Construction machine

A hydraulic excavator includes a lower travelling body, an upper slewing body, a sensor which detects presence/absence of an obstacle in a monitoring region set around the hydraulic excavator in advance and a distance to the obstacle, a control unit which calculates first position information including positional coordinates of an obstacle relative to a reference position set in advance in the hydraulic excavator on the basis of a detection result obtained by the sensor, a time counting unit which acquires time information including time when an obstacle is detected, and a storage unit which stores log data correlating the first position information with the time information.

TECHNICAL FIELD

The present invention relates to a construction machine which stores information about an obstacle positioned around the construction machine.

BACKGROUND ART

There has been conventionally proposed a monitoring mobile body capable of detecting position information of a foreign object for safety management of roads (e.g. Patent Literature 1). The monitoring mobile body is equipped with a foreign object detection sensor which detects an obstacle on a road surface, and the like. Specifically, the monitoring mobile body is equipped with a positioning unit which outputs travelling position information of the mobile body, a foreign object detection sensor which monitors a foreign object on a road surface to acquire foreign object detection information, and a foreign object position computing unit which detects foreign object position information from the travelling position information and the foreign object detection information.

However, in some work sites where a construction machine is used, a worker may work in proximity to the surroundings of the construction machine, or an upper slewing body may approach various kinds of structures due to turning of the upper slewing body. In this case, it is preferable to detect, as an obstacle, a worker around the construction machine or various kinds of structures which come closer to an upper slewing body due to turning of the upper slewing body. In this respect, by using the technique recited in Patent Literature 1, it is possible to detect a position of an obstacle in a construction machine.

However, there is a case where at a work site where a construction machine is used, a worker works around a working machine in a specific time zone, and in such a case, safety is improved if it can be grasped in which time zone and at which position an obstacle has been detected.

CITATION LIST

Patent Literature

Patent Literature 1: JP 2005-275723 A

SUMMARY OF INVENTION

An object of the present invention is to provide a construction machine capable of grasping not only a position of an obstacle but also a time zone in which the obstacle is detected.

In order to solve the above-described problem, the present invention aims at providing a construction machine including a lower travelling body; an upper slewing body provided on the lower travelling body to be turnable with respect to the lower travelling body; an obstacle detection sensor which detects presence/absence of an obstacle in a monitoring region set around the construction machine in advance and a distance to the obstacle; a first calculation portion which calculates first position information including positional coordinates of the obstacle relative to a reference position set in the construction machine in advance based on a detection result obtained by the obstacle detection sensor; a time information holding portion which has time information for specifying time when the obstacle is detected; and a storage unit which stores log data that correlates the first position information with the time information.

According to the present invention, not only a position of an obstacle but also a time zone where the obstacle is detected can be grasped because time when the obstacle is detected and a position of the obstacle relative to a reference position of a construction machine are stored so as to be correlated with each other.

Additionally, the construction machine according to the present invention is suitable for a hydraulic excavator which stores information about an obstacle in proximity to the surroundings of the machine.

DESCRIPTION OF EMBODIMENTS

In the following, an embodiment of the present invention will be described with reference to the accompanying drawings. The embodiment described below is one example of implementation of the present invention, but does not limit a technical range of the present invention.

A construction machine according to the embodiment of the present invention will be described on the basis ofFIG. 1toFIG. 12. In the following, a hydraulic excavator1shown inFIG. 1is illustrated as the construction machine according to the present invention. In each drawing, a front-rear direction and a right-left direction of the machine are appropriately defined as required.

As shown inFIG. 1, the hydraulic excavator1is equipped with a crawler-type lower travelling body2, an upper slewing body3provided on the lower travelling body2in a state of being turnable around a vertical axis with respect to the lower travelling body2, and an attachment40attached to the upper slewing body3so as to be capable of moving up and down.

The attachment40includes a boom41having a base end portion attached to the upper slewing body3so as to be movable around a horizontal axis, an arm42having a base end portion attached to a distal end portion of the boom41so as to be movable around the horizontal axis, and a bucket43attached to a distal end portion of the arm42so as to be movable around the horizontal axis.

The attachment40further includes a boom cylinder (not shown) which causes the boom41to move with respect to the upper slewing body3, an arm cylinder44which causes the arm42to move with respect to the boom41, and a bucket cylinder45which causes the bucket43to move with respect to the arm42.

The upper slewing body3has a slewing frame3aturnably attached on the lower travelling body2, a cabin3bprovided on the slewing frame3a, a guard3cwhich covers equipment provided on the slewing frame3asuch as an engine, and a counter weight3dprovided on a rear portion of the slewing frame3a. In a front portion of the slewing frame3a, the attachment40is attached to be capable of moving up and down. InFIG. 2, illustration of the guard3cand the counter weight3dis omitted.

