Surroundings monitoring apparatus, information processing terminal, information processing apparatus, and recording medium

A surroundings monitoring apparatus includes a sensor configured to acquire detection information about a position of a predetermined monitoring target located in an area surrounding a work machine, and a processor configured to output an alarm or restrict an operation of the work machine in response to detecting that: the monitoring target is in a sensor range in which the sensor can acquire the detection information; the monitoring target is in a predetermined range equal to or less than a predetermined distance from the work machine; and the monitoring target is in a first range in a height direction of the work machine.

BACKGROUND

Technical Field

The present invention relates to a surroundings monitoring apparatus and the like provided on a work machine such as a shovel.

Description of Related Art

A surroundings monitoring apparatus which ensures the safety in an area surrounding a work machine such as shovel is known.

SUMMARY

According to an aspect of the present invention, A surroundings monitoring apparatus includes a sensor configured to acquire detection information about a position of a predetermined monitoring target located in an area surrounding a work machine, and a processor configured to output an alarm or restrict an operation of the work machine in response to detecting that: the monitoring target is in a sensor range in which the sensor can acquire the detection information; the monitoring target is in a predetermined range equal to or less than a predetermined distance from the work machine; and the monitoring target is in a first range in a height direction of the work machine.

DETAILED DESCRIPTION

A surroundings monitoring apparatus ensures the safety in an area surrounding a work machine such as a shovel by outputting an alarm, restricting the operation of the work machine, and the like, when a monitoring target (for example, a person) in the area surrounding the work machine is detected.

In the above surroundings monitoring apparatus, all of the monitoring targets detected in the monitoring target region located in the area surrounding the work machine may potentially be targets for which an alarm is output or for which operation of the work machine is restricted. For this reason, in practice, even in a case where the chance of contact and the like between the work machine and the detected monitoring target is extremely low (for example, a large step exists between a work surface of the shovel and a surface where the monitoring target is present), an alarm may be output or an operation of the work machine may be restricted. In other words, the alarm may be output unnecessarily or the operation of the work machine is unnecessarily restricted, which may reduce the work efficiency of the work machine.

Therefore, in view of the above problems, it is desired to provide a surroundings monitoring apparatus and the like capable of alleviating a reduction in the work efficiency in a case where an output of an alarm, a restriction of operation, and the like are performed on the basis of a detection of a monitoring target that is present in an area surrounding a work machine.

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

Example of Surroundings Monitoring System

First, an example of a surroundings monitoring system1000according to the present embodiment will be explained with reference toFIG. 1toFIG. 9.

[Overview of Surroundings Monitoring System]

First, an overview of a surroundings monitoring system1000according to the present embodiment will be explained.

FIG. 1is a schematic drawing illustrating an example of configuration of a surroundings monitoring system1000.

The surroundings monitoring system1000includes a shovel500, a management terminal700, a cancellation device750, a management terminal800, and a management server900.

The shovel500is an example of a work machine.

As described later, when the shovel500detects a predetermined monitoring target within a predetermined range (a monitoring area described later) in the area surrounding the shovel500, the shovel500outputs an alarm or restricts operation.

In a case where the shovel500outputs an alarm or restricts operation, the shovel500cancels the alarm or the restriction of the operation (hereinafter collectively referred to as “alarm and the like”) in response to a predetermined condition, for example, a predetermined manipulation by an operator (manipulation of a cancellation switch60to be described later) or a reception of a cancellation permission notification to be described later from the management terminal700and the like.

The shovel500is communicably connected to the management terminal700and the like by a predetermined communication method, for example, a communication (hereinafter referred to as “BT communication”) based on a communication standard of Bluetooth (registered trademark) and a communication (hereinafter referred to as “RF communication”) by electromagnetic waves of RF (Radio Frequency) bands from about 300 Hz to 3 THz (hereinafter referred to as “RF waves”). Accordingly, the shovel500can receive various kinds of information (for example, a cancellation permission notification, and the like) from the management terminal700and the like. The shovel500can transmit various kinds of information (for example, an alarm output notification, an operation restriction notification, a cancellation request notification, and the like, to be described later) to the management terminal700and the like.

For example, the shovel500is communicably connected to the management server900via a predetermined communication network NW such as: a mobile communication network having a base station as a termination; and the Internet. Accordingly, the shovel500can receive various kinds of information (for example, the cancellation permission notification and the like) from the management server900. The shovel500can transmit various kinds of information (for example, the alarm output notification, the operation restriction notification, the cancellation request notification, and the like) to the management server900.

The management terminal700(an example of an information processing terminal) is a portable terminal carried by a worker W in the area surrounding the shovel500. For example, as appropriate, the management terminal700uploads, to the management server900, various kinds of information about a work site which are input by the worker W and images of the work site taken by the built-in camera function.

For example, the management terminal700may be a general-purpose mobile terminal such as a mobile phone, a smartphone, and a tablet terminal carried by the worker W. Also, the management terminal700may be a special-purpose terminal (for example, a remote control switch for transmitting a cancellation permission notification to the shovel500) specialized in a function for permitting cancellation of an alarm and the like in the shovel500, or may be a special-purpose terminal (i.e., a remote control terminal) for controlling the work machine such as the shovel500provided with this function.

The management terminal700is communicably connected to the shovel500by a predetermined communication method, such as, for example, the BT communication, the RF communication, and the like. As a result, the management terminal700can transmit, to the shovel500, a cancellation permission notification for permitting cancellation of an alarm and the like in the shovel500in a case where the alarm is output or the operation of the shovel500is restricted.

Also, the management terminal700can acquire (receive), from the shovel500, various kinds of information (for example, surroundings situation information, to be described later, about the situation in the area surrounding the shovel500) for determining whether to permit cancellation of an alarm or a restriction of the operation. In addition, the management terminal700can receive a predetermined manipulation performed with a manipulation unit implemented with hardware such as a push button and a keyboard and a manipulation unit implemented with software such as a button icon and the like displayed on a touch display and the like. Therefore, the management terminal700can determine whether to permit cancellation of an alarm and the like, on the basis of the acquired various kinds of information, the predetermined manipulation performed by the worker W who checks the surroundings situation in the area surrounding the shovel500, and the like, and can transmit a cancellation permission notification to the shovel500in accordance with the determination result.

Alternatively, the management terminal700may acquire surroundings situation information about the situation in the area surrounding the shovel500from other than the shovel500. For example, the management terminal700may acquire, from a drone, surroundings situation information including an image of the area surrounding the shovel500captured by a camera provided on the monitoring drone flying above the work site of the shovel500. Hereinafter, the same applies to the cancellation device750, the management terminal800, and the management server900.

In addition, the management terminal700may be connected to the management server900through a communication network NW in a bidirectionally communicable manner. In this case, the management terminal700may acquire various kinds of information (for example, surroundings situation information and the like) uploaded from the shovel500to the management server900via the communication network NW. Also, the management terminal700may transmit various kinds of information (for example, a cancellation permission notification and the like) to the shovel500via the management server900.

The worker W may include a worker who actually works in the area surrounding the shovel500and a supervisor and the like who supervises a part or all of the work site including the work performed with the shovel500.

The cancellation device750(an example of an information processing apparatus) is appropriately arranged at, for example, a sufficiently distant location in the area surrounding the shovel500(outside the monitoring area of the shovel500to be described later).

In a manner similar to the management terminal700, the cancellation device750is communicably connected to the shovel500by a predetermined communication method such as the BT communication, the RF communication, and the like. Thus, in a manner similar to the management terminal700, the cancellation device750can transmit a cancellation permission notification to the shovel500in a case where an alarm is output or operation of the shovel500is restricted.

In a manner similar to the management terminal700, the cancellation device750can acquire various kinds of information for determining whether to permit cancellation of an alarm or a restriction of the operation (for example, surroundings situation information and the like) from the shovel500. In a manner similar to the management terminal700, the cancellation device750can receive a predetermined manipulation performed with the manipulation unit implemented with hardware or software. Accordingly, in a manner similar to the management terminal700, the cancellation device750can determine whether to permit cancellation of an alarm and the like, on the basis of the acquired various kinds of information, the predetermined manipulation performed by the worker W who checks the surroundings situation in the area surrounding the shovel500, and the like, and can transmit a cancellation permission notification to the shovel500in accordance with the determination result. In particular, the cancellation device750is installed outside the monitoring area of the shovel500, as described above. For this reason, in a case where the worker W enters the monitoring area, the cancellation device750may determine that the safety situation in the monitoring area is confirmed, i.e., cancellation of an alarm and the like may be permitted, on the basis of a predetermined manipulation performed by the worker W who is evacuated out of the monitoring area.

It should be noted that the cancellation device750may perform only a determination as to whether to permit cancellation of an alarm and the like on the basis of the manipulation performed by the worker W. In other words, the cancellation device750may be configured not to perform a determination as to whether to permit cancellation of an alarm and the like on the basis of information acquired from the surroundings situation information and the like. The cancellation device750may be equipped with a sensor for detecting a monitoring target or a shovel500, such as, for example, a millimeter wave radar, a LIDAR (Light Detection And Ranging) device, a stereo camera, and the like. In this case, the cancellation device750can transmit a cancellation permission notification to be described later to the shovel500upon confirming the safety situation in the area surrounding the shovel500on the basis of a relative positional relationship between the shovel500and the monitoring target recognizable on the basis of the detection result of the sensor. Specifically, in a case where the cancellation device750determines that there is no monitoring target (i.e., a person) in the monitoring area on the basis of the detection result of the sensor, the cancellation device750may output a cancellation permission notification toward the shovel500.

The management terminal800(an example of information processing terminal) is provided in, for example, a site office and the like temporarily constructed at a work site, and is used by the manager M who manages the entire work site from the site office and the worker W and the like who stands by in the site office. The management terminal800uploads to the management server900, for example, various kinds of information about the work site which are input by the manager M or the worker W and images of the work site taken by the built-in camera function.

The management terminal800(an example of an information processing apparatus) may be, for example, a desktop or laptop-type general purpose computer. Alternatively, the management terminal800may be a desktop or laptop-type special-purpose computer specialized in the function of management at work sites including the function of permitting cancellation of an alarm and the like. Alternatively, in a manner similar to the management terminal700, the management terminal800may be a portable terminal that can be carried by the manager M or the worker W. In other words, the management terminal800may also be used as the management terminal700, and may be taken out from the site office.

In a manner similar to the management terminal700and the like, the management terminal800is communicably connected to the shovel500by a predetermined communication method, such as, for example, the BT communication, the RF communication, and the like. As a result, in a manner similar to the management terminal700, the management terminal800can transmit a cancellation permission notification to the shovel500in a case where an alarm is output or operation of the shovel500is restricted.

In a manner similar to the management terminal700and the like, the management terminal800can acquire, from the shovel500, various kinds of information for determining whether to permit cancellation of an alarm or a restriction of the operation (for example, surroundings situation information and the like). In addition, in a manner similar to the management terminal700, the management terminal800can receive a predetermined manipulation performed with a manipulation unit implemented with hardware or software. Therefore, in a manner similar to the management terminal700, the management terminal800can determine whether to permit cancellation of an alarm and the like, on the basis of the acquired various kinds of information, manipulation performed by the manager M or the worker W who checks the surroundings situation in the area surrounding the shovel500, and the like, and can transmit a cancellation permission notification to the shovel500in accordance with the determination result.

In a manner similar to the management terminal700, the management terminal800may be connected to the management server900through the communication network NW in a bidirectionally communicable manner. In this case, the management terminal800may acquire various kinds of information (for example, an alarm output notification, an operation restriction notification, a cancellation request notification, and the like) uploaded from the shovel500to the management server900via the communication network NW. Also, the management terminal800may transmit various kinds of information (for example, a cancellation permission notification and the like) to the shovel500via the management server900.

The management server900is provided outside the work site of the shovel500. For example, the management server900collects various kinds of information (for example, daily reports, captured images of the work site, and the like) about the work site from the management terminals700,800, and the like, and manages the work site and the shovel500. The management server900may be a server (i.e., a local server) owned by a company performing overall operation management of the surroundings monitoring system1000, or may be a server (i.e., a cloud server) owned by and operated and managed by a third party other than the above company.

The management server900is communicably connected via the communication network NW to the shovel500. As a result, the management server900can transmit a cancellation permission notification to the shovel500in a case where an alarm is output or operation of the shovel500is restricted.

The management server900can acquire, from the shovel500, various kinds of information for determining whether to permit cancellation of an alarm or a restriction of the operation (for example, surroundings situation information and the like). In a manner similar to the management terminal700and the like, the management terminal800can receive a predetermined manipulation performed with the manipulation unit implemented with hardware or software. Therefore, in a manner similar to the management terminal700, the management terminal800can determine whether to permit cancellation of an alarm and the like, on the basis of the acquired various kinds of information, manipulation performed by the worker W who checks the surroundings situation in the area surrounding the shovel500, and the like, and can transmit a cancellation permission notification to the shovel500in accordance with the determination result.

Hereinafter, the management terminal700, the cancellation device750, the management terminal800, and the management server900are collectively referred to as “external devices600”. The surroundings monitoring system1000including the shovel500and the external devices600are hereinafter explained.

In the present embodiment, the plurality of external devices600are provided, but it is sufficient that at least one external device600be provided. Further, the external device600may include other aspects other than those described above. For example, the external device600may be a drone for monitoring (an example of an information processing apparatus) that includes an information processing unit such as a computer and the like and an RF transceiver, a communication device such as a mobile communication module and the like, and the like and flies above the work site of the shovel500and uses the onboard camera to captures images of the work site of the shovel500. Therefore, the drone serving as the external device600can confirm the safety situation in the area surrounding the shovel500on the basis of a relative positional relationship between the shovel500and the monitoring target recognizable on the basis of the detection result of the sensor, and can transmit a cancellation permission notification to the shovel500. Specifically, in a case where the drone serving as the external device600determines that there is no monitoring target (i.e., a person) in the monitoring area on the basis of the captured image, the drone serving as the external device600can output a cancellation permission notification toward the shovel500.

[Overview of Work Machine]

Next, an overview of the work machine included in the surroundings monitoring system1000(seeFIG. 3) according to the present embodiment will be described with reference toFIG. 2.

FIG. 2is a drawing illustrating an example of a work machine included in the surroundings monitoring system1000according to the present embodiment, and specifically, a side view illustrating the shovel500.

The surroundings monitoring system1000according to the present embodiment may include any work machine other than the shovel500, for example, a bulldozer, a wheel loader, an asphalt finisher, a forestry machine, and the like.

The shovel500includes a lower traveling body1, an upper turning body3turnably provided on the lower traveling body1via a turning mechanism2, a boom4, an arm5, a bucket6, and a cab10in which an operator rides. The boom4, the arm5, and the bucket6serve as an attachment (i.e., a work attachment).

The lower traveling body1includes, for example, a pair of left and right crawlers, which are hydraulically driven by traveling hydraulic motors (not illustrated) to cause the shovel500to travel.

The upper turning body3is driven by a turning hydraulic motor or an electric motor (both of which are not illustrated) and the like to turn relatively to the lower traveling body1.

The boom4is pivotally attached to the front center of the upper turning body3to be able to vertically pivot, the arm5is pivotally attached to the end of the boom4to be able to pivot vertically, and the bucket6is pivotally attached to the end of the arm5. The boom4, the arm5, and the bucket6are hydraulically driven by a boom cylinder7, an arm cylinder8, and a bucket cylinder9, respectively.

The cab10, which is an operator room in which an operator rides, is provided on the front left of the upper turning body3.

[Details of Surroundings Monitoring System]

Next, specifics of the configuration of the surroundings monitoring system1000according to the present embodiment will be described with reference toFIG. 3in addition toFIG. 1andFIG. 2.

FIG. 3is a block diagram illustrating an example of detailed configuration of the surroundings monitoring system1000according to the present embodiment.

As described above, the surroundings monitoring system1000includes a shovel500and an external device600.

The surroundings monitoring apparatus100is provided in the shovel500.

The surroundings monitoring apparatus100monitors an entry of a predetermined object (hereinafter simply referred to as “monitoring target”) which is a monitoring target in the predetermined range in the area surrounding the shovel500, and in a case where the surroundings monitoring apparatus100detects the monitoring target, the surroundings monitoring apparatus100performs operations such as an output of an alarm, restriction of operation of the shovel, and the like. The monitoring target may include not only persons such as workers working in the area surrounding the shovel500, a site foreman at the work site, and the like but also obstacles placed in a fixed manner such as materials and the like temporarily placed on the work site, moving obstacles and the like such as vehicles including trucks and the like, and any object other than a person. Hereinafter, explanation will be continued based on the assumption that the monitoring target is a person.

The surroundings monitoring apparatus100includes a controller30, an image-capturing device40, a display device50, an audio output device52, a gate lock valve54, the cancellation switch60, a confirmation operation state detection unit70, a communication device72, and an external notification device74. As a configuration related to the surroundings monitoring apparatus100, the external device600provided outside the shovel500is included, and the surroundings monitoring system1000according to the present embodiment is configured to include: the surroundings monitoring apparatus100implemented on the shovel500; and the external device600. The controller30is a main control device that controls the shovel500. For example, the controller30is provided in the cab10and performs various control processes related to the surroundings monitoring apparatus100.

The functions of the controller30may be implemented by any hardware, or a combination of hardware and software. The controller30is constituted mainly by a microcomputer including, for example, a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), an auxiliary storage device, an RTC (Real Time Clock), an interface for various kinds of communications, and the like. The controller30serves as a functional unit implemented by, for example, causing a CPU to execute various kinds of programs stored in a ROM and an auxiliary storage device, and includes a detection unit301, a display control unit302, an alarm output unit303, an operation restriction unit304, a cancellation request notification unit305, a surroundings situation information transmission unit306, and a determination unit307.

