as those of embodiment 1 or embodiment 2.

Further, by making the colors of the visible light irradiated on the attention calling region in which the object is detected and the attention calling region in which the object is not detected different, when a person around the hydraulic excavator 1 enters the attention calling region, the color (display, visible image) of the attention calling region can be changed to the emphasis color. Therefore, the person who enters the attention-calling area can quickly recognize that the person enters the area where the person should not enter.

In the present embodiment, as described above, the colors of the visible light irradiated on the caution region where the object is detected and the caution region where the object is not detected are made different. However, the color of the irradiated visible light is not limited, and the intensity of the visible light, the pattern of the visible light, the characters, the graphic information, and the like can be made different as a part of the designation display in the attention calling region in which the object is detected and the attention calling region in which the object is not detected.

In the present embodiment, the processing of the controller 30 (the processing of the flowchart of fig. 9) does not use the detection data of the operation command detecting unit 24. Therefore, the operation command detecting unit 24 can be omitted in the present embodiment.

However, the same processing as steps S1, 2 in embodiment 1 may be performed instead of steps S21, S22. In this case, the turning speed detection unit 21 and the traveling speed detection unit 22 may be omitted.

The present invention is not limited to the embodiments described above, and other embodiments may be adopted. For example, the construction machine according to the present invention is not limited to the hydraulic excavator 1, and may be a construction machine capable of performing only one of a swing operation and a travel operation.

The work implement may have a structure different from that of the boom, arm, and attachment.

The controller 30 may include a partial processing function of the turning speed detection unit 21, the traveling speed detection unit 22, the working device posture detection unit 23, the operation command detection unit 24, or the object detection unit 25.

For example, the controller 30 may be disposed outside the hydraulic excavator 1 (construction machine).

In addition, the irradiation light source 28 may be installed on a ceiling or the like when the construction machine is operated, for example, in an indoor place.

The display forming portion of the present invention is not limited to the structure in which visible light is directly irradiated on the attention calling region, and may be a structure in which visible light is generated in the attention calling region by fluorescence, for example. In addition, the display forming part can also form the display of the visible light in the attention reminding area by other modes.

In addition, the angles θ 1 and θ 2 of the 1 st attention calling area AR1 and the 2 nd attention calling area AR2 during the turning operation of the turning body 3 may be set so as to reflect not only the turning speed but also the acceleration of the turning. For example, the angles θ 1 and θ 2 may be made larger than at a constant speed when the rotation speed is accelerated, and the angles θ 1 and θ 2 may be made smaller than at a constant speed when the rotation speed is decelerated.

Similarly, the distance D corresponding to the 3 rd attention calling area AR3 during the traveling operation of the traveling body 2 may be set so as to reflect not only the traveling speed but also the acceleration of the traveling. For example, the distance D may be set to be larger than the constant speed when the running speed is accelerated, and the distance D may be set to be smaller than the constant speed when the running speed is decelerated.

In addition, in embodiment 1, the following description is given of the embodiment: a plurality of irradiation light sources 28 are attached to the peripheral edge portion of the revolving unit 3, and each irradiation light source 28 can variably control the irradiation region of visible light within a predetermined range. Fig. 11 is a schematic cross-sectional view for explaining functions of the irradiation light source 28A and the reflecting mirror 28B (both of which are display forming portions) according to the modified embodiment of the present invention, and fig. 12 is a perspective view showing a rotation direction of the reflecting mirror 28.

As shown in fig. 11, irradiation light source 28A according to the present modified embodiment is fixed to rotator 3, and the emission direction of visible light is set upward. The irradiation light source 28A is, for example, a laser light source. The mirror 28B included in the attention device for construction machinery is rotatably supported by a bracket, not shown, fixed to the revolving unit 3. The visible light emitted from the irradiation light source 28A controlled by the irradiation control unit 32 (fig. 2) is irradiated on the ground by being reflected by the reflecting mirror 28B. The irradiation control unit 32 sets (changes) the rotation direction of the mirror 28B (the light reflection direction) according to the position, size, and the like of the caution notice area. The mirror 28B is supported rotatably about 2 rotation axes perpendicular to each other, as shown in fig. 12. As a result, the area on the ground illuminated by visible light can be made variable in two dimensions, so that the attention-calling area is variable. It is preferable that the plurality of irradiation light sources 28A and the plurality of reflection mirrors 28B having the same configuration as described above are provided at different positions of the revolving unit 3.

As described above, the attention reminding device for construction machinery according to the present invention includes: a 1 st operation information acquiring unit that acquires 1 st operation information, the 1 st operation information being information indicating a state of at least one of a turning operation and a traveling operation of the construction machine; an area setting unit that sets an attention calling area, which is an area for calling attention of people located around the construction machine, in the periphery of the construction machine, the area setting unit setting the attention calling area based on the 1 st operation information acquired by the 1 st operation information acquiring unit; and a display forming unit that forms, in the attention prompting region, a display that allows people around the construction machine to visually recognize the attention prompting region by using visible light.

In the above configuration, it is preferable that the 1 st operation information includes direction information regarding a direction in which at least one of a turning operation and a traveling operation of the construction machine is operated, and the region setting unit sets the position of the attention-calling region based on the direction information acquired by the 1 st operation information acquiring unit.

In the above configuration, it is preferable that the 1 st operation information includes speed information regarding a speed at which at least one of a turning operation and a traveling operation of the construction machine operates in the operation of the construction machine, and the area setting unit sets the size of the attention-calling area based on the speed information acquired by the 1 st operation information acquiring unit.

Preferably, the above configuration further includes: and a 2 nd operation information acquiring unit configured to acquire 2 nd operation information, the 2 nd operation information being information indicating an operation state of a movable working device mounted on the construction machine, wherein the region setting unit is configured to set the caution region based on the 1 st operation information acquired by the 1 st operation information acquiring unit and the 2 nd operation information acquired by the 2 nd operation information acquiring unit.

Preferably, the above configuration further includes: and an object detection unit capable of detecting an object located around the construction machine, wherein the display formation unit forms a 1 st display in the caution region when the object detection unit detects an object in the caution region, and forms a 2 nd display different from the 1 st display in the caution region when the object detection unit does not detect an object in the caution region.

Preferably, the above configuration further includes: and an object detection unit configured to detect an object located around the construction machine, wherein the area setting unit is configured to set a plurality of separate attention calling areas around the construction machine, and when the object detection unit detects an object in one of the plurality of attention calling areas and does not detect an object in another of the plurality of attention calling areas, the display forming unit forms a 1 st display in the one attention calling area and forms a 2 nd display different from the 1 st display in the other attention calling area.

In the above configuration, it is preferable that the display forming unit forms the 1 st display and the 2 nd display so that a color of the 1 st display and a color of the 2 nd display are different from each other.