As shown inFIG. 2, the upper slewing body3is equipped with a left side sensor31L, a right side sensor31R, and a rear side sensor31B. The left side sensor31L is provided along a left side surface of the upper slewing body3. Specifically, the left side sensor31L is attached to the stewing frame3ain a state of having a detection region thereof facing to the left side. The right side sensor31R is provided along a right side surface of the upper slewing body3. Specifically, the right side sensor31R is attached to the slewing frame3ain a state of having a detection region thereof facing to the right side. The rear side sensor31B is provided along a rear side surface of the upper slewing body3. Specifically, the rear side sensor31B is attached to the slewing frame3ain a state of having a detection range thereof facing to the rear side.

The sensors31L,31R, and31B are all three-dimensional distance measuring sensors (distance sensors), which calculate a distance on the basis of time of reciprocation of an infrared laser projected onto a target object. The detection region of each of the sensors31L,31R, and31B is defined by a region (an angle of view) irradiated with an infrared laser and by a distance as a detection target of each of the sensors31L,31R, and31B. The sensors31L,31R, and31B are capable of detecting, as an obstacle, something present at a distance different from a certain distance as a reference, if any. For example, it is possible to detect, as an obstacle, something present at a distance closer or farther than a reference distance, which is a distance from each of the sensors31L,31R, and31B to the ground, in a situation where the ground is irradiated with an infrared laser. It is also possible to detect, as an obstacle, something present at a distance closer to a reference distance, which is a detection target of each of the sensors31L,31R, and31B, in a situation where an infrared laser is radiated in a horizontal direction. In other words, each of the sensors31L,31R, and31B is one example of an obstacle detection sensor having a detection region in which presence/absence of an obstacle and a distance to the obstacle can be detected.

FIG. 3is a block diagram showing an electrical configuration provided in the hydraulic excavator1ofFIG. 1.

As shown inFIG. 3, the hydraulic excavator1further includes an angle detection portion33, a work state detection portion35, and a GPS receiving portion37in addition to the sensors31L,31R, and31B.

As shown inFIG. 4, the angle detection portion33is capable of detecting a relative angle α between the lower travelling body2and the upper slewing body3in a turning direction of the upper slewing body3. The angle detection portion33can be formed with, for example, a rotary encoder or a gyro sensor.

The work state detection portion35detects whether the hydraulic excavator1is in a state of “in work” or “during stop”. Specifically, the work state detection portion35detects, for example, the hydraulic excavator1at idling (a state where the attachment40is not in operation for a fixed time period) as being in a work state of “during stop”, and detects the hydraulic excavator1in other states as being in a work state of “in work”. The work state detection portion35can be formed with, for example, a sensor which detects an operation state of a getting on/off blocking lever that brings the attachment40into an inoperable state by operation by an operator, or a sensor which detects an inoperable state of an operation lever for the attachment40.

The GPS receiving portion37receives, from a GPS (Global Positioning System) satellite, information for specifying second position information including positional coordinates (second positional coordinates CP2to be described later) of a reference position RP (seeFIG. 10) set in the hydraulic excavator1in advance. Specifically, the GPS receiving portion37calculates positional coordinates of the reference position RP on the basis of a plurality of signals received from a plurality of GPS satellites (three-dimensional positioning).

As shown inFIG. 3, the hydraulic excavator1is further equipped with a control unit4, a storage unit5, a display unit6, a communication unit7, a time counting unit8, a warning output unit9, and an input unit10.

The control unit4is a processing unit which controls various kinds of processing including processing of the flow chart inFIG. 9(to be described later). Specifically, the control unit4includes a first calculation portion4a, a monitoring region setting portion4b, a generation portion4c, a second calculation portion4d, and a count portion4e.

The first calculation portion4acalculates first position information including positional coordinates of an obstacle relative to the reference position RP set in advance in the hydraulic excavator1on the basis of detection results obtained by the sensors31L,31R, and31B. Specifically, as shown inFIG. 10, in a case where three-dimensional coordinates of the reference position are set to be (0,0,0), the first calculation portion4acalculates three-dimensional coordinates (x1, y1, z1) of an obstacle as first positional coordinates CP1. In the example shown inFIG. 10, since an obstacle is positioned on the right side of the hydraulic excavator1, the first calculation portion4acalculates the first positional coordinates CP1on the basis mainly of a detection result obtained by the right side sensor31R.