The image-capturing device40is attached to an upper portion of the upper turning body3to capture images of the area surrounding the shovel500. The image-capturing device40includes cameras40B,40L, and40R.

The camera40B, the camera40L, and the camera40R are attached to the upper rear end, upper left end, and upper right end, respectively, of the upper turning body3to capture images at the rear, left, and right sides of the upper turning body3. Specifically, the camera40B, the camera40L, and the camera40R are respectively provided on the upper part of the upper turning body3so that the optical axis is directed obliquely downward, and capture images in a vertical image-capturing range (angle of view) from the ground near the shovel500to a position far from the shovel500. The camera40B, the camera40L, and the camera40R output the captured images with a predetermined interval (for example, 1/30 seconds) while the shovel500is operating, and the output captured images are retrieved by the controller30.

The display device50is provided around the cockpit in the cab10, specifically, at a position easily visible from the operator seated on the operator's seat, and displays various kinds of image information to be notified to the operator under the control performed by the controller30. For example, the display device50is a liquid crystal display or an organic EL (Electroluminescence) display, and may be a touch panel that also serves as the manipulation unit. Specifically, the display device50displays images captured by the image-capturing device40(through images), surroundings images generated by the controller30based on the images captured by the image-capturing device40(for example, viewpoint-transformed images to be described later), and the like.

The audio output device52is provided around the operator's seat in the cab10, and outputs various kinds of audio information notified to the operator under the control performed by the controller30. The audio output device52is, for example, a speaker, a buzzer, and the like. Specifically, the audio output device52outputs an alarm sound based on the control instruction from the controller30.

The gate lock valve54is provided at the most upstream in a pilot line providing a pilot pressure from a pilot pump (not illustrated) to manipulation devices (not illustrated) for manipulating the operation elements (i.e., the lower traveling body1, the upper turning body3, the boom4, the arm5, the bucket6, and the like), and is configured to switch the pilot line into either a communication or non-communication state.

For example, the gate lock valve54switches the pilot line into either the communication or non-communication state in accordance with an output signal (ON and OFF) of a gate lock switch operating in synchronization with the manipulation state of a gate lock lever (not illustrated) generally provided at a portion corresponding to the entrance to the operator's seat in the cab10. Specifically, in a case where the output signal of the gate lock switch is an ON signal corresponding to a state in which the gate lock lever is pulled up (i.e., a state in which the operator is seated on the operator's seat), the gate lock valve54causes the pilot line to be in the communication state. Conversely, in a case where the output signal of the gate lock switch is an OFF signal corresponding to a state in which the gate lock lever is lowered (i.e., a state in which the operator is away from the operator's seat), the gate lock valve54causes the pilot line to be in the non-communication state.

Also, for example, the gate lock valve54is configured to be able to receive an instruction signal received from the controller30. Specifically, the gate lock valve54may have its signal input unit be connected to a logical conjunction circuit receiving both of the output signal of the gate lock switch and the instruction signal from the controller30, i.e., a logic circuit that outputs an OFF signal when the logic circuit receives an OFF signal from at least one of the inputs. Accordingly, the gate lock valve54can switch the pilot line into either the communication or non-communication state in accordance with the instruction signal from the controller (an ON signal or an OFF signal) even in a state in which the gate lock lever is pulled up. In other words, under the control performed by the controller30, the gate lock valve54causes the pilot line to be in the non-communication state even in a state in which the gate lock lever is pulled up.

The cancellation switch60(an example of a cancellation intention input unit and an input unit) is a manipulation unit for receiving a cancellation intention of the operator for cancelling an alarm or a restriction of the operation of the shovel500, to be described later. The cancellation switch60may be, for example, a manipulation unit implemented with hardware such as a push button, a lever, rotary knob, and the like of a manipulation unit50B, to be described later, or may be a manipulation unit implemented with software such as a virtual button (icon) and the like on manipulation screen displayed on the display device50. Information about manipulation state of the cancellation switch60is retrieved by the controller30. The above is also applicable to a monitoring function switch62, a display content selection switch64, and the like to be described later.

Instead of the cancellation switch60, it may be possible to employ a camera (an example of a cancellation intention input unit and an input unit) for recognizing a particular pose or gesture corresponding to a cancellation intention given by the operator, a gaze tracking sensor (an example of a cancellation intention input unit and an input unit) for recognizing a particular gaze movement corresponding to a cancellation intention given by the operator, and the like.

For example, the confirmation operation state detection unit70is provided in the cab10to detect an operation (hereinafter referred to as “surroundings situation confirmation operation”) performed by the operator in the cab10to check the situation in the area surrounding the shovel500. For example, the confirmation operation state detection unit70is a camera capturing an image in the cab10including the face of the operator, a gaze tracking sensor for detecting the gaze of the operator, and the like. This enables to detect the surroundings situation confirmation operation performed by the operator on the basis of the movement of the gaze of the operator that can be recognized from images captured by the camera or a detection signal from the gaze tracking sensor. Alternatively, for example, the confirmation operation state detection unit70is an electroencephalography sensor provided on a safety hat or a helmet worn by the operator to detect the operator's electroencephalography. This enables detecting the surroundings situation confirmation operation performed by the operator on the basis of the change and tendency in the operator's electroencephalography.

The communication device72is a device for transmitting and receiving a control signal, an information signal, and the like to and from the external device600. Under the control performed by the controller30, the communication device72transmits various kinds of signals (for example, an alarm output notification, an operation restriction notification, a cancellation request notification, and the like, to be described later) to the external device600. A signal from the external device600received by the communication device72is retrieved by the controller30.

For example, the communication device72may include an RF transceiver performing an RF communication with the external device600. For example, the communication device72may include a Bluetooth communication module (BT communication module) performing BT communication with the external device600. For example, the communication device72is a mobile communication module for transmitting and receiving, via a mobile communication network and the like, various kinds of signals to and from the external device600directly or via a predetermined server (management server900) and the like.

The external notification device74is a device for notifying the situation of the shovel500toward the surroundings of the shovel500under the control performed by the controller30.

For example, the external notification device74may be an audio output device such as a speaker, a buzzer, and the like capable of notifying the situation of the shovel500toward the surroundings of the shovel500by auditory means, i.e., by sound.

Also, for example, the external notification device74may be a display device such as a display, an electric bulletin board, and the like capable of notifying the situation of the shovel500toward the surroundings of the shovel500by visual means, i.e., displaying of information.

For example, the detection unit301detects a predetermined monitoring target within a predetermined region (monitoring area) in the area surrounding the shovel500, i.e., a predetermined monitoring target of which distance D from the shovel500is within a predetermined distance D1(for example, 5 meters) on the basis of the images captured by the image-capturing device40.

For example,FIG. 4is a drawing schematically illustrating an example of a monitoring area of the detection unit301.

As illustrated inFIG. 4, the monitoring area includes a monitoring area MAB, a monitoring area MAL, and a monitoring area MAR corresponding to the camera40B, the camera40L, and the camera40R, respectively.

The controller30can enlarge the monitoring areas MAB, MAL, MAR as indicated by dashed lines and reduce the monitoring areas MAB, MAL, MAR as indicated by alternate long and short dash lines, as long as a balance with the resources is maintained. For example, in a case where the controller30enlarges the monitoring area MAB as indicated by the alternate long and short dash line, the controller30reduces at least one of the monitoring areas MAL, MAR, so that the controller30(the detection unit301) can finish the process for detecting the monitoring target within a predetermined process time.

Back toFIG. 3, for example, the detection unit301recognizes the monitoring target in the captured image by applying a classifier and the like based on various kinds of known image process methods, machine learning including artificial intelligence (AI), and the like. Then, the detection unit301can identify the position where the recognized monitoring target is actually present (i.e., the distance D and the like from the shovel500to the recognized monitoring target). The detection unit301can also specify the type of the monitoring target (for example, whether the monitoring target is a person or an obstacle other than a person).

As described above, examples of the monitoring targets include persons such as workers, supervisors, and the like working in the area surrounding the shovel500, temporarily placed building materials, and obstacles hindering the work of the shovel500, such as construction vehicles and the like.

The detection unit301may detect the monitoring target located in the area surrounding the shovel500on the basis of a detection result (a distance image and the like) acquired by another sensor provided on the shovel500, instead of or in addition to the images captured by the image-capturing device40. For example, the detection unit301can detect the monitoring target on the basis of a detection result of a millimeter wave radar, a LIDAR device, a stereo camera, and the like provided on the shovel500.

The display control unit302displays various kinds of information images on the display device50.

For example, in accordance with a predetermined manipulation performed by the operator, the display control unit302generates a surroundings image on the basis of the image captured by the image-capturing device40, and causes the display device50to display the surroundings image. Specifically, the display control unit302generates, as a surroundings image, a viewpoint-transformed image as seen from a virtual viewpoint by performing a known viewpoint-transformed process on the basis of the images captured by the camera40B, the camera40L, and the camera40R, and causes the display device50to display the surroundings image. When the display control unit302causes the display device50to display the surroundings image, the display control unit302causes the display device50to also display a shovel image schematically representing the shovel500in order to clarify the relative positional relationship between the image-capturing range of the image-capturing device40and the shovel500. In other words, the display control unit302generates a monitoring image including a shovel image and a surroundings image arranged in the area surrounding the shovel image in accordance with a relative positional relationship between the shovel500and the image-capturing range of the image-capturing device40, and causes the display device50to display the monitoring image.

It should be noted that the function of the display control unit302may be provided in the display device50. In this case, the images captured by the image-capturing device40(the camera40B, the camera40L, and the camera40R) and the information about the detection result and the like detected by the detection unit301are retrieved by the display device50from the image-capturing device40and the controller30, respectively.

For example,FIG. 5is a drawing illustrating an example of a monitoring image MP displayed on the display device50.

As illustrated inFIG. 5, the display device50includes a display unit50A displaying various kinds of information images and a manipulation unit50B implemented with hardware for manipulating manipulation targets (for example, manipulation button icons, a cursor, and the like) displayed in the various kinds of information images.

According to this example, the display unit50A presents not only the monitoring image MP but also an operating information image IP presenting various kinds of information related to the operation of the shovel500. Specifically, in the upper half of the display unit50A, the monitoring image MP is displayed, and in the lower half, the operating information image IP is displayed.

The operating information image IP includes a date and time display area IPa, a traveling mode display area IPb, an end attachment display area IPc, an engine control status display area IPe, an engine operating time display area IPf, a coolant water temperature display area IPg, a remaining fuel amount display area IPh, a rotational speed mode display area IPi, a hydraulic oil temperature display area IPk, a camera image display area IPm, an alarm display area IPp, and an orientation indicator icon IPx.

The date and time display area IPa is an area for displaying a current date and time. According to this example, digital display is employed to show that the date is Feb. 19, 2013 and the time is 23:59.

The traveling mode display area IPb is an area for displaying an image for a current traveling mode. The traveling mode represents the setting of traveling hydraulic motors using a variable displacement pump. Specifically, the traveling mode includes a low-speed mode and a high-speed mode. A “turtle”-shaped mark is displayed for the low-speed mode, and a “rabbit”-shaped mark is displayed for the high-speed mode. According to this example, the “turtle”-shaped mark is displayed to make it possible for the operator to recognize that the low-speed mode is set.

The end attachment display area IPc is an area for displaying an image representing a currently attached end attachment. End attachments attachable to the shovel include various end attachments such as a rock drill, a grapple, and a lifting magnet in addition to the bucket6. The end attachment display area IPc displays, for example, marks shaped like these end attachments. According to this example, a rock drill-shaped mark is displayed to make it possible for the operator to recognize that a rock drill is attached as an end attachment.

The engine control status display area IPe is an area for displaying an image for the status of control of an engine. According to this example, the operator can recognize that “automatic deceleration and automatic stop mode” is selected as the status of control of the engine. The “automatic deceleration and automatic stop mode” means the status of control to automatically reduce the engine rotational speed and further to automatically stop the engine in accordance with the duration of the low-load state of the engine. Other statuses of control of the engine include “automatic deceleration mode,” “automatic stop mode,” and “manual deceleration mode.”

The engine operating time display area IPf is an area for displaying an image for the cumulative operating time of the engine. According to this example, a value using a unit “hr (hour)” is displayed.

The coolant water temperature display area IPg is an area for displaying an image for the current temperature condition of engine coolant water. According to this example, a bar graph that represents the temperature condition of the engine coolant water is displayed. The temperature of the engine coolant water is displayed based on the output data of a water temperature sensor attached to the engine.

Specifically, the coolant water temperature display area IPg includes an abnormal range indicator IPg1, a caution range indicator IPg2, a normal range indicator IPg3, a segment indicator IPg4, and an icon indicator IPg5.

The abnormal range indicator IPg1, the caution range indicator IPg2, and the normal range indicator IPg3are indicators for notifying the operator that the temperature of the engine coolant water is abnormally high, requires attention, and is normal, respectively. The segment indicator IPg4is an indicator for notifying the operator of the level of the temperature of the engine coolant water. The icon indicator IPg5is an icon, such as a graphic symbol, indicating that the abnormal range indicator IPg1, the caution range indicator IPg2, the normal range indicator IPg3, and the segment indicator IPg4are indicators pertaining to the temperature of the engine coolant water.

The icon indicator IPg5may alternatively be character information indicating that the indicators are related to the temperature of the engine coolant water.

According to this example, the segment indicator IPg4is composed of eight segments that are individually controlled to light up or darken, and the number of lighted segments increases as the coolant water temperature increases. According to this example, four segments are lighted. The segment indicator IPg4is so displayed as to form part (an arc) of a predetermined circle, such that the length of the arc increases or decreases as the temperature of the engine coolant water increases or decreases. While the temperatures represented by the individual segments are equal in width according to this example, the width of temperatures may differ from segment to segment.

Furthermore, according to this example, the abnormal range indicator IPg1, the caution range indicator IPg2, and the normal range indicator IPg3are arc-shaped graphics successively arranged along a direction in which the segment indicator IPg4extends or shrinks (a circumferential direction of the predetermined circle), and are displayed in red, yellow, and green, respectively. According to the segment indicator IPg4, the first (lowest) through sixth segments belong to the normal range, the seventh segment belongs to the caution range, and the eighth (highest) segment belongs to the abnormal range.

Instead of displaying the abnormal range indicator IPg1, the caution range indicator IPg2, and the normal range indicator IPg3in arc-shaped graphics, the coolant water temperature display area IPg may display characters, symbols, etc., indicating an abnormal level, a caution level, and a normal level at their respective boundaries.

The above-described configuration including an abnormal range indicator, a caution range indicator, a normal range indicator, a segment indicator, and an icon indicator may likewise be adopted also for the remaining fuel amount display area IPh and the hydraulic oil temperature display area IPk. Instead of displaying arc-shaped graphics representing an abnormal range, a caution range, and a normal range, the remaining fuel amount display area IPh may display a letter “F” or a black circle (a circle filled with black), indicating “Full (filled-up state)”, a letter “E” or a white circle (an unfilled circle), indicating “Empty (empty state)”, etc., at their respective boundaries.

The remaining fuel amount display area IPh is an area for displaying an image for the state of the remaining amount of fuel stored in a fuel tank. According to this example, a bar graph representing the current state of the remaining amount of fuel is displayed. The remaining amount of fuel in the remaining fuel amount display area IPh is displayed based on the output data of a remaining fuel amount sensor in the fuel tank.

The rotational speed mode display area IPi is an area for displaying a current rotational speed mode. The rotational speed mode includes, for example, the above-described four modes of SP mode, H mode, A mode, and idling mode. According to this example, a symbol “SP” representing SP mode is displayed.

The hydraulic oil temperature display area IPk is an area for displaying an image for the temperature condition of hydraulic oil in a hydraulic oil tank. According to this example, a bar graph indicating the temperature condition of hydraulic oil is displayed. The temperature of hydraulic oil in the hydraulic oil temperature display area IPk is displayed based on the output data of an oil temperature sensor in the hydraulic oil tank.

The coolant water temperature display area IPg, the remaining fuel amount display area IPh, and the hydraulic oil temperature display area IPk may adopt needle display in lieu of bar graph display.

The camera image display area IPm is an area for directly displaying a captured image (a through-the-lens image) of at least one of the camera40B, the camera40L, and the camera40R. This makes it possible for the operator to view a captured image (a through-the-lens image) captured by the image-capturing device40directly within the operating information image IP, in addition to the monitoring image MP.

For example, while the shovel is in operation, a captured image captured by the camera40B may be constantly displayed in the camera image display area IPm. In this case, the captured image (the through-the-lens image) of the camera40B in the camera image display area IPm is desirably displayed as a mirror image.

Furthermore, according to this example, the camera image display area IPm occupies an area of approximately two thirds on the right side of the operating information image IP. This is for increasing overall visibility by displaying the remaining fuel amount display area IPh, etc., closer to the operator seat (operator) and displaying the camera image display area IPm farther from the operator seat (operator) in an environment where the display device50is installed on the front right of the operator seat. The size and layout of display areas in the operating information image IP, however, may be changed as needed.

Furthermore, with respect to a captured image displayed in the camera image display area IPm, the image-capturing device40that captures an image to be displayed may be switched, or the captured image may be enlarged or reduced in size, in accordance with a touch operation on the touchscreen display unit50A or an operation on the manipulation unit50B. For example, the operator may be able to switch the image-capturing device40(the camera40B, the camera40L, or the camera40R) that captures a captured image (a through-the-lens image) to be displayed in the camera image display area IPm by performing the operation of specifying a left or right direction with a directional pad50Ba of the manipulation unit50B. Furthermore, the operator may be able to zoom in on and zoom out of a captured image by pressing a button specifying an upward direction and a button specifying a downward direction, respectively, of scaling buttons50Bb. In this case, the operator may touch any position in the camera image display area IPm on the touchscreen display unit50A to specify the position, and zoom in or out around the Specified position as the center. Furthermore, the operator may be able to move a cursor with the directional pad50Ba and zoom in or out around the cursor position at the center.

The alarm display area IPp is an area for displaying an alarm. According to this example, a warning message indicating the occurrence of failure in an electrical system is displayed over a through-the-lens image. Furthermore, according to this example, when a lever operation is performed with no captured image captured by the camera40B being displayed in the camera image display area IPm, an alarm giving a warning to that effect is displayed in the alarm display area IPp. When there is no alarm to be displayed, a through-the-lens image is displayed as is in the alarm display area IPp.

The orientation indicator icon IPx is an icon that represents the relative relationship between the orientation of the image-capturing device40that has captured a captured image (a through-the-lens image) that is displayed in the operating information image IP and the orientation of the shovel (the attachment of the upper turning body3). According to this example, the orientation indicator icon IPx indicating that the image-capturing device40that captures a camera image displayed in the camera image display area IPm is the40B is displayed in the lower right corner of the camera image display area IPm.

The orientation indicator icon IPx may alternatively be displayed at a position other than the lower right corner, such as the lower center, the lower left corner, the upper right corner, or the upper left corner, of the camera image display area IPm, or be displayed outside the camera image display area IPm.

The operating information image IP may exclude one or more of the above-described display areas IPa through IPk or may include a display area other than those described above. For example, the operating information image IP may include an exhaust gas filter condition display area for displaying the degree of clogging of an exhaust gas filter (for example, a diesel particulate filter [DPF]). Specifically, the exhaust gas filter condition display area may display a bar graph that represents the ratio of the current usage time of the exhaust gas filter to its maximum allowable usage time. Furthermore, the operating information image IP may exclude the display of the temperature condition of hydraulic oil or may exclude the display of the temperature condition of hydraulic oil and the temperature condition of coolant water.

Furthermore, the camera image display area IPm includes, at its bottom, a cover image IPq serving as a vehicle body image that is an image of the upper edge of the back end of a cover3aof the upper turning body3. Because of this, the operator has a better sense of distance between an object displayed in the camera image display area IPm and the shovel. Furthermore, according to this embodiment, the orientation indicator icon IPx is displayed over the cover image IPq in order to keep the same background color of the orientation indicator icon IPx to increase its visibility and also to prevent the indicator icon IPx from hiding part of a camera image that is desired to be seen. The orientation indicator icon IPx may be displayed outside the camera image display area IPm.

Furthermore, as illustrated inFIG. 5, the monitoring image MP including a shovel image CG and a surroundings image EP placed along the periphery of the shovel image CG is displayed in the upper-half laterally elongated rectangular screen (for example, a screen of an aspect ratio of 4:3) of the display unit50A of the display device50as described above. This makes it possible for the operator to appropriately understand the positional relationship between a monitoring target (i.e., a person) shown in the surroundings image EP and the shovel500.

The surroundings image EP according to this example is a viewpoint-transformed image that is a combination of a bird's eye view image BVP showing the surroundings area adjacent to the shovel500as seen from above and a horizontal image HVP, placed along the periphery of the bird's eye view image BVP, showing the surroundings area as seen horizontally from the shovel500. A surroundings image, i.e., a viewpoint-transformed image, is acquired by projecting respective captured images of the camera40B, the camera40L, and the camera40R onto a space model and re-projecting the projected images projected on the space model onto a different two-dimensional plane. The space model is an object onto which a captured image is projected in a virtual space, and is composed of one or more plane surfaces or curved surfaces that include a plane surface or a curved surface different from a surface in which the captured image is positioned.

In addition, a guideline LN1is superimposed and displayed on the monitoring image MP. The guideline LN1indicates positions where the distance D from the shovel500is a predetermined distance D2(≤D1). Accordingly, in a case where a monitoring target (i.e., a person) appears in the surroundings image, the operator and the like can find how far the monitoring target is from the shovel500.

In this example, the surroundings image EP of the monitoring image MP includes a person who is a monitoring target (a worker W1). The worker W1in the monitoring area, included in the surroundings image EP, is emphasized by being enclosed with a thick frame FR1. Accordingly, an alarm (notification) indicating that the monitoring target is in the monitoring area can be given to the operator.

Back toFIG. 3, in a case where the detection unit301detects a monitoring target (i.e., a person) in the monitoring area, i.e., where the distance D from the shovel500is within the predetermined distance D1, the alarm output unit303(an example of a control unit) outputs an alarm to the inside of the cab10, i.e., to the operator. Accordingly, the surroundings monitoring apparatus100can allow the operator to notice that a monitoring target (i.e., a person) has entered the monitoring area surrounding the shovel500, and prompt the operator to confirm the safety situation in the area surrounding the shovel500.

For example, the alarm output unit303outputs an alarm by an auditory method, i.e., by sound. Specifically, the alarm output unit303outputs a control instruction to the audio output device52to cause the audio output device52to output a warning sound.

In accordance with various kinds of conditions, the alarm output unit303may vary the pitch, sound pressure, tone, and the like of the warning sound, and the sound output interval and the like in a case where the warning sound (for example, a buzzer sound) is output periodically. For example, the alarm output unit303may change the pitch, sound pressure, tone, sound output interval, and the like of the warning sound, in accordance with the relative position of the monitoring target detected by the detection unit301with reference to the shovel500. Specifically, the alarm output unit303may differentiate at least one of the pitch, sound pressure, tone, sound output interval, and the like of the warning sound, between the case where a monitoring target relatively close to the shovel500is detected and the case where a monitoring target relatively far from the shovel500is detected. In this case, the surroundings monitoring apparatus100allows the operator and the like to find the positional relationship with (i.e., the degree of closeness to) the shovel500by the difference in the warning sound. This is also applicable to the following case where the external notification device74is used.

For example, the alarm output unit303outputs an alarm by a visual method. Specifically, the alarm output unit303transmits an alarm request to the display control unit302. As a result, in response to an alarm request, the display control unit302applies emphasis process such as encircling, with a thick frame, a person who is a monitoring target included in the surroundings image EP of the monitoring image MP displayed on the display device50(seeFIG. 4), and the display device50can output an alarm for the operator.

It should be noted that the alarm output unit303may output an alarm by a tactile method. Specifically, for example, the alarm output unit303may output a control instruction to a vibration generation device (vibrator) provided in the operator's seat and output a tactile alarm for the operator by vibrating the operator's seat.

In a case where the alarm output unit303outputs an alarm, the alarm output unit303notifies, to the outside of the shovel500, that an alarm is output from the shovel500.

For example, in a case where the alarm output unit303is to output an alarm, the alarm output unit303controls the external notification device74(an example of an external notification unit and a notification unit) to notify, toward the surroundings of the shovel500, that an alarm is output from the shovel500by an auditory or visual method. Therefore, the surroundings monitoring apparatus100allows a worker, a supervisor, and the like working in the area surrounding the shovel500and a manager and the like in a site office located relatively close to the shovel500to recognize that an alarm is output from the shovel500.

It should be noted that the alarm output unit303may notify that an alarm is output from the shovel500by a tactile method. Specifically, the alarm output unit303transmits, via the communication device72(an example of an external notification unit), a radio signal (a signal for the RF communication and the BT communication) according to a predetermined communication standard for activating a vibrator function toward a predetermined device with a vibrator function (for example, a management terminal700and the like to be described later) carried by a worker, a supervisor, and the like working in the area surrounding the shovel500, and a manager and the like of a site office and the management server900. In this case, the predetermined device carried by the worker and the like, and therefore, the shovel500can notify, to the workers and the like in the surrounding, that an alarm is output from the shovel500.

For example, in a case where the alarm output unit303outputs an alarm, the alarm output unit303controls the communication device72(an example of an external notification unit) to transmit, to the external device600, a notification (hereinafter referred to as “alarm output notification”) indicating that an alarm is output from the shovel500. Therefore, the surroundings monitoring apparatus100allows the external device600for determining whether to permit an alarm cancellation and the user of the external device600(for example, workers and a supervisor in the area surrounding the shovel500, a site foreman in the site office, the manager of the management server900, and the like) to recognize that an alarm is output from the shovel500. In a case where the alarm output unit303outputs an alarm, the alarm output unit303may control the communication device72to transmit an alarm output notification to an e-mail address of the user of the external device600registered in advance or an account of a predetermined social networking service (SNS). In this case, the surroundings monitoring apparatus100allows the user of the external device600to recognize that an alarm is output from the shovel500.

In the cab10, a dedicated input unit may be provided (i.e., an example of an external notification intention input unit. The dedicated input unit is, for example, a manipulation unit such as a button switch and the like for inputting an intention by manipulation; and a camera, a gaze tracking sensor, and the like for inputting an intention by a predetermined gesture, pose, gaze movement, and the like) to notify, to the outside of the shovel500, that an alarm is output from the shovel500on the basis of an intention of the operator and the like. In this case, in a case where an intention is input to the dedicated input unit, a notification to the effect that an alarm is output from the shovel500is transmitted to the outside of the shovel500via the external notification device74or the communication device72.

In a case where, as described later, the determination unit307determines that the operator performs a surroundings situation confirmation operation and that the cancellation switch60is manipulated by the operator, the alarm output unit303cancels the output of the alarm, i.e., stops the alarm that is being output. Therefore, the surroundings monitoring apparatus100can cancel the output of the alarm after the operator appropriately confirms the safety situation in the area surrounding the shovel500. Therefore, even when the operator manipulates the cancellation switch60only as a formality without confirming the surroundings situation of the shovel500, the alarm is less likely to be cancelled, and the safety of the work site of the shovel500can be improved.

In a case where, as described later, the determination unit307determines that cancellation of the alarm is permitted by the outside of the shovel500and that the cancellation switch60is manipulated by the operator, the alarm output unit303cancels the output of the alarm, i.e., stops the alarm that is being output. Therefore, the surroundings monitoring apparatus100can cancel the output of the alarm while, at the outside of the shovel500, the alarm cancellation is appropriately permitted on the basis of the confirmation of the safety situation in the area surrounding the shovel500. Therefore, even when the operator manipulates the cancellation switch60only as a formality without confirming the surroundings situation of the shovel500, the alarm is less likely to be cancelled, and the safety of the work site of the shovel500can be improved.

In a case where the detection unit301detects a person in the monitoring area, the operation restriction unit304(an example of a control unit) restricts an operation of the operation element (the lower traveling body1, the upper turning body3, the boom4, the arm5, the bucket6, and the like) of the shovel500. For example, the operation restriction unit304transmits an ON signal to the gate lock valve54as an instruction signal, so that the gate lock valve54causes the pilot line to be in non-communication state. As a result, a pilot pump (not illustrated) no longer provides a hydraulic oil (pilot pressure) to manipulation device (not illustrated) manipulating the operation element of the shovel500, so that even when the operator manipulates the manipulation device, the operation element of the shovel500can be restricted from operating. Therefore, even if a person enters the monitoring area in proximity to the shovel500, the operation of the shovel500is restricted, and the shovel500and the person are less likely to collide with each other, and as a result, the safety in the area surrounding the shovel500can be maintained.

For example, a pressure reducing valve for reducing the secondary-side pilot pressure that is output from the manipulation device may be provided, and the operation restriction unit304may control the pressure reducing valve instead of the gate lock valve54. In this case, the pressure reducing valve can disable the manipulation of the manipulation device by the operator by reducing the secondary-side pilot pressure that is output from the manipulation device to a pressure value equal to or less than a value where the manipulation amount is zero. Therefore, the operation restriction unit304can restrict the operation of the operation element of the shovel500by controlling the pressure reducing valve. By controlling the pressure reducing valve, the operation restriction unit304may restrict the operation of the shovel500so as to reduce the operations of various kinds of operation elements in response to manipulation performed by the operator at a moderate level as compared with normally performed manipulation, without stopping the operation elements of the shovel500.

In a case where the operation restriction unit304restricts the operation of the shovel500, the operation restriction unit304notifies, to the outside of the shovel500, that operation of the shovel500is restricted.

For example, in a case where the operation restriction unit304restricts the operation of the shovel500, the operation restriction unit304controls the external notification device74(an example of an external notification unit and a notification unit) to notify, to the surroundings of the shovel500, that operation of the shovel500is restricted. Therefore, the surroundings monitoring apparatus100allows a worker, a supervisor, and the like working in the area surrounding the shovel500, and a manager and the like in a site office located relatively close to the shovel500to recognize that operation of the shovel500is restricted.

In a manner similar to the alarm output unit303, the operation restriction unit304may notify that operation of the shovel500is restricted by a tactile method.

For example, in a case where the operation restriction unit304restricts the operation of the shovel500, the operation restriction unit304controls the communication device72(an example of an external notification unit and a notification unit) to transmit, to the external device600, a notification indicating that operation of the shovel500is restricted (hereinafter referred to as “operation restriction notification”). Therefore, the surroundings monitoring apparatus100allows the external device600for determining whether to permit the restriction of the operation cancellation and the user of the external device600to recognize that operation of the shovel500is restricted. In a case where the operation restriction unit304restricts the operation of the shovel500, the operation restriction unit304may control the communication device72to transmit an alarm output notification to an e-mail address of the user of the external device600registered in advance or an account of a predetermined SNS. In this case, the surroundings monitoring apparatus100allows the user of the external device600to recognize that operation of the shovel500is restricted.

In a manner similar to the alarm, in the cab10, a dedicated input unit may be provided (i.e., an example of an external notification intention input unit) to notify, to the outside of the shovel500, that operation of the shovel500is restricted on the basis of an intention of the operator and the like. Also, the same dedicated input unit may serve as not only the dedicated input unit for the alarm but also the dedicated input unit for the restriction of the operation. In this case, in a case where an intention is input to the dedicated input unit, a notification to the effect that operation of the shovel500is restricted is transmitted to the outside of the shovel500via the external notification device74and the communication device72.

In a case where, as described later, the determination unit307determines that the operator performs a surroundings situation confirmation operation and that the cancellation switch60is manipulated by the operator, the operation restriction unit304cancels restriction of operation of the shovel500. Therefore, the surroundings monitoring apparatus100can cancel the restriction of operation of the shovel500after the operator appropriately confirms the safety situation in the area surrounding the shovel500. Therefore, even when the operator manipulates the cancellation switch60only as a formality without confirming the surroundings situation of the shovel500, the restriction of operation of the shovel500is less likely to be cancelled, and the safety of the work site of the shovel500can be improved.

In a case where, as described later, the determination unit307determines that cancellation of the restriction of operation of the shovel500is permitted by the outside of the shovel500and that the cancellation switch60is manipulated by the operator, the operation restriction unit304cancels the restriction of operation of the shovel500. Therefore, the surroundings monitoring apparatus100can cancel the restriction of operation of the shovel500while, at the outside of the shovel500, the restriction of the operation cancellation is appropriately permitted on the basis of the confirmation of the safety situation in the area surrounding the shovel500. Therefore, even when the operator manipulates the cancellation switch60only as a formality without confirming the surroundings situation of the shovel500, the restriction of operation of the shovel500is less likely to be cancelled, and the safety of the work site of the shovel500can be improved.

In a case where the operator manipulates the cancellation switch60, the cancellation request notification unit305may control the communication device72to transmit a cancellation request notification to an e-mail address of the user of the external device600registered in advance or an account of a predetermined SNS. In this case, the surroundings monitoring apparatus100can request the external device600and the user of the external device600to actively permit cancellation of the alarm or the restriction of operation of the shovel500.

In a case where the output of the alarm or the restriction of operation of the shovel500is started, the cancellation request notification may be transmitted to the external device600and the e-mail address and the like of the user of the external device600, irrespective of whether the operator manipulates the cancellation switch60. Since, as described above, the alarm output notification or the operation restriction notification is transmitted to the external device600and the like before the cancellation request notification is transmitted, the transmission of the cancellation request notification may be omitted. Specifically, the cancellation request notification unit305may be omitted. In the cab10, separately from the cancellation switch60, a dedicated input unit may be provided (i.e., an example of a cancellation request intention input unit and an input unit. The dedicated input unit is, for example, a manipulation unit such as a button switch and the like for inputting an intention by manipulation; and a camera, a gaze tracking sensor, and the like for inputting an intention by a predetermined gesture, pose, gaze movement, and the like) to transmit, to the external device600and the e-mail address and the like of the user of the external device600, the cancellation request notification on the basis of an intention of the operator and the like. In this case, in a case where an intention is input to the dedicated input unit, the cancellation request notification may be transmitted to the external device600and the e-mail address and the like of the user of the external device600.

In a case where the alarm is output or operation of the shovel500is restricted, the surroundings situation information transmission unit306transmits, to the external device600, information about the situation in the area surrounding the shovel500(hereinafter referred to as “surroundings situation information”) with regular intervals. In a case where the alarm is output or operation of the shovel500is restricted, the surroundings situation information transmission unit306may automatically transmit the surroundings situation information to the external device600, or may transmit the surroundings situation information to the external device600in response to a request signal received from the external device600by the communication device72.

The surroundings situation information may include, for example, captured images of the area surrounding the shovel500captured by the image-capturing device40. The surroundings situation information may include, for example, information about the detection result of the monitoring target detected by the detection unit301, the position of the detected monitoring target, and the like.

The determination unit307determines whether the operator has confirmed the safety situation in the area surrounding the shovel500, i.e., whether the surroundings situation confirmation operation has been performed.

For example, the determination unit307determines whether the operator has performed the surroundings situation confirmation operation, on the basis of the detection result of the confirmation operation state detection unit70. Specifically, as described above, the determination unit307may determine whether the operator has performed the surroundings situation confirmation operation on the basis of a motion of gaze of the operator detected by a camera or a gaze tracking sensor serving as the confirmation operation state detection unit70. Specifically, in a case where the operator is determined to have gazed at a mirror (for example, a rear view mirror) for indirectly seeing the surroundings of the shovel500, or at a through image or a monitoring image displayed on the display device50, the determination unit307may determine that the operator has performed the surroundings situation confirmation operation.

As described above, the determination unit307may determine whether the operator has performed the surroundings situation confirmation operation on the basis of the operator's electroencephalography detected by an electroencephalography sensor serving as the confirmation operation state detection unit70. Specifically, for example, in a case where the operator manipulates the cancellation switch60, the determination unit307may determine whether the manipulation has been performed unintentionally (reflexively) in response to the output of the alarm or the restriction of operation of the shovel500, on the basis of the operator's electroencephalography. In a case where the manipulation is determined not to have been performed unintentionally, i.e., the manipulation is determined to have been performed intentionally, the determination unit307may determine that the operator has performed the surroundings situation confirmation operation.

For example, the determination unit307determines whether the operator has performed the surroundings situation confirmation operation, on the basis of an elapsed time since the alarm or the restriction of operation of the shovel500was started. Specifically, in a case where a predetermined period of time or more has elapsed since the alarm or the restriction of operation of the shovel500was started, the determination unit307determines that the operator has performed the surroundings situation confirmation operation. This is because, if a certain period of time has elapsed since the alarm or the restriction of operation of the shovel500was started, the operator may have had a sufficient time to confirm the situation in the surroundings and it can be deemed that the operator has performed the surroundings situation confirmation operation.

The determination unit307determines whether the safety situation in the area surrounding the shovel500is confirmed at the outside of the shovel500and whether cancellation of the alarm or the restriction of the operation is permitted.

For example, in a case where the communication device (an example of an acquisition unit) acquires a cancellation permission notification from the external device600, the determination unit307determines that cancellation of the alarm or the restriction of the operation is permitted at the outside of the shovel500.

For example, the determination unit307determines that cancellation of the alarm or the restriction of the operation is permitted at the outside of the shovel500in a case where the safety situation is confirmed and a worker, a supervisor, and the like at the outside of the shovel500gives a sign (for example, to be in a predetermined pose or give a predetermined gesture) for permitting cancellation of the alarm or the restriction of the operation. Specifically, the determination unit307performs a process to recognize, from the image captured by the image-capturing device40, a predetermined third party such as the worker, the supervisor, and the like who has entered the monitoring area and triggered the alarm or the restriction of operation of the shovel500. At this occasion, the determination unit307may recognize the predetermined third party on the basis of feature information (for example, identification information about color and the like of workwear, helmet, and the like) unique to the predetermined third party. Then, in a case where the recognized predetermined third party such as the worker, the supervisor, and the like is in a predetermined pose or giving a predetermined gesture, the determination unit307may determine that cancellation of the alarm or the restriction of the operation is permitted at the outside of the shovel500. In other words, in a case where the determination unit307(an example of an acquisition unit) acquires, from the images captured by the image-capturing device40, a captured image including a predetermined third party such as the worker, the supervisor, and the like who is in the predetermined pose or giving the predetermined gesture, the determination unit307may determine that cancellation of the alarm or the restriction of the operation is permitted at the outside of the shovel500.

In a case where the shovel500outputs an alarm or restricts operation, the external device600permits cancellation of the alarm or the restriction of the operation in accordance with a predetermined condition.

The external device600includes a communication device610, an information processing unit620, a display unit630, an audio output unit640, and a manipulation unit650.

The communication device610is any given device performing bidirectional communication with the shovel500. The communication device610is in a corresponding relationship with the communication device72of the shovel500in terms of the communication method and the like, and may include, for example, the RF transceiver, the BT communication module, the mobile communication module, and the like.

The information processing unit620performs various kinds of control processes in the external device600. The functions of the information processing unit620may be implemented by any hardware or a combination of hardware and software. For example, the information processing unit620is constituted mainly by a computer including a CPU, RAM, ROM, an auxiliary storage device, an RTC, various kinds of communication interfaces, and the like. The information processing unit620includes, for example, as function units implemented by causing the CPU to execute one or more programs stored in the ROM or the auxiliary storage device, a shovel situation notification unit6201, a surroundings situation information acquisition unit6202, a cancellation permission manipulation reception unit6203, a determination unit6204, and a cancellation permission notification unit6205.

Under the control of the information processing unit620, the display unit630displays various kinds of information images. The display unit630is, for example, a liquid crystal display, an organic EL display, and the like.

Under the control of the information processing unit620, the audio output unit640outputs sound to the outside. The audio output unit640is, for example, a speaker, a buzzer, and the like.

The manipulation unit650receives various kinds of manipulations from the user of the external device600. The manipulation unit650may be, for example, a manipulation unit implemented with hardware such as a push button and the like or may be a manipulation unit implemented with software such as a button icon and the like on a manipulation screen displayed on the touch-panel display unit630.

The shovel situation notification unit6201notifies, to the user, the situation of the shovel500on the basis of various kinds of information received from the shovel500via the communication device610.

Specifically, in a case where the shovel situation notification unit6201receives an alarm output notification or an operation restriction notification via the communication device610, the shovel situation notification unit6201may notify, to the user of the external device600, that an alarm is output from the shovel500or that operation is restricted. In this case, the external device600allows the user to recognize that an alarm is output from the shovel500or operation is restricted. This is particularly effective for a manager of a site office located relatively away from the shovel500and the manager and the like of the management server900outside of the work site who have difficulty in directly finding the situation of the shovel500.

For example, the shovel situation notification unit6201may cause the display unit630to display that an alarm is output from the shovel500or that operation is restricted.

For example, the shovel situation notification unit6201may cause the audio output unit640to output sound indicating that an alarm is output from the shovel500or that operation is restricted.

In a case where the cancellation request notification is received via the communication device610, the shovel situation notification unit6201notifies the user that a cancellation request for canceling the alarm or the restriction of the operation is received from the shovel500. Therefore, the external device600can prompt the user to perform a predetermined manipulation (i.e., cancellation permission manipulation to be described later) for permitting cancellation of the alarm or the restriction of the operation on the basis of the confirmation of the safety situation in the area surrounding the shovel500.

For example, the shovel situation notification unit6201may cause the display unit630(i.e., an example of a first notification unit) to display that a cancellation request for canceling the alarm or the restriction of the operation has been received from the shovel500.

Alternatively, for example, the shovel situation notification unit6201may cause the audio output unit640(an example of a first notification unit) to output a sound indicating that a cancellation request for canceling the alarm or the restriction of the operation has been received from the shovel500.

The surroundings situation information acquisition unit6202acquires, via the communication device610, surroundings situation information transmitted with regular intervals from the shovel500in a case where the shovel500outputs an alarm or restricts operation.

In a case where the surroundings situation information acquisition unit6202receives an alarm output notification or an operation restriction notification via the communication device610, the surroundings situation information acquisition unit6202may transmit, via the communication device610, a request signal requesting the surroundings situation information to the shovel500.

The surroundings situation information acquisition unit6202notifies the content of the acquired surroundings situation information to the user. Therefore, the external device600can prompt the user to recognize the situation in the area surrounding the shovel500.

For example, the surroundings situation information acquisition unit6202may cause the display unit630(an example of a second notification unit) to display the content of the surroundings situation information.

Also, for example, the surroundings situation information acquisition unit6202may cause the audio output unit640(an example of a second notification unit) to output a sound related to the content of the surroundings situation information.

The cancellation permission manipulation reception unit6203receives a predetermined manipulation (hereinafter referred to as “cancellation permission manipulation”), performed by the user of the external device600with the manipulation unit650(an example of cancellation permission manipulation unit), for permitting cancellation of the alarm or the restriction of the operation of the shovel500.

For example, the cancellation permission manipulation reception unit6203may receive a cancellation permission manipulation from the manager of the management server900serving as the external device600, workers, and the like. In a case where the shovel500can be remote-controlled by using the external device600(for example, the management server900), the cancellation permission manipulation reception unit6203may receive, via the external device600, a cancellation permission manipulation from the operator and the like who remote controls the shovel500. At this occasion, for example, the operator can confirm the circumstances in the area surrounding the shovel500on the basis of images of the area surrounding the shovel500(specifically, images captured by the image-capturing device40of the shovel500and uploaded to the management server900) displayed on the display unit630of the external device600.

In a case where the shovel500outputs an alarm or restricts operation, the determination unit6204determines whether to permit cancellation of the alarm or the restriction of the operation.

For example, the determination unit6204confirms the safety situation in the area surrounding the shovel500on the basis of the surroundings situation information acquired by the surroundings situation information acquisition unit6202, and permits cancellation of the alarm or the restriction of the operation. Specifically, in a case where the determination unit6204confirms that there is no monitoring target (i.e., a person) in the monitoring area of the shovel500on the basis of the surroundings situation information, the determination unit6204may permit cancellation of the alarm or the restriction of the operation.

For example, in a case where the cancellation permission manipulation reception unit6203receives the cancellation permission manipulation, the determination unit6204permits cancellation of the alarm or the restriction of the operation.

In a case where the determination unit6204permits cancellation of the alarm or the restriction of the operation, the cancellation permission notification unit6205transmits, to the shovel500via the communication device610, a notification (cancellation permission notification) of permitting cancellation of the alarm or the restriction of the operation.

[Overview of Operation of Surroundings Monitoring System]

Subsequently, overview of the surroundings monitoring system1000according to the present embodiment will be explained with reference toFIG. 6(FIG. 6AtoFIG. 6D).

FIG. 6AtoFIG. 6Dare drawings schematically illustrating examples of operations of the surroundings monitoring system1000. Specifically,FIG. 6Ais a drawing schematically illustrating an example of operation of the surroundings monitoring apparatus100in a case where a person who is a monitoring target (worker402) enters the monitoring area404of the shovel500.FIG. 6Bis a drawing schematically illustrating an example of the operation of the surroundings monitoring apparatus100in a case where the worker402is evacuated out of the monitoring area404with respect to the situation ofFIG. 6A.FIG. 6Cis a drawing schematically illustrating an example of the operation of the surroundings monitoring apparatus100in a case where the operator401of the shovel500performs the surroundings situation confirmation operation with respect to the situation ofFIG. 6B.FIG. 6Dis a drawing schematically illustrating an example of the operation of the surroundings monitoring apparatus100in a case where the worker402or the supervisor403performs a predetermined manipulation on the external device600(for example, the management terminal700and the cancellation device750) with respect to the situation ofFIG. 6B.

In the drawings, a circular mark around the image-capturing device40indicates that the image-capturing device40is capturing an image of the monitoring target in the monitoring area404, i.e., the detection unit301is detecting the monitoring target in the monitoring area404. In the drawings, a circle mark of the audio output device52indicates that an alarm sound is output, i.e., the alarm output unit303outputs an alarm. In the drawings, a circle mark of the gate lock valve54indicates that the gate lock valve54is activated and the pilot line is in a non-communication state, i.e., the operation restriction unit304restricts operation of the shovel500. In the drawings, a circle mark and a cross mark of the cancellation switch60indicate an enabled state and a disabled state, respectively, of the manipulation of the cancellation switch60. In the drawings, a circle mark of the confirmation operation state detection unit70indicates that the surroundings situation confirmation operation performed by the operator401has been detected, i.e., the determination unit307has determined that the operator401has performed the surroundings situation confirmation operation. In the drawings, a circle mark of the external device600indicates that a predetermined manipulation has been performed with the external device600.

As illustrated inFIG. 6A, when the surroundings monitoring apparatus100detects the worker402having entered the monitoring area404on the basis of the image captured by the image-capturing device40, the surroundings monitoring apparatus100activates the audio output device52and the gate lock valve54to start the output of the alarm and the restriction of operation of the shovel500. Therefore, the surroundings monitoring apparatus100allows the operator401to recognize that the monitoring target (worker402) has entered the monitoring area404. At this occasion, the surroundings monitoring apparatus100notifies, to the outside of the shovel500, that the alarm is output and that operation of the shovel500is restricted. Therefore, the surroundings monitoring apparatus100allows the worker402in the monitoring area to recognize that the worker402is too close to the shovel500. With the restriction of operation of the shovel500, the surroundings monitoring apparatus100can prevent the shovel500from moving and causing interference and the like with the worker402. Therefore, the safety of the surroundings of the shovel500can be improved.

As illustrated inFIG. 6B, the worker402having entered the monitoring area of the shovel500recognizes that the worker402is the cause for the warning and the restriction of the operation, and the worker402has evacuated out of the monitoring area404to the outside of the monitoring area404. However, even when the worker402finishes evacuation to the outside of the monitoring area404, and the worker402is no longer detected in the monitoring area404, the surroundings monitoring apparatus100continues the output of the alarm and the restriction of operation of the shovel500. Therefore, even if, in a situation in which the worker402stays in the monitoring area404, the worker402in the image captured by the image-capturing device40appears to be similar to the background, and the worker402cannot be recognized (detected), the alarm and the restriction of operation of the shovel500can be continued. Therefore, the safety of the surroundings of the shovel500can be further improved.

As illustrated inFIG. 6C, when the confirmation operation state detection unit70such as a gaze tracking sensor and the like detects that the operator401moves the gaze to look at the rear view mirror or the monitoring image (surroundings image) on the display device50, the surroundings monitoring apparatus100enables the cancellation manipulation performed with the cancellation switch60. Thereafter, when the operator401manipulates the cancellation switch60while the manipulation of the cancellation switch60is enabled, the surroundings monitoring apparatus100stops the audio output device52and activates the gate lock valve54to cancel the alarm and cancel the restriction of operation of the shovel500. Therefore, after the alarm and the restriction of operation of the shovel500are started, the surroundings monitoring apparatus100can cancel the alarm and the restriction of operation of the shovel500upon allowing the operator to confirm the safety situation in the area surrounding the shovel500.

As illustrated inFIG. 6D, when the external device600receives a cancellation permission manipulation from the worker402evacuated to the outside of the monitoring area404or the supervisor403who supervises the work site at the outside of the monitoring area404, the external device600transmits the cancellation permission notification405to the shovel500. When the communication device72receives the cancellation permission notification405from the external device600, the surroundings monitoring apparatus100determines that cancellation of the alarm or the restriction of the operation is permitted at the outside of the shovel500. Then, the surroundings monitoring apparatus100stops the audio output device52and activates the gate lock valve to cancel the alarm and cancel the restriction of operation of the shovel500. Therefore, the surroundings monitoring apparatus100can cancel the alarm and the restriction of operation of the shovel500upon allowing a predetermined person such as the worker402, the supervisor403, and the like at the outside of the shovel500to confirm the safety situation in the area surrounding the shovel500.

In the situation as illustrated inFIG. 6D, as described above, the external device600may automatically confirm the safety situation of the shovel500on the basis of the surroundings situation information, and transmit the cancellation permission notification405to the shovel500. In this case, the surroundings monitoring apparatus100can cancel the alarm and the restriction of operation of the shovel500upon allowing the external device600to confirm the safety situation in the area surrounding the shovel500.

[Details of Operation of Surroundings Monitoring Apparatus]

Subsequently, the details of the operation of the surroundings monitoring system1000according to the present embodiment, i.e., a process flow, will be explained with reference toFIG. 7toFIG. 9.

First,FIG. 7is a flowchart schematically illustrating an example of process (monitor process) performed by the surroundings monitoring apparatus100to monitor an entry of the monitoring target into the monitoring area. The process according to this flowchart is executed repeatedly with predetermined process intervals in a case where, for example, the output of the alarm by the alarm output unit303and the restriction of operation of the shovel500by the operation restriction unit304are not performed during the operation of the shovel500.

In step S702, the detection unit301performs a process to detect the monitoring target in the monitoring area on the basis of the captured image captured by the image-capturing device40.

In step S704, the detection unit301determines whether the monitoring target is detected. In a case where the monitoring target is determined to have been detected, the detection unit301proceeds to step S706. In a case where the monitoring target is determined not to have been detected, the current process is terminated.

In step S706, the alarm output unit303outputs an alarm via the audio output device52, and the operation restriction unit304activates the gate lock valve54to cause the pilot line to be in the non-communication, thereby performing the restriction of operation of the shovel500.

In step S708, the alarm output unit303and the operation restriction unit304control the communication device72and the external notification device74to notify, to the outside of the shovel500, that the alarm is output by the shovel500and operation is restricted, and the current process is terminated.

Subsequently,FIG. 8is a flowchart schematically illustrating an example of process (cancellation permission process) for permitting cancellation of the warning by the external device600and the restriction of operation of the shovel500. In a case where, for example, the external device600receives an alarm output notification and an operation restriction notification from the shovel500, the process according to this flowchart may be executed repeatedly with predetermined control intervals until a cancellation permission notification is transmitted to the shovel500. For example, in a case where the external device600receives a cancellation request notification from the shovel500, the process according to this flowchart may be executed repeatedly with predetermined process intervals until a cancellation permission notification is transmitted to the shovel500.

In step S802, the determination unit6204determines whether the cancellation permission manipulation reception unit6203has received a cancellation permission manipulation or whether the safety situation in the area surrounding the shovel500has been confirmed on the basis of the surroundings situation information. In a case where the cancellation permission manipulation reception unit6203receives the cancellation permission manipulation, or in a case where the safety situation in the area surrounding the shovel500is confirmed on the basis of the surroundings situation information, the determination unit6204proceeds to step S804. In cases other than the above, the current process is terminated.

In step S804, the determination unit6204transmits a cancellation permission notification to the shovel500via the communication device610, and the current process is terminated.

It should be noted that the cancellation permission notification according to the present embodiment (this example) is an example of information about (permission of) cancellation of the alarm or the restriction of the operation of the shovel500, and another form may be assumed.

For example, the external device600may transmit, to the shovel500, information about the surroundings confirmation of the shovel500, i.e., information for prompting confirmation of the surroundings of the shovel500, when the alarm or the restriction of the operation is cancelled. Specifically, the external device600may transmit, to the shovel500, information of which the content inquires whether the operator has confirmed the surroundings of the shovel500. Therefore, in a case where the surroundings monitoring apparatus100receives the information, the surroundings monitoring apparatus100confirms whether the operator has performed the surroundings situation confirmation operation, and in a case where the operator has performed the surroundings situation confirmation operation, the surroundings monitoring apparatus100can cancel the alarm and the restriction of operation of the shovel500. In a case where the surroundings monitoring apparatus100receives the information, the surroundings monitoring apparatus100can check with the operator whether the operator has confirmed the surroundings of the shovel500and give a notification to prompt the operator to confirm the surroundings of the shovel500by using the display device and the audio output device52(both of which are examples of an operator notification unit and an output device). Then, the surroundings monitoring apparatus100can cancel the alarm and the restriction of operation of the shovel500, when the operator indicates that the operator has confirmed the surroundings of the shovel500(for example, the operator has performed a predetermined manipulation, or a camera or a gaze tracking sensor detects a predetermined gesture, pose, or gaze movement) or when the operator has performed the surroundings situation confirmation operation.

Subsequently,FIG. 9is a flowchart schematically illustrating an example of a process (cancellation process) for cancelling warning and restricted operation of the shovel500by the surroundings monitoring apparatus100. The process according to this flowchart is executed repeatedly with predetermined process intervals in a case where, for example, the output of the alarm by the alarm output unit303and the restriction of operation of the shovel500by the operation restriction unit304are not performed during the operation of the shovel500.

In step S902, the alarm output unit303and the operation restriction unit304determine whether the cancellation switch60has been manipulated. In a case where the cancellation switch60has been manipulated, the alarm output unit303and the operation restriction unit304proceeds to step S904, and in a case where the cancellation switch60has not been manipulated, the current process is terminated.

It should be noted that the determination of step S902may be performed by any one of the alarm output unit303and the operation restriction unit304.

In step S904, the determination unit307determines whether the operator has performed the surroundings situation confirmation operation or whether cancellation of the warning and the restriction of the operation is permitted at the outside of the shovel500. In a case where the operator is determined to have performed the surroundings situation confirmation operation or cancellation of the warning and the restriction of the operation is determined to have been permitted at the outside of the shovel500, the determination unit307proceeds to step S906. In cases other than the above, the current process is terminated.

In step S906, the alarm output unit303cancels the alarm, and the operation restriction unit304cancels the restriction of operation of the shovel500. Then, the current process is terminated.

In Patent Document 1 explained above, a manipulation unit is provided to allow cancellation of an alarm and a restriction of the operation of a work machine, and when an operator and the like manipulates the manipulation unit, the alarm and the restriction of the operation of the work machine can be cancelled. Therefore, in a case where the situation confirmation in the area surrounding the work machine is insufficient, there is a possibility that the alarm and the restriction of the operation of the work machine are cancelled.

In contrast, in this example, the external device600or users and the like of the external device600, other than the shovel500or the operator and the like who operates the shovel500, i.e., a device or a person corresponding to a third party that is different from the shovel500and the operator of the shovel500, makes determination as to whether to cancel the alarm and the restriction of the operation of the shovel500. Therefore, the safety of the shovel500is determined from eyes outside the shovel500, which allows cancellation of the alarm and the restriction of the operation of the shovel500upon appropriately confirming the situation in the area surrounding the work machine. Therefore, the safety of the shovel500and the surroundings of the shovel500can be further improved.

In this example, the surroundings monitoring apparatus100includes both of the alarm output unit303and the operation restriction unit304, but may include any one of the alarm output unit303and the operation restriction unit304. In other words, the surroundings monitoring apparatus100may be configured to perform any one of the output of the alarm and the restriction of operation of the shovel500in a case of detecting the monitoring target in the monitoring area.

In this example, the determination unit307makes both of: the determination as to whether the operator has performed the surroundings situation confirmation operation; and the determination as to whether cancellations of the alarm and the restriction of the operation are permitted at the outside of the shovel500. Alternatively, the determination unit307may make only one of the above determinations. In this case, the alarm output unit303and the operation restriction unit304cancel the warning and the restriction of operation of the shovel500, respectively, in a case where any one of the determination results determined by the determination unit307is a positive determination and where the operator manipulates the cancellation switch60. In other words, the surroundings monitoring apparatus100enables the manipulation of the cancellation switch60, in a case where any one of the determination results determined by the determination unit307is a positive determination. In a case where the shovel500is assumed to receive, from the external device600, information about (permission of) cancellation of the alarm or the restriction of the operation in a manner different from the cancellation permission notification as described above, the surroundings monitoring apparatus100may enable manipulation of the cancellation switch60, in a case where the surroundings monitoring apparatus100receives the above information and thereafter the operator performs the surroundings situation confirmation operation. Likewise, in a case where the surroundings monitoring apparatus100receives the above information, and thereafter, the operator indicates the operator's intention that the operator has confirmed the surroundings of the shovel500, the surroundings monitoring apparatus100may enable manipulation of the cancellation switch60.

In this example, on condition that the cancellation switch60is manipulated, the alarm output unit303and the operation restriction unit304cancel the alarm and the restriction of the operation, respectively, but the manipulation of the cancellation switch60may not be the condition. In other words, the alarm output unit303and the operation restriction unit304may cancel the alarm and the restriction of the operation, respectively, in response to only the condition that the determination unit307determines that the operator has performed the surroundings situation confirmation operation, or in response to only the condition that cancellations of the alarm and the restriction of the operation are permitted at the outside of the shovel500.

In this example, the warning and the restriction of operation of the shovel500are cancelled in a case where the operator performs the surroundings situation confirmation operation or cancellations of the alarm and the restriction of the operation are permitted at the outside of the shovel500and in a case where the cancellation switch60has been manipulated, but the present embodiment is not limited thereto. For example, the alarm output unit303and the operation restriction unit304may cancel the warning and the restriction of the operation, respectively, of the shovel500, in response to only the cancellations of the alarm and the restriction of the operation being permitted at the outside of the shovel500. In other words, the warning and the restriction of the operation of the shovel may be cancelable from the external device600of the shovel500. This is because the determination as to whether to permit cancellation performed at the outside of the shovel500is considered to have a relatively higher reliability than the determination performed by the operator of the shovel500, the controller30, and the like. Alternatively, for example, the alarm output unit303and the operation restriction unit304may cancel the warning and the restriction of the operation, respectively, of the shovel500in a case where not only the surroundings situation confirmation is performed by the operator but also the cancellation of the alarm and the restriction of the operation is permitted at the outside and in a case where the cancellation switch60has been manipulated. Therefore, the safety around the work site of the shovel500can be further improved.

In this example, a determination as to whether to permit, with the external device600, cancellation of the warning and the restriction of operation of the shovel500may be implemented by applying AI (Artificial Intelligence)-related techniques based on machine learning. Specifically, the process for cancelling the alarm and the restriction of the operation of the shovel500from the external device600and the process for transmitting information about cancellation of the alarm and the restriction of the operation may be executed by a classifier based on machine learning such as deep learning and the like. In this case, the classifier is generated based on training data including images indicating states in which cancellation of the alarm and the restriction of the operation cannot be permitted (i.e., images of the surroundings of the shovel500where safety is not secured) and images indicating a state in which the cancellation can be permitted (i.e., surroundings images of the shovel500where safety is ensured), which are collected by the shovel500and the management server900. In this example, the surroundings monitoring system1000is constituted as including the single shovel500and the external device600. However, the surroundings monitoring system1000may be constituted as including multiple shovels500and the external device600.

The surroundings monitoring apparatus100and the external device600(e.g., the management terminal700, the cancellation device750, the management terminal800, and the management server900) according to this example will be hereinafter disclosed.

A surroundings monitoring apparatus for monitoring surroundings of a work machine, comprising:

a monitoring target detection unit for detecting a predetermined monitoring target in a predetermined range of the surroundings of the work machine;

a control unit for outputting an alarm or restricting operation of the work machine in a case where the monitoring target detection unit detects the monitoring target;

an acquisition unit for acquiring information about cancellation of the alarm or the restriction of the operation at an outside of the work machine; and

a cancellation intention input unit with which an operator inputs an intention for cancelling the alarm or the restriction of the operation,

wherein in a case where the alarm is output or the operation is restricted, and where the acquisition unit acquires the information and the cancellation intention input unit receives the intention, then, the control unit cancels the alarm or the restriction of the operation.

The surroundings monitoring apparatus according to (1), wherein the acquisition unit acquires a notification for permitting cancellation of the alarm or the restriction of the operation from a predetermined external device, and

the control unit cancels the alarm or the restriction of the operation in a case where the acquisition unit acquires the notification and the intention is input to the cancellation intention input unit.

The surroundings monitoring apparatus according to (1), further comprising an operator notification unit for notifying an operator,

wherein the acquisition unit acquires information about surroundings confirmation of the work machine from a predetermined external device, and

in a case where the acquisition unit acquires the information about the surroundings confirmation of the work machine, the operator notification unit notifies, to the operator, a content of the information.

The surroundings monitoring apparatus according to (2) or (3), further comprising an external notification unit for notifying, to an outside of the work machine, that the alarm is output or the operation is restricted.

The surroundings monitoring apparatus according to (4), further comprising an external notification intention input unit for causing the external notification unit to perform notification in accordance with an intention of the operator.

The surroundings monitoring apparatus according to (4) or (5), wherein the external notification unit transmits, to an external device or an e-mail address or an account of a predetermined social networking service of a user of the external device, a notification indicating that the alarm is output or the operation is restricted.

The surroundings monitoring apparatus according to any one of (4) to (6), wherein, by a visual method, a tactile method, or an auditory method, the external notification unit notifies, to a person located in the area surrounding the work machine, that the alarm is output or the operation is restricted.

The surroundings monitoring apparatus according to any one of (2) to (7), further comprising a cancellation request notification unit for transmitting, to the external device, a notification of a cancellation request of the alarm or the restriction of the operation in a case where the alarm is output or the operation is restricted.

The surroundings monitoring apparatus according to (8), further comprising a cancellation request intention input unit for causing the cancellation request notification unit to perform the cancellation request in accordance with an intention of the operator.

The surroundings monitoring apparatus according to (1), further comprising an image-capturing device for capturing an image of the surroundings of the work machine,

wherein the acquisition unit acquires, from the image-capturing device, the captured image including a predetermined person who is present in the area surrounding the work machine and who is in a predetermined pose or gives a predetermined gesture, and

the control unit cancels the alarm or the restriction of the operation, in a case where the acquisition unit acquires the captured image including the person who is in the pose or gives the gesture by the acquisition unit and the intention is input to the cancellation intention input unit.

The surroundings monitoring apparatus according to any one of (1) to (10), wherein an input of the intention to the cancellation intention input unit is enabled in a case where the acquisition unit acquires information indicating that the cancellation of the alarm or the restriction of the operation is permitted at the outside of the work machine, and

the control unit cancels the alarm or the restriction of the operation in a case where an effective input of the intention is given to the cancellation intention input unit.

An information processing terminal provided outside of a work machine and capable of communicating with the work machine or an information processing apparatus capable of communicating with the work machine, the information processing terminal comprising:

a determination unit for determining whether to permit cancellation of an alarm or a restriction of the operation in a case where a predetermined monitoring target is detected in a predetermined range of surroundings of the work machine, and the work machine outputs an alarm or restricts operation of the work machine; and

a cancellation permission notification unit transmits information about permission of the cancellation of the alarm or the restriction of the operation to the work machine, in a case where the determination unit permits the cancellation of the alarm or the restriction of the operation.

The information processing terminal according to (12), further comprising a surroundings situation information acquisition unit for acquiring information about a situation in the area surrounding the work machine,

wherein the determination unit permits the cancellation of the alarm or the restriction of the operation, on the basis of the information acquired by the surroundings situation information acquisition unit.

The information processing terminal according to (12) or (13), further comprising an acquisition unit for acquiring information indicating that an operator of the work machine has confirmed the surroundings of the work machine,

wherein the determination unit permits the cancellation of the alarm or the restriction of the operation, in a case where the acquisition unit acquires the information indicating that the operator of the work machine has confirmed the surroundings of the work machine.

The information processing terminal according to (13), wherein the determination unit permits the cancellation of the alarm or the restriction of the operation, in a case where it is confirmed that the monitoring target is not present in the predetermined range of the work machine, on the basis of the information acquired by the surroundings situation information acquisition unit.

The information processing terminal according to any one of (12) to (15), further comprising a cancellation permission manipulation unit which a user of the information processing terminal manipulates to permit the cancellation of the alarm or the restriction of the operation,

wherein the determination unit permits the cancellation of the alarm or the restriction of the operation in a case where the cancellation permission manipulation unit is manipulated.

The information processing terminal according to (16), further comprising a first notification unit for, in a case where the information processing terminal receives from the work machine notification that the alarm is output or the operation is restricted or a notification of the cancellation request of the alarm or the restriction of the operation, notifying the user of the information processing terminal to that effect.

The information processing terminal according to (16) or (17), further comprising:

a surroundings situation information acquisition unit for acquiring information about a situation in the area surrounding the work machine; and

a second notification unit for notifying, to the user of the information processing apparatus, a content of the information acquired by the surroundings situation information acquisition unit.

The information processing terminal according to any one of (12) to (18), wherein the determination unit determines whether to permit the cancellation of the alarm or the restriction of the operation, in a case where the information processing terminal receives, from the work machine, a notification indicating that the alarm is output or the operation is restricted or a notification of the cancellation request of the alarm or the restriction of the operation.

The information processing terminal according to any one of (12) to (19) is a terminal carried by a predetermined worker of a work site where the work machine performs a work or a terminal provided in a predetermined office of the work site.

An information processing apparatus provided outside of a work machine and capable of communicating with the work machine, the information processing apparatus comprising:

a determination unit for determining whether to permit cancellation of an alarm or a restriction of the operation in a case where a predetermined monitoring target is detected in a predetermined range of surroundings of the work machine, and the work machine outputs an alarm or restricts operation of the work machine; and

a cancellation permission notification unit for transmitting information about permission of the cancellation of the alarm or the restriction of the operation to the work machine, in a case where the determination unit permits the cancellation of the alarm or the restriction of the operation.

An information processing program causing an information processing terminal, provided outside of a work machine and capable of communicating with the work machine or an information processing apparatus capable of communicating with the work machine, or an information processing apparatus, provided outside the work machine and capable of communicating with the work machine, to execute:

a determination step for determining whether to permit cancellation of an alarm or a restriction of the operation in a case where a predetermined monitoring target is detected in a predetermined range of surroundings of the work machine, and the work machine outputs an alarm or restricts operation of the work machine; and

a cancellation permission notification step for transmitting information about permission of the cancellation of the alarm or the restriction of the operation to the work machine, in a case where the cancellation of the alarm or the restriction of the operation is permitted in the determination step.

Another Example of Surroundings Monitoring System

Subsequently, another example of the surroundings monitoring system1000will be explained with reference toFIG. 10toFIG. 18. This example is mainly different in the configurations of the surroundings monitoring apparatus100and the shovel500in which the surroundings monitoring apparatus100is provided.

Hereinafter, in this example, features different from the above example will be mainly explained, and description overlapping the above example may be omitted. For example, in this example, for the sake of convenience, there may be cases where the description and illustration of the configuration other than the surroundings monitoring apparatus100and the shovel500in the surroundings monitoring system1000, i.e., the external device600, is omitted. Further, in this example, for the sake of convenience, in the configuration of the surroundings monitoring apparatus100and the shovel500, description and illustration of interactions between the surroundings monitoring apparatus100(the shovel500) and the external device600may be omitted.

[Configuration of Surroundings Monitoring Apparatus]

Next, specifics of the configuration of the surroundings monitoring apparatus100according to the present embodiment will be described with reference toFIG. 10andFIG. 11.

FIG. 10is a drawing illustrating another example of the shovel500in which the surroundings monitoring apparatus100according to the present embodiment is provided, and is more specifically a side view of the shovel500.FIG. 11is a block diagram illustrating another example of the configuration of the surroundings monitoring apparatus100according to the present embodiment. InFIG. 10andFIG. 11, for the sake of convenience, in the configurations of the surroundings monitoring apparatus100and the shovel500, the configurations related to interactions between the surroundings monitoring apparatus100(the shovel500) and the external device600(for example, the cancellation request notification unit305, the surroundings situation information transmission unit306, the determination unit307, the confirmation operation state detection unit70, and the like) are omitted.

As described above, the surroundings monitoring apparatus100according to the present embodiment may be provided in any work machine other than the shovel500. For example, the surroundings monitoring apparatus100may be provided in a lifting magnet excavator with a lifting magnet attached as an end attachment, a bulldozer, a wheel loader, an asphalt finisher, a forestry machine, and the like.

In a manner similar to the example explained above, the surroundings monitoring apparatus100monitors an entry of a predetermined object which is a monitoring target, i.e., a monitoring target, into a predetermined range in the area surrounding the shovel500. In a case where the monitoring target is detected, the surroundings monitoring apparatus100outputs an alarm, restricts an operation of the shovel, and the like.

The surroundings monitoring apparatus100includes a controller30, an image-capturing device40, a display device50, an audio output device52, a gate lock valve54, a cancellation switch60, a monitoring function ON-OFF switch (hereinafter referred to as “monitoring function switch” for the sake of convenience)62, and a display content selection switch64.

The controller30is a control device mainly performing driving control of the shovel500. For example, the controller30is provided in the cab10to perform various kinds of control processes for the surroundings monitoring apparatus100.

The functions of the controller30may be implemented by any hardware, software or a combination of hardware and software. As described above, the controller30is constituted mainly by a microcomputer including, for example, a CPU, RAM, ROM, an auxiliary storage device, an RTC, an interface for various kinds of communications, and the like. The controller30serves as a functional unit implemented by, for example, causing a CPU to execute various kinds of programs stored in a ROM and an auxiliary storage device, and includes a detection unit301, a display control unit302, an alarm output unit303, and an operation restriction unit304.

The image-capturing device40(an example of a sensor) is attached to an upper portion of the upper turning body3to capture images of the area surrounding the shovel500. The image-capturing device40includes cameras40B,40L, and40R.

The camera40B, the camera40L, and the camera40R are attached to the upper rear end, upper left end, and upper right end, respectively, of the upper turning body3to capture images at the rear, left, and right sides of the upper turning body3. For example, the camera40B, the camera40L, and the camera40R (each of which is an example of a monocular camera) are each a monocular wide-angle camera having a very wide angle of view. Specifically, the camera40B, the camera40L, and the camera40R are respectively provided on the upper part of the upper turning body3so that the optical axis is directed obliquely downward, and capture images in a vertical image-capturing range from the ground near the shovel to a position far from the shovel. The camera40B, the camera40L, and the camera40R output the captured images with a predetermined interval (for example, 1/30 seconds) while the shovel500is operating, and the output captured images are retrieved by the controller30.

The monitoring function switch62is a manipulation unit that is provided in, for example, the cab10, and allows the operator and the like to turn ON and OFF the monitoring function of the surroundings monitoring apparatus100. Specifically, the monitoring function switch62is a manipulation unit for causing the functions of the output of the alarm and the restriction of operation of the shovel500, executed on the basis of a detection of a monitoring target, to be in an enabled state or a disabled state.

For example, in a case where the monitoring function is enabled in response to manipulation of the monitoring function switch62by the operator and the like, the functions of the detection unit301, the display control unit302, the alarm output unit303, and the operation restriction unit304to be described later are enabled.

Conversely, for example, in a case where the monitoring function is disabled in response to manipulation of the monitoring function switch62by the operator and the like, all the functions of the detection unit301, the display control unit302(a part related to at least the monitoring function), the alarm output unit303, and the operation restriction unit304are disabled. In this case, among the detection unit301, the display control unit302, the alarm output unit303, and the operation restriction unit304, only the functions of the alarm output unit303and the operation restriction unit304may be disabled, and the functions of the part related to the monitoring function of the detection unit301and the display control unit302may remain enabled. In this case, in a case where, while the monitoring function remains disabled, the monitoring function is enabled in response to manipulation of the monitoring function switch62, it is not necessary to reactivate the functions of the detection unit301and the display control unit302, and it takes less time to resume the monitoring function.

In addition, for example, in a case where the monitoring function is disabled in response to manipulation of the monitoring function switch62by the operator and the like, an indicator indicating that the monitoring function is in a disabled state is displayed on the display device50under the control performed by the controller30(the display control unit302to be described later). Also, a dedicated indicator constituted by a red lamp and the like may be provided in the cab10, and for example, in a case where the monitoring function is disabled in response to manipulation of the monitoring function switch62by the operator and the like, the dedicated indicator may illuminate. Accordingly, the surroundings monitoring apparatus100allows the operator and the like to recognize that the monitoring function (i.e., the functions of the output of the alarm, the restriction of operation of the shovel500, and the like based on the detection of the monitoring target) is in the disabled state.

Information about the manipulation state of the monitoring function switch62is retrieved by the controller30.

For example, the display content selection switch64is provided in the cab10, and is a manipulation unit with which the operator and the like switches the content displayed on the display device50. For example, the display content selection switch64is a manipulation unit for switching the display content of the display device50to either an image captured by the image-capturing device40, a monitoring image including the surroundings image explained later, simultaneous display of them both, or the like. Information about the manipulation state of the display content selection switch64is retrieved by the controller30.

The detection unit301detects a monitoring target in a monitoring area in a predetermined region of the surroundings of the shovel500, which is, more specifically, in a horizontal direction as seen from the shovel500, i.e., in a direction along the surface on which the shovel500is working (i.e., the surface upon which the lower traveling body1resides), on the basis of the captured images captured by the image-capturing device40(hereinafter, this direction will be simply referred to as a “horizontal direction”). Specifically, the detection unit301detects the monitoring target within the monitoring area where the distance D from the shovel500in the horizontal direction is within a predetermined distance D1(for example, 5 meters).

For example, as illustrated inFIG. 4, the monitoring area includes a monitoring area MAB, a monitoring area MAL, and a monitoring area MAR corresponding to the camera40B, the camera40L, and the camera40R, respectively.

The monitoring area MAB, the monitoring area MAL, and the monitoring area MAR can be defined by the angles of view in the horizontal direction of the cameras40B,40L, and40R, respectively, and the monitorable distances extending in the horizontal direction from the cameras40B,40L, and40R, respectively.

For example, a tradeoff can be attained by, within a range of process resources usable by the controller30, extending the monitorable distance of one of the monitoring area MAB, the monitoring area MAL, and the monitoring area MAR and reducing the monitorable distance of another of the monitoring area MAB, the monitoring area MAL, and the monitoring area MAR (see dashed lines and alternate long and short dash lines in the figure).

Back toFIG. 10andFIG. 11, on the basis of the captured images captured by the image-capturing device40, the detection unit301detects a monitoring target that satisfies not only a condition in the horizontal direction as seen from the shovel500but also a condition in the height direction as seen from the shovel500, i.e., a vertical direction with respect to the surface on which the shovel500is working (i.e., the surface upon which the lower traveling body1resides) (hereinafter, this direction will be simply referred to as a “height direction”). Specifically, the detection unit301detects a monitoring target that is present at a position within a predetermined range HR1(an example of a first range) in the height direction and within the monitoring area defined in the horizontal direction. In other words, within the monitoring area, the detection unit301detects a monitoring target with a relatively small difference in the height direction from the work surface on which the shovel500works. Specifically, the detection unit301detects a monitoring target that is present, within the monitoring area, in the predetermined range HR1(for example, −2 meters to +2 meters and the like) defined by at least one of a range in the positive direction and a range in the negative direction with reference to a reference position at a particular height of the shovel500. Therefore, the surroundings monitoring apparatus100can exclude, from the target of the monitoring function, a monitoring target that is present at a position with a relatively large difference in the height direction from the work surface of the shovel500.

For example, the reference position may be selected as necessary from the position and the like of a center position of a contact surface, a front end, or a rear end of a crawler of the lower traveling body1corresponding to the height of the work surface of the shovel500.

For example, the detection unit301recognizes the monitoring target in the captured image by applying a classifier and the like based on various kinds of known image process methods, machine learning including artificial intelligence (AI), and the like.

By applying various kinds of known methods, the detection unit301can determine (estimate) a position at which a recognized monitoring target (i.e., a person) is present (hereinafter referred to as “estimated actual position”, for example, a feet position) included in the captured image captured by the monocular image-capturing device40.

For example, the detection unit301estimates the position in the horizontal direction as seen from the shovel500(hereinafter referred to as “horizontal position”) on the basis of the size of the recognized monitoring target in the captured image (for example, the size in the height direction in the captured image). This is because there is such a correlation that the size of the recognized monitoring target in the captured image decreases as the monitoring target moves away from the shovel500. Specifically, since an estimated range of size (for example, an estimated range of height of persons) can be defined for the monitoring target, a correlation between a horizontal position, as seen from the shovel500, of the monitoring target included in the estimated range of size and the size in the captured image can be defined in advance. Therefore, the detection unit301can estimate the estimated actual position of the recognized monitoring target (the horizontal position from the shovel500) on the basis of, for example, maps, conversion formulas, and the like representing a correlation between the size of the monitoring target in the captured image and the horizontal position as seen from the shovel500, which is stored in internal memory of an auxiliary storage device and the like of the controller30.

For example, under the assumption that the monitoring target is present on the same surface as (the lower traveling body1of) the shovel500, the detection unit301can estimate the estimated actual position (for example, feet position) by transforming the captured image onto the surface by projective transformation (homography) and the like. In this case, a certain portion (certain points) constituting the captured image is associated with a certain position on the same surface as that upon which the shovel500resides.

Herein, in a case where there is a difference in the height direction between the feet position of the monitoring target and the work surface of the shovel500, the monitoring target in the captured image appears to be different from the case where the monitoring target is located on the same surface as the work surface of the shovel500(i.e., the shovel500and the monitoring target are located at the same position in the height direction).

For example, even when the horizontal positions as seen from the shovel500are the same, a monitoring target located at a position in the height direction (hereinafter referred to as “height position”) that is different from the work surface of the shovel500appears to be shifted in the height direction in the captured image (for example, a height direction of the captured image, or a direction defined with respect to the height direction in view of a skew and the like of the image due to distortion) from the case where the monitoring target is at the same height position as the work surface of the shovel500. In addition, a monitoring target at a height position different from the work surface of the shovel500is also different in the direction in which it appears as seen from the image-capturing device40from the case where the monitoring target is at the same height position as the work surface of the shovel500, and this also results in a difference in the size corresponding to the height direction in the captured image.

In addition, for example, a monitoring target at a height position different from the work surface of the shovel500is also different in the size corresponding to the height direction in the captured image from the provisional case where the monitoring target resides at an estimated actual position that is estimated under the assumption that the monitoring target resides on the same surface as the work surface of the shovel500. This is because, since the optical axis of the image-capturing device40is directed diagonally downward toward the ground as described above, when the height position of the monitoring target is shifted from the work surface of the shovel500, the distance to the image-capturing device40becomes shorter or longer.

In other words, when the monitoring target appears within a certain range (i.e., within a predetermined range HR2), the detection unit301can determine that the monitoring target is within the predetermined range HR1in the height direction in the real space.

Specifically, the detection unit301can determine that, when the amount of shift in the height direction of the monitoring target in the captured image is within the predetermined range HR2with reference to a reference position (for example, a reference line in the captured image corresponding to the horizontal position of the monitoring target estimated on the work surface of the shovel500), the monitoring target is within the predetermined range HR1in the real space. At this occasion, the predetermined range HR2is defined in advance in accordance with the estimated actual position of the monitoring target estimated by the detection unit301(the horizontal position as seen from the shovel500). Specifically, the predetermined range HR2is defined in advance in accordance with the magnitude of distance, as seen from the shovel500, of the estimated actual position of the monitoring target estimated by the detection unit301. This is because the amount of shift in the captured image corresponding to a difference in the height direction between the feet position of the monitoring target and the work surface of the shovel500decreases as the monitoring target moves away (farther) from the shovel500(the image-capturing device).

The detection unit301can determine that, when the size corresponding to the height direction of the monitoring target in the captured image is within the predetermined range HR2, the monitoring target is within the predetermined range HR1in the height direction in the real space. At this occasion, for example, the predetermined range HR2is defined in advance in accordance with the position of the image portion including the monitoring target in the captured image. Specifically, the predetermined range HR2is defined in advance in such a manner that the predetermined range HR2changes in accordance with the position of the image portion including the monitoring target in the captured image. This is because since any given image portion in the captured image is associated with, in a one-to-one manner, a position on the work surface of the shovel500under the assumption that the monitoring target is present in the same plane as the work surface of the shovel500, the size corresponding to the height direction of the monitoring target may differ according to the magnitude of distance to the position in question as seen from the shovel500. In other words, the predetermined range HR2is defined in accordance with the magnitude of distance to the estimated actual position estimated by the detection unit301(i.e., the estimated actual position under the assumption that the monitoring target resides on the same surface as the work surface of the shovel500).

The predetermined range HR2is stored in advance in the internal memory of the auxiliary storage device and the like of the controller30in a form of a map and the like derived by performing predetermined calculation process on a difference in appearance in the captured image corresponding to the predetermined range HR1defined in the real space. At this occasion, the predetermined range HR2can be defined in accordance with the size in the height direction of the estimated monitoring target (for example, an estimated height of a person) and an attachment height and an attachment orientation (angle) of the image-capturing device40. This is because the degree of change in how the monitoring target appears in the image captured by the image-capturing device40differs according to the size in the height direction of the estimated monitoring target. In addition, this is because the relationship between the monitoring target and the optical axis is different according to the attachment height and attachment orientation of the image-capturing device40, and this may result in a difference in the degree of change in how the monitoring target appears in the image captured by the image-capturing device40. In a case where multiple models (for example, a medium-sized model, a large-sized model, and the like) are available as the shovel500, the attachment height and the like of the image-capturing device40is different, and as a result, the predetermined range HR2differs according to the models. Therefore, all of the predetermined ranges HR2for the multiple expected models (i.e., the above-explained above maps and the like corresponding to the predetermined ranges HR2) may be stored in advance in the internal memory in the controller30. In this case, the specification of the controller30need not be changed depending on each model, and the same controller30can be employed for all of the models.

For example,FIG. 12(FIG. 12AtoFIG. 12D) are drawings illustrating examples of monitoring targets excluded from the target of monitoring function (the output of the alarm, the restriction of operation of the shovel500, and the like) according to the condition in the height direction explained above.

FIG. 12Ais a drawing illustrating a situation where a worker W resides on a surface one step lower in the height direction than the work surface of the shovel500.

In this example, the worker W is located below an imaginary worker (imaginary worker) Wv residing at the same horizontal position as seen from the shovel500and on the same work surface as the shovel500. Therefore, the worker W included in the image captured by the image-capturing device40appears to be shifted to a lower side in the height direction with reference to the imaginary worker Wv residing at the same horizontal position as seen from the shovel500and on the same work surface as the shovel500.

In this example, the distance to the worker W from the image-capturing device40is farther than the distance in the case where the worker W resides on the same work surface as the shovel500. Therefore, an image Wi acquired by projecting the worker W according to the optical axis of the image-capturing device40onto the estimated actual position estimated under the assumption that the worker W resides on the same surface as the work surface of the shovel500is smaller in size in the height direction than the actual size of the worker W. In other words, the worker W included in the image captured by the image-capturing device40appears to be smaller in the size corresponding to the height direction than the size in the case where the worker W resides at the estimated actual position estimated under the assumption that the worker W resides on the same surface as the work surface of the shovel500.

Likewise,FIG. 12Bis a drawing illustrating a situation where the worker W resides in a surface one step higher in the height direction than the work surface of the shovel500.

In this example, the worker W is located above an imaginary worker Wv residing at the same horizontal position as seen from the shovel500and on the same work surface as the shovel500. Therefore, the worker W included in the image captured by the image-capturing device40appears to be shifted to an upper side in the height direction with reference to the imaginary worker Wv residing at the same horizontal position as seen from the shovel500and in the same work surface as the shovel500.

In this example, the distance to the worker W from the image-capturing device40is closer than the distance in the case where the worker W resides on the same work surface as the shovel500. Therefore, an image Wi acquired by projecting the worker W according to the optical axis of the image-capturing device40onto the estimated actual position estimated under the assumption that the worker W resides on the same surface as the work surface of the shovel500is larger in size in the height direction than the actual size of the worker W. In other words, the worker W included in the image captured by the image-capturing device40appears to be larger in the size corresponding to the height direction than the size in the case where the worker W resides at the estimated actual position estimated under the assumption that the worker W resides on the same surface as the work surface of the shovel500.

Therefore, in a case where the vertical step in the height direction is beyond the predetermined range HR1, the worker W is out of the predetermined range HR2in the captured image as compared with the case where the worker W resides on the work surface of the shovel500. Therefore, the detection unit301does not detect the worker W, and excludes the worker W from the target of the monitoring function of the surroundings monitoring apparatus100. This is because it is very unlikely that the shovel500would move to another plane having a relatively large step from the work surface, and it can be considered that the possibility of contact and the like with the worker W on the another plane is also extremely low.

FIG. 12Cis a drawing illustrating a situation where, when the shovel500is working on an inclined surface, the worker W is present on a horizontal surface adjacent to a descending direction of the inclined surface.

In this example, at the same horizontal position as seen from the shovel500, the worker W is present at an upper side (i.e., a higher direction) in the height direction than the imaginary worker Wv residing on the same work surface as the shovel500in accordance with the angle difference between the inclined surface and the horizontal surface. Therefore, in a manner similar to the case ofFIG. 12B, the worker W included in the image captured by the image-capturing device40appears to be shifted to an upper side in the height direction with reference to the imaginary worker Wv residing at the same horizontal position as seen from the shovel500and in the same work surface as the shovel500.

In this example, in a manner similar to the case ofFIG. 12B, the distance to the worker W from the image-capturing device40is closer than the distance in the case where the worker W resides on the same work surface as the shovel500. Therefore, an image Wi acquired by projecting the worker W according to the optical axis of the image-capturing device40onto the estimated actual position estimated under the assumption that the worker W resides on the same surface as the work surface of the shovel500is larger in size in the height direction than the actual size of the worker W. In other words, the worker W included in the image captured by the image-capturing device40appears to be larger in the size corresponding to the height direction than the size in the case where the worker W resides at the estimated actual position estimated under the assumption that the worker W resides on the same surface as the work surface of the shovel500.

Likewise,FIG. 12Dis a drawing illustrating a situation where, when the shovel500is working on an inclined surface, the worker W is present on a horizontal surface adjacent to an ascending direction of the inclined surface.

In this example, at the same horizontal position as seen from the shovel500, the worker W is present at a lower side (i.e., a lower direction) in the height direction than the imaginary worker Wv residing on the same work surface as the shovel500in accordance with the angle difference between the inclined surface and the horizontal surface. Therefore, in a manner similar to the case ofFIG. 12A, the worker W included in the image captured by the image-capturing device40appears to be shifted to a lower side in the height direction with reference to the imaginary worker Wv.

In this example, in a manner similar to the case ofFIG. 12A, the distance to the worker W from the image-capturing device40is farther than the distance in the case where the worker W resides on the same work surface as the shovel500. Therefore, an image Wi acquired by projecting the worker W according to the optical axis of the image-capturing device40onto the estimated actual position estimated under the assumption that the worker W resides on the same surface as the work surface of the shovel500is smaller in size in the height direction than the actual size of the worker W. In other words, the worker W included in the image captured by the image-capturing device40appears to be smaller in the size corresponding to the height direction than the size in the case where the worker W resides at the estimated actual position estimated under the assumption that the worker W resides on the same surface as the work surface of the shovel500.

Therefore, in a case where a difference in the height direction between the feet position of the worker W and the inclined surface due to an angle difference between the inclined surface on which the shovel500is working and the horizontal surface on which the worker W resides is beyond the predetermined range HR1, the worker W is out of the predetermined range HR2in the captured image as compared with the case where the worker W resides on the work surface of the shovel500. Therefore, the detection unit301does not detect the worker W, and excludes the worker W from the target of the monitoring function of the surroundings monitoring apparatus100. This is because a situation where a difference in the height direction between the feet position of the worker W and the work surface of the shovel500is relatively large corresponds to a situation where the angle difference between the work surface of the shovel500and the surface on which the worker W is present is relatively large and a situation where a distance in the horizontal direction between the shovel500and the worker W is also large to some extent. Specifically, this is because when the angle difference between the work surface of the shovel500and the surface on which the worker W is present increases to some extent, it is very unlikely that the shovel500would move beyond the angle difference to the surface on which the worker W is present, and it can be considered that the possibility of contact and the like with the worker W is also extremely low. This is also because, when the distance in the horizontal direction between the shovel500and worker W is a certain distance away, the possibility of contact and the like between the shovel500and the worker W becomes even lower.

It should be noted that the above-mentioned step in the height direction and the range in the angle difference corresponding to the condition for exclusion from target of the monitoring function, i.e., the predetermined range HR1, can be defined according to the travelling performance of the shovel500. This is because the shovel500may move over the step or the angle difference depending on the travelling performance of the shovel500.

In addition, the detection unit301may determine, by another method, whether the monitoring target (i.e., a person) recognized from the image captured by the image-capturing device40is the predetermined range HR1in the height direction.

For example,FIG. 13is a drawing illustrating a still another example of a shovel500provided with a surroundings monitoring apparatus100. In this example, the shovel500, i.e., the surroundings monitoring apparatus100, further includes a LIDAR (Light Detection and Ranging) device42.

The LIDAR device42(an example of a sensor) detects objects including obstacles and terrain in the area surrounding the shovel500. Also, the LIDAR device42outputs information about the position (i.e., the direction and the distance of the object as seen from the shovel500) of the detected object (detection object). In other words, the LIDAR device42can output position information about the terrain (terrain information) in the area surrounding the shovel500.

Accordingly, the detection unit301can identify the terrain corresponding to the position in the horizontal direction of the monitoring target recognized from the captured image, on the basis of the terrain information output from the LIDAR device42. Therefore, the detection unit301can determine whether the recognized monitoring target is within the predetermined range HR1in the height direction on the basis of the position in the height direction corresponding to the identified terrain.

In this example, other sensors may be used as long as the terrain information can be acquired. Instead of the LIDAR device42, for example, a millimeter wave radar, a stereo camera, and the like may be adopted.

For example,FIG. 14is a drawing illustrating a still yet another example of a shovel500provided with a surroundings monitoring apparatus100. In this example, the shovel500, i.e., the surroundings monitoring apparatus100further includes a GPS (Global Positioning System) module80and a communication device72.

The GPS module80(an example of a position information acquisition unit and a receiver) receives GPS signals transmitted from 3 or more, preferably 4 or more satellites above the shovel500to measure the position of the shovel500. The position information of the shovel500measured by the GPS module80is retrieved by the controller30. It should be noted that the GPS module80is not limited to a GPS receiver as described above, and more generally, the GPS module80may be constituted by a receiver for any GNSS (Global Navigation Satellite System), such as, for example, GLONASS (GLObal NAvigation Satellite System), Galileo satellite navigation system, and Quasi-Zenith Satellite System (QZSS).

The communication device72(an example of a terrain information acquisition unit) performs communication according to a predetermined method with a predetermined external device (for example, the management server900provided outside the work site, the management terminal700provided in the site office of the work site, and the like). For example, the communication device72is an RF (Radio Frequency) communication device and the like for communicating with a mobile communication module communicating with an external device via a predetermined communication network and a relatively close external device.

Therefore, the controller30can access a predetermined external device (for example, the management server900and the like) via the communication device72, and acquire terrain information about the computerized construction of the work site of the shovel500from the external device. For this reason, the detection unit301can identify the position of the shovel500at the work site on the basis of the position information about the shovel500acquired by the GPS module80and the terrain information about the work site, and identify the terrain corresponding to the position in the horizontal direction of the monitoring target recognized by the captured image. Therefore, in a manner similar to the example as illustrated inFIG. 13, the detection unit301can determine whether the recognized monitoring target is within the predetermined range HR1in the height direction, on the basis of the position in the height direction corresponding to the identified terrain.

Instead of or in addition to the image captured by the image-capturing device40, the detection unit301may detect the monitoring target located in the area surrounding the shovel500on the basis of a detection result (distance image and the like) of another sensor provided on the shovel500. For example, the detection unit301can detect the monitoring target on the basis of the detection result of a millimeter wave radar, a LIDAR device, a stereo camera, and the like provided on the shovel500. In this case, the detection unit301may determine, according to the methods corresponding to FIG.12A toFIG. 12D, as to whether the monitoring target is within the predetermined range HR1in the height direction.

The display control unit302causes the display device50to display various kinds of information images. For example, the display control unit302causes the display device50to display a captured image captured by at least one of the cameras40B,40L, and40R in response to manipulation of the display content selection switch64by the operator. Hereinafter, the captured image displayed on the display device50may be referred to as a “through image”.

For example, the display control unit302generates a surroundings image (an example of a composite image) on the basis of the image captured by the image-capturing device40in response to manipulation of the display content selection switch64by the operator, and causes the display device50to display the surroundings image.

Specifically, the display control unit302generates, as a surroundings image, a viewpoint-transformed image as seen from a virtual viewpoint by performing a known viewpoint-transformed process on the basis of the images captured by the camera40B, the camera40L, and the camera40R, and causes the display device50to display the surroundings image. When the display control unit302causes the display device50to display the surroundings image, the display control unit302causes the display device50to also display a shovel image schematically representing the shovel500in order to clarify the relative positional relationship between the image-capturing range of the image-capturing device40and the shovel500. In other words, the display control unit302generates a monitoring image including a shovel image and a surroundings image arranged in the area surrounding the shovel image in accordance with a relative positional relationship between the shovel500and the image-capturing range of the image-capturing device40, and causes the display device50to display the monitoring image.

It should be noted that the function of the display control unit302may be provided in the display device50. In this case, the images captured by the image-capturing device40(the camera40B, the camera40L, and the camera40R) and the information about the detection result and the like detected by the detection unit301are retrieved by the display device50from the image-capturing device40and the controller30, respectively.

For example,FIG. 15is a drawing illustrating an example of a monitoring image MP displayed on the display device50.

As illustrated inFIG. 15, the display device50includes a display unit50A displaying various kinds of information images and a manipulation unit50B implemented with hardware such as a button switch and the like for receiving manipulation by the operator and the like with respect to various kinds of information image displayed on the display unit50A.

The display unit50A is, for example, a rectangular screen (for example, a screen with an aspect ratio of 4:3) in the display device50. As described above, the display unit50A displays a shovel image CG and a surroundings image EP arranged in the area surrounding the shovel image CG. This allows the operator and the like to appropriately find the positional relationship between the monitoring target (i.e., a person) appearing in the surroundings image EP and the shovel500.

The surroundings image EP of this example is a viewpoint-transformed image that is a combination of a bird's eye view image BVP showing the surroundings area adjacent to the shovel500as seen from above and a horizontal image HVP, placed along the periphery of the bird's eye view image BVP, showing the surroundings area as seen horizontally from the shovel500. A surroundings image, i.e., a viewpoint-transformed image, is acquired by projecting respective captured images of the camera40B,40L, and40R onto a space model and re-projecting the projected images projected on the space model onto a different two-dimensional plane. The space model is an object onto which a captured image is projected in a virtual space, and is composed of one or more plane surfaces or curved surfaces that include a plane surface or a curved surface different from a surface in which the captured image is positioned.

In addition, a guideline GL1is superimposed and displayed on the monitoring image MP. The guideline GL1indicates positions where the distance D from the shovel500in the horizontal direction is a predetermined distance D2(≤D1). In other words, the guideline GL1is a line segment acquired by offsetting (enlarging), by an amount corresponding to the predetermined distance D2to the outside in the shovel image CG, the contour shape of the shovel image CG corresponding to the plan view of the shovel500as seen from above. Accordingly, in a case where a monitoring target (i.e., a person) appears in the surroundings image, the operator and the like can find how far the monitoring target is from the shovel500.

It should be noted that a process in which the detection unit301detects the monitoring target (monitoring target detection process) and a process in which the display control unit302generates a monitoring image (surroundings image) (surroundings image generation process) may be asynchronous processes. In this case, the controller30may configure the surroundings image generation process with a quicker start up and a shorter process cycle than the monitoring target detection process. As a result, the surroundings image generation process is less likely to slow down and fail to update the surroundings image in the monitoring image displayed on the display device50.

Back toFIG. 10andFIG. 11, as described above, in a case where the detection unit301detects, within the monitoring area defined in the horizontal direction, the monitoring target within the predetermined range HR1in the height direction, the alarm output unit303(an example of a control unit) outputs an alarm to the inside or outside of the cab10.

For example, as described above, the alarm output unit303outputs an alarm by an auditory method, i.e., by sound. Specifically, the alarm output unit303outputs a control instruction to the audio output device52to output a warning sound.

For example, as described above, the alarm output unit303outputs an alarm by a visual method, i.e., by displaying on the display device50. Specifically, the alarm output unit303transmits an alarm request to the display control unit302. As a result, in response to an alarm request, the display control unit302emphasizes a person who is a monitoring target included in the through image or the surroundings image EP of the monitoring image MP displayed on the display device50, so that the display device50can output an alarm for the operator. The details of the forms of emphasis of the monitoring target by the alarm output unit303will be described later (seeFIGS. 16A to 16D).

As described above, the alarm output unit303may output an alarm by a tactile method, for example, with a vibration generation device provided in the operator's seat on which the operator is seated.

As described above, in a case where the detection unit301detects, within the monitoring area defined in the horizontal direction, the monitoring target within the predetermined range HR1in the height direction, the operation restriction unit304(an example of a control unit) restricts the operation of the operation element of the shovel500.

[Display Content of Display Device During Detection of Monitoring Target]

Subsequently, an example of a display content of the display device50in a case where the detection unit301detects a monitoring target will be explained with reference toFIG. 16(FIG. 16AtoFIG. 16D).

FIG. 16AtoFIG. 16Dare figures illustrating an example of a display content of the display device50in a case where the detection unit301detects a monitoring target.

First,FIG. 16Ais a drawing illustrating an example of a through image TP displayed on the display device50in a case where a monitoring target (i.e., a worker W1) is detected in a situation in which the display device50displays the through image TP of any one camera selected from the cameras40B,40L, and40R. Hereinafter, any one camera selected from the cameras40B,40L, and40R corresponding to the through image TP displayed on the display device50may be referred to as a “selected camera” for the sake of convenience.

It should be noted that, for example, the operator can select (switch), with the display content selection switch64, a camera (selected camera) corresponding to the through image TP displayed on the display device50from among the cameras40B,40L, and40R. In the following explanation, it is assumed that the worker W1according to this example is present in the monitoring area in the horizontal direction and within the predetermined range HR1in the height direction. Hereinafter, the above assumption is also applicable to the workers W2to W4ofFIG. 16BtoFIG. 16Dto be described later.

As illustrated inFIG. 16A, the worker W1working in the area surrounding the shovel500is shown (i.e., included) in the central portion of the through image TP according to this example.

At this occasion, the worker W1stands substantially in front of the selected camera in the horizontal direction. In other words, the worker W1is present near the center in the angle of view in the horizontal direction of the selected camera. For this reason, the distortion of the image portion including the worker W1is extremely small in the right-and-left direction in the through image TP corresponding to the horizontal direction in the real space, and for example, a phenomenon in which the image of the worker W1skews toward to outer side in the right-and-left direction of the through image TP (hereinafter referred to as “image skew phenomenon” for the sake of convenience) and the like does not occur. Therefore, in the through image TP, the worker W1standing on the ground appears to be standing along the up-and-down direction of the display unit50A.

As described above, the worker W1is present in the monitoring area in the horizontal direction and within the predetermined range HR1in the height direction. Accordingly, the detection unit301detects the worker W1, and the alarm output unit303displays, by way of the display control unit302, a marker for emphasizing the worker W1included in the through image TP displayed on the display device50, i.e., superimposes and displays a frame FR1surrounding the worker W1. Therefore, the operator and the like can easily recognize the worker W1having entered the monitoring area surrounding the shovel by confirming the through image TP, and can quickly find what kind of operation (work) the worker W1is doing and the like.

At this occasion, the frame FR1is constituted by a quadrilateral extending in the height direction in the actually existing space, i.e., a direction extending from the feet position to the head position of the worker W1standing on the ground (hereinafter referred to as “person's height direction” for the sake of convenience). In this example, as described above, the worker W1stands substantially in front of the selected camera in the horizontal direction of the real space, and accordingly, the person's height direction of the worker W1corresponds to the vertical direction of the display unit50A (specifically, upper direction of the display unit50A). Therefore, the frame FR1is constituted by a quadrilateral including one side below near the feet position of the worker W1in the through image TP and another side extending from the bottom side in an upper direction of the display unit50A corresponding to the person's height direction and being adjacent to and above the head position of the worker W1to be opposite to the one side. Therefore, since the frame FR1for emphasizing the worker W1is displayed in accordance with the person's height direction of the worker W1(in this example, in accordance with the upper direction of the display unit50A), the operator and the like can easily recognize the detected monitoring target in the through image TP.

As described above, each of the cameras40B,40L, and40R is attached to the upper end portions of the upper turning body3, and capture images of the area surrounding the shovel500in such a manner that the optical axes are directed diagonally downward toward the ground in the area surrounding the shovel500. As a result, the image (the body) of the worker W1standing on the ground appears to be larger away from the feet position near the ground toward the head position in the through image TP. Accordingly, the quadrilateral constituting the frame FR1has an approximate trapezoidal shape of which the width increases away from the feet position toward the head position in the person's height direction in accordance with how the worker W1appears in the through image TP. As a result, the frame FR1is formed in accordance with how the worker W1appears depending on the position in the through image TP, i.e., formed to be along the change in the size of the worker W1depending on the position in the height direction of the through image TP, and this makes it even easier for the operator and the like to recognize the monitoring target detected by the detection unit301in the through image TP.

Subsequently,FIG. 16Bis a drawing illustrating another example of a through image TP displayed on the display device50in a case where a monitoring target (i.e., a worker W2) is detected in a situation in which the display device50displays the through image TP of the selected camera.

As illustrated inFIG. 16B, the worker W2working in the area surrounding the shovel500is shown (i.e., included) in a portion closer to the left side with reference to the center in the right-and-left direction in the through image TP according to this example.

At this occasion, in the horizontal direction, the worker W2is walking at a position that is offset to some extent to the left side with reference to the front as seen from the selected camera. In other words, the worker W2is present at a position that is offset to some extent in the left direction from the center of the angle of view in the horizontal direction of the selected camera. Accordingly, the distortion of the portion including the worker W2is relatively large in the right-and-left direction of the through image TP corresponding to the horizontal direction in the real space. Specifically, as illustrated inFIG. 16B, a phenomenon in which the image of the worker W2inclines (skews) to the outside of the through image TP, i.e., in the left direction, occurs. Specifically, an image skew occurs.

In a manner similar to the case of the worker W1ofFIG. 16A, the worker W2is present within the monitoring area in the horizontal direction and within the predetermined range HR1in the height direction. Accordingly, the detection unit301detects the worker W2, and in a manner similar to the case ofFIG. 16A, the alarm output unit303superimposes and displays, by way of the display control unit302, a frame FR2surrounding the worker W2included in the through image TP displayed on the display device50.

At this occasion, in a manner similar to the case of the frame FR ofFIG. 16A, the frame FR2is constituted by a quadrilateral extending in the height direction in the actually existing space, i.e., in a person's height direction of the worker W2standing on the ground. In this example, as described above, in the horizontal direction of the real space, the worker W2is walking at a position that is offset to some extent in the left direction from the front of the selected camera, and accordingly, the person's height direction of the worker W2corresponds to a direction inclined to some extent to the left side from the upward direction of the display unit50A due to the image skew phenomenon. Therefore, the frame FR2is superimposed and displayed on the through image TP in such a manner that, in accordance with the distortion of the worker W2on the through image TP, an extension direction from one side corresponding to the feet position to another side corresponding to the head position is inclined in a skew direction of the image (i.e., the left direction in this example). As a result, the frame FR2for emphasizing the detected monitoring target changes in accordance with a change in how the monitoring target appears due to the distortion in the through image TP, and this allows the operator and the like to easily recognize the worker W2, for example, even in a case where the worker W2is walking to move.

Subsequently,FIG. 16Cis a drawing illustrating a still another example of a through image TP displayed on the display device50in a case where the monitoring target (i.e., a worker W3) is detected in a situation where the through image TP of the selected camera is displayed on the display device50.

As illustrated inFIG. 16C, the worker W3working in the area surrounding the shovel500is shown (i.e., included) in the right end portion of the through image TP according to this example.

At this occasion, in the horizontal direction, the worker W3is walking at a position that is offset to some extent to the right side with reference to the front as seen from the selected camera. In other words, the worker W3is present at a position that is offset to some extent in the right direction from the center of the angle of view in the horizontal direction of the selected camera. Accordingly, in a manner similar to the case of the worker W2ofFIG. 16B, the distortion of the portion including the worker W3is relatively large in the right-and-left direction of the through image TP corresponding to the horizontal direction in the real space. Specifically, as illustrated inFIG. 16C, a phenomenon in which the image of the worker W3inclines (skews) to the outside of the through image TP, i.e., in the right direction, occurs. Specifically, an image skew occurs.

In a manner similar to the case of the worker W1ofFIG. 16Aand the like, the worker W3is present within the monitoring area in the horizontal direction and within the predetermined range HR1in the height direction. Accordingly, the detection unit301detects the worker W3, and in a manner similar to the case ofFIG. 16Aand the like, the alarm output unit303superimposes and displays, by way of the display control unit302, a frame FR3surrounding the worker W3included in the through image TP displayed on the display device50.

At this occasion, first, in a manner similar to the case of the frame FR1ofFIG. 16Aand the like, the display control unit302attempts to superimpose and display, on the through image TP, a frame FR3aconstituted by a quadrilateral extending in the height direction in the actually existing space, i.e., in a person's height direction of the worker W2standing on the ground. However, as illustrated inFIG. 16C, the worker W3is included in a right end portion of the through image TP, and as a result, the frame FR3aextends beyond the through image TP. Accordingly, when the display control unit302determines that the frame FR3aextends beyond the through image TP, the display control unit302performs operations such as deforming the frame FR3a, generating a new frame shape, and the like to cause a corrected frame FR3to be superimposed and displayed on the through image TP. Therefore, even in a situation where a frame formed according to a rule corresponding to the best option described above (hereinafter referred to as “best frame”) extends beyond the through image, the display control unit302can superimpose and display, on the through image, a corrected frame corresponding to the second best option (hereinafter referred to as “second best frame”) as necessary.

It should be noted that information for identifying the best frame described above is saved in advance in, for example, the internal memory and the like of the controller30. The above-explained internal memory and the like also saves in advance information for identifying the corrected second best frame in a case where the best frame extends beyond the through image TP (for example, a conditional expression, a map, and the like for calculating coordinates of constituent points in the through image). Therefore, by looking up corresponding information in the internal memory, the display control unit302can superimpose and display, on the through image TP, the best frame and the second best frame identified by the information.

The color of the frame (for example, frames FR1to FR3) superimposed and displayed on the through image by the display control unit302may be any color as long as, for example, it is a color that can be easily recognized by the operator and the like in contrast to the background of the ground and the like. The color of the frame FR1may change according to various kinds of conditions. For example, the color of the frame FR1may change according to the relative position of the monitoring target detected by the detection unit301with reference to the shovel500. Specifically, in a case of a monitoring target relatively close to the shovel500, the color of the frame FR1may be set to a color having a low color temperature (for example, red), and in a case of a monitoring target relatively far from the shovel500, the color of the frame FR1may be set to a color having a high color temperature (for example, blue). Accordingly, the surroundings monitoring apparatus100allows the operator and the like to find a positional relationship (the degree of closeness) with respect to the shovel500according to the difference in the color.

It is to be understood that the detection unit301performs a process to detect the monitoring target on the basis of a captured image of one of the cameras40B,40L, and40R other than the selected camera. Therefore, for example, in a case where the detection unit301detects the monitoring target with one of the cameras40B,40L, and40R other than the selected camera, the alarm output unit303may automatically switch, by way of the display control unit302, the display content of the display device50to the through image of the camera corresponding to the captured image in which the monitoring target has been detected.

Subsequently,FIG. 16Dis a drawing illustrating an example of a monitoring image MP displayed on the display device50in a case where a monitoring target (i.e., a worker W4) has been detected in a situation in which the display device50displays the monitoring image MP.

As illustrated inFIG. 16D, in a portion corresponding to the rear of the shovel500of the surroundings image EP (i.e., a portion corresponding to the captured image captured by the camera40B in the composite image) of the through image TP according to this example, the worker W4working in the area surrounding (i.e., behind) the shovel500is shown (i.e., included);

Like the case of the worker W1and the like ofFIG. 16A, the worker W4is present within the monitoring area in the horizontal direction and within the predetermined range HR1in the height direction. Accordingly, the detection unit301detects the worker W4, and the alarm output unit303superimposes and displays, by way of the display control unit302, a marker (i.e., a frame FR4) for emphasizing the worker W4included in the surroundings image EP in the monitoring image MP displayed on the display device50.

Specifically, the frame FR4is constituted by a quadrilateral (i.e., in this example, a square of which four sides are along the vertical direction and the horizontal direction of the display unit50A) that is sufficiently smaller than the portion occupied by the worker W4in the surroundings image EP. Specifically, the frame FR4is superimposed and displayed on the surroundings image EP in the monitoring image MP in such a manner as to surround the feet position of the worker W4in the surroundings image EP. This is because the shape of the monitoring target on the surroundings image EP, which is a composite image, tends to have much greater distortion than the shape of the monitoring target in the real space, and if a frame surrounding the monitoring target is displayed in a manner similar to the case of the through image TP, this may unfavorably make it difficult to find the monitoring target.

[The Details of the Operation of Surroundings Monitoring Apparatus]

Subsequently, the details of the operation of the surroundings monitoring apparatus100according to the present embodiment will be explained with reference toFIG. 17,FIG. 18. Specifically, a flow of process of output of the alarm and restriction of operation of the shovel500on the basis of detection of a monitoring target by the surroundings monitoring apparatus100(hereinafter referred to as “surroundings monitoring process”) will be explained.

FIG. 17is a flowchart schematically illustrating an example of a surroundings monitoring process performed by the surroundings monitoring apparatus100. The process according to this flowchart is executed repeatedly with predetermined process intervals in a case where, for example, an alarm is not output and operation of the shovel500is not restricted during operation from when the shovel is started to when the shovel is stopped. The above is also applicable to the process in the flowchart ofFIG. 18to be described later.

In step S102, the detection unit301performs a process to detect the monitoring target included in the captured image on the basis of the image captured by the image-capturing device40.

In step S104, the detection unit301determines whether a monitoring target that is present within the monitoring area in the horizontal direction is recognized. In a case where the detection unit301determines that the monitoring target that is present within the monitoring area in the horizontal direction is recognized, the detection unit301proceeds to step S106, and in cases other than the above, the detection unit301proceeds to step S112.

In step S106, the detection unit301determines whether the monitoring target recognized in step S104is present within the predetermined range HR1in the height direction. In a case where the monitoring target recognized in step S104is present within the predetermined range HR1in the height direction, the detection unit301proceeds to step S108, and in cases other than the above, the detection unit301proceeds to step S112.

It should be noted that the order of the process of steps S104, S106may be reversed.

In step S108, the detection unit301determines that the recognized monitoring target is a detection target. Then, the detection unit301notifies, to the alarm output unit303and the operation restriction unit304, information about the monitoring target to the effect that the monitoring target has been detected (for example, position information and the like in the horizontal direction and the height direction).

In step S110, the alarm output unit303outputs an alarm with the display device50and the audio output device52. Together with this, the operation restriction unit304restricts operation of the shovel500with the gate lock valve54. Then, the controller30terminates the current process.

Conversely, in step S112, the detection unit301determines that a monitoring target, which is the target of detection, has not been detected, and terminates the current process.

For example, in Patent Document 1 and the like explained above, all of the monitoring targets detected in the monitoring target region (monitoring area) in the area surrounding the work machine such as a shovel and the like can possibly be targets for which alarms are output or operation is restricted. Therefore, the output of the alarm and restriction of the operation of the shovel could possibly be executed, even in a situation in which the chance of contact and the like between the work machine and the detected monitoring targets is extremely low (for example, a large step exists between the work surface of the shovel and the plane on which the monitoring target is present). Therefore, unnecessary execution of the output of the alarm and restriction of the operation of the shovel may result in a reduction of the work efficiency of the shovel.

In contrast, in this example, the surroundings monitoring apparatus100outputs an alarm and restricts operation of the shovel500only in a limited case where a monitoring target that is present within the predetermined range HR1in the height direction is detected in the monitoring area defined in the horizontal direction. Therefore, by appropriately setting the predetermined range HR1, output of the alarm and restriction of operation of the shovel500can be avoided in a situation where the chance of contact and the like of the shovel500with the monitoring target is extremely low. Specifically, for example, as illustrated inFIG. 12AtoFIG. 12D, the monitoring target could be present on a different work surface adjacent to the work surface of the shovel500with a step or an inclination connecting therebetween. In this case, depending on the magnitude and the like of the step or inclination, it is very unlikely that the shovel500would go over the step or inclination to move to the work surface on which the monitoring target is present. Therefore, the surroundings monitoring apparatus100can reduce unnecessary output of an alarm and unnecessary restriction of operation of the shovel500, and can alleviate reduction in the work efficiency of the shovel500.

Instead of the detection unit301, at least one of the alarm output unit303and the operation restriction unit304may determine whether the monitoring target is present within the predetermined range HR1in the height direction. Hereinafter, the process flow in this case will be explained with reference toFIG. 18.

FIG. 18is a flowchart schematically illustrating another example of a surroundings monitoring process by the surroundings monitoring apparatus100.

The process of steps S202and S204is the same as steps S102and S104ofFIG. 17, and explanation thereabout is omitted.

In step S204, in a case where a monitoring target that is present within the monitoring area in the horizontal direction is recognized, the detection unit301proceeds to step S206.

The process in step S206is the same as step S108ofFIG. 9, and accordingly, explanation thereabout is omitted.

In step S208, at least one of the alarm output unit303and the operation restriction unit304(hereinafter referred to as for the sake of convenience “alarm output unit303and the like”) determines whether the monitoring target detected by the detection unit301is present within the predetermined range HR1in the height direction. In a case where the monitoring target detected by the detection unit301is present within the predetermined range HR1in the height direction, the alarm output unit303and the like proceed to step S210, and in cases other than the above, the alarm output unit303and the like terminates the current process.

The process in steps S210and S212is the same as steps S110and S112ofFIG. 17, and accordingly, explanation thereabout is omitted.

Therefore, in this example, in a manner similar to the case of the example ofFIG. 17, an alarm is output and the operation of the shovel500is restricted only in a limited case where a monitoring target that is present within the predetermined range HR1in the height direction is detected in the monitoring area defined in the horizontal direction. Therefore, actions and effects similar to the case ofFIG. 17are achieved.

In this example, the surroundings monitoring apparatus100includes both of the alarm output unit303and the operation restriction unit304, but may include any one of the alarm output unit303and the operation restriction unit304, in a manner similar to the case of the example explained above. In other words, the surroundings monitoring apparatus100may be configured to perform any one of the output of the alarm and the restriction of operation of the shovel500in a case of detecting the monitoring target within the predetermined range HR1in the monitoring area in the horizontal direction.

In this example, in a case where the monitoring target within the monitoring area in the horizontal direction and that is present within the predetermined range HR1in the height direction is determined to have been detected, the content as illustrated inFIG. 16AtoFIG. 16Dis displayed on the display device50, but the embodiment is not limited to this aspect. Specifically, in a case where, irrespective of the position of the monitoring target in the height direction, a monitoring target within the monitoring area in the horizontal direction is detected (for example, the surroundings monitoring apparatus100included in the example of the surroundings monitoring system1000explained above), the content illustrated inFIG. 16AtoFIG. 16Dmay be displayed on the display device50.

Also, in this example, a monitoring target that is present on a step surface at a height different from a work surface (i.e., a reference surface) of the shovel500and a monitoring target that is present on a surface having an inclination angle different from the work surface of the shovel500are excluded from the target for which an alarm is output or for which operation is restricted, but it is to be understood that, for reasons other than the above, monitoring targets at positions out of the predetermined range HR1in the height direction of the shovel500may be excluded from the target for which an alarm is output or for which operation is restricted. In other words, the predetermined range HR1may be defined in view of displacement in position in the height direction between the shovel500and the monitoring target due to reasons other than the step and the inclination with respect to the work surface of the shovel500.

Also, in this example, the surroundings monitoring apparatus100is incorporated into the surroundings monitoring system1000, but the surroundings monitoring apparatus100does not need to rely on the surroundings monitoring system1000(external device600), and may perform the operations explained above by itself (i.e., in a standalone state).

The surroundings monitoring apparatus100according to this example is disclosed below.

A surroundings monitoring apparatus comprising:

a detection unit for detecting a predetermined monitoring target located in an area surrounding a shovel; and a control unit for outputting an alarm or restricting operation of the shovel in a case where the detection unit detects the monitoring target within a predetermined first range in a height direction of the shovel.

The surroundings monitoring apparatus according to (1), wherein in a case where the detection unit detects the monitoring target within the first range with reference to a reference position corresponding to a particular height of the shovel in the height direction of the shovel, the control unit outputs the alarm or restricts the operation of the shovel.

The surroundings monitoring apparatus according to (1) or (2), further comprising a sensor capable of acquiring detection information about a position of the monitoring target located in the area surrounding the shovel,

wherein the detection unit determines the position where the monitoring target is present in the height direction of the shovel, on the basis of the detection information by the sensor.

The surroundings monitoring apparatus according to (3), wherein the sensor includes a monocular camera, a stereo camera, a LIDAR device, or a radar.

The surroundings monitoring apparatus according to (1) or (2), further comprising:

a terrain information acquisition unit for acquiring terrain information related to computerized construction for a work site of the shovel, and

a position information acquisition unit for acquiring position information in the work site of the shovel,

wherein the detection unit determines the position where the monitoring target is present in the height direction of the shovel, on the basis of the terrain information and the position information.

The surroundings monitoring apparatus according to (4), wherein the detection unit determines that the monitoring target is within the first range in the height direction of the shovel, in a case where the monitoring target appears within a second range defined in advance in a captured image of the surroundings of the shovel captured by the monocular camera.

The surroundings monitoring apparatus according to (6), wherein the detection unit determines that the monitoring target is within the first range in the height direction of the shovel, when an amount of shift of the monitoring target in the captured image with reference to a predetermined reference position in the height direction of the shovel, or a size of the monitoring target in the captured image corresponding to the height direction of the shovel is within the second range defined in advance in accordance with a magnitude of distance to the monitoring target as seen from the shovel.

The surroundings monitoring apparatus according to (4), (6), or (7), further comprising a display device for displaying a captured image of the surroundings of the work machine captured by the monocular camera,

wherein in a case where the detection unit detects the monitoring target within the predetermined first range in the height direction of the work machine, the control unit causes a frame surrounding the monitoring target to be displayed in a superimposed manner on the captured image in accordance with a tendency of distortion of an image captured by the monocular camera.

The surroundings monitoring apparatus according to (8), wherein in a case where the frame of which shape is defined in advance in accordance with the tendency of distortion of the image captured by the monocular camera extends beyond the captured image displayed by the display device, the control unit causes the frame to be deformed so as to fit inside the captured image and displayed in a superimposed manner on the captured image displayed by the display device.

The surroundings monitoring apparatus according to (4), (6), or (7), further comprising:

a plurality of monocular cameras of which image-capturing ranges are different from each other; and

a display device for displaying a composite image indicating a situation in the area surrounding the shovel, generated on the basis of captured images of the plurality of monocular cameras,

wherein the control unit causes a marker, of a size smaller than the captured image in the composite image and of a constant size regardless of a position in the composite image, to be displayed in a superimposed manner in a portion including the monitoring target in the composite image displayed on the display device.

As described above, the embodiment for carrying out the present invention has been described in detail, but the present invention is not limited to such a specific embodiment, and the present invention can be variously modified and changed within the range of the gist of the present invention described in the claims.