The monitoring region setting portion4bsets monitoring regions310L,310R, and310B in the surroundings of the hydraulic excavator1as shown inFIGS. 5 to 8on the basis of the relative angle α detected by the angle detection portion33as shown inFIG. 4. In the following, description will be first made of the monitoring regions310L,310R, and310B.

The monitoring regions310L,310R, and310B are regions set in advance for detecting a person or an object approaching the hydraulic excavator1as an obstacle. Additionally, the monitoring regions310L,310R, and310B are set to be regions hard to be seen from an operator in the cabin3b. Specifically, the monitoring region310L is set on the left side of the upper slewing body3, the monitoring region310R is set on the right side of the upper slewing body3, and the monitoring region310B is set in the rear of the upper slewing body3. However, positions of the monitoring regions310L,310R, and310B are not limited thereto but may be monitoring regions easily seen from an operator.

FIG. 5andFIG. 6show the monitoring regions310L,310R, and310B in a state where the lower travelling body2and the upper slewing body3face to the same direction. Here, the state where the lower travelling body2and the upper slewing body3face to the same direction represents a state where a travelling direction of the lower travelling body2and a front-rear direction of the upper slewing body3(the front-rear direction seen from the operator in the cabin3b: this applies hereinafter) coincide with each other.

On the other hand,FIG. 7andFIG. 8show the monitoring regions310L,310R, and310B in a state where the upper slewing body3turns, so that the lower travelling body2and the upper slewing body3face to different directions. Here, the state where the lower travelling body2and the upper slewing body3face to different directions represents a state where the travelling direction of the lower travelling body2and the front-rear direction of the upper slewing body3do not coincide with each other.

The monitoring region310L is a region set on the left side of the hydraulic excavator1on the basis of the detection region of the left side sensor31L. The monitoring region310R is a region set on the right side of the hydraulic excavator1on the basis of the detection region of the right side sensor31R. The monitoring region310B is a region set in the rear of the hydraulic excavator1on the basis of the detection region of the rear side sensor31B.

Specifically, the monitoring region setting portion4bdetermines whether the lower travelling body is positioned in the detection regions of the sensors31L,31R, and31B or not on the basis of the relative angle α (seeFIG. 4) detected by the angle detection portion33, and when the lower travelling body2is positioned in the detection regions, sets regions obtained by excluding the lower travelling body2from the detection regions as the monitoring regions310L,310R, and310B.

As shown inFIG. 5andFIG. 6, in the case where the lower travelling body2and the upper slewing body3face to the same direction, the lower travelling body2is not present within the detection regions of the sensors31L,31R, and31B. Therefore, the monitoring region setting portion4bsets the same regions as the detection regions of the sensors31L,31R, and31B to be the monitoring regions310L,310R, and310B.

On the other hand, in the case where the lower travelling body2and the upper slewing body3face to different directions as shown inFIG. 7andFIG. 8, a part of the lower travelling body2is positioned in the sensors31L,31R, and31B. Therefore, the monitoring region setting portion4bsets regions obtained by excluding the lower travelling body2from the detection regions of the sensors31L,31R, and31B as the monitoring regions310L,310R, and310B. Specifically, as shown inFIG. 8, by upwardly narrowing angles of view of the left side sensor31L and the right side sensor31R, the lower travelling body2is excluded from the detection regions of both the sensors31L and31R. Although not shown, an angle of view of the rear side sensor31B is also narrowed upwardly, resulting in excluding the lower travelling body2from the detection region of the rear side sensor31B.

As a result, as show inFIG. 8, the monitoring regions310L,3108, and310B in the case where the lower travelling body2and the upper slewing body3face to the different directions are set to be narrower in a vertical direction than the monitoring regions310L,310R, and310B in the case where both the bodies face to the same direction (in a case ofFIG. 5). Specifically, while angles of view of the sensors in the monitoring regions310L and310R are β1 inFIG. 6, the angles of view inFIG. 8are β2 smaller than β1. Such adjustment of an angle of view suppresses erroneous detection of the lower travelling body2as an obstacle in the case ofFIG. 8.

The monitoring regions310L and310R in the case where the lower travelling body2and the upper slewing body3face to different directions (in the case ofFIG. 7) are set to be wider in the horizontal direction than the monitoring regions310L and310R in the case where both bodies face to the same direction (in the case ofFIG. 5). The reason is that in the case where the lower travelling body2and the upper slewing body3face to different directions, it is necessary to detect the rear side in the travelling direction of the lower travelling body2by the left side sensor31L or the right side sensor31R.

Again with reference toFIG. 3, the second calculation portion4dcalculates the second positional coordinates CP2(the second position information) including GPS coordinates of the reference position RP (seeFIG. 10) of the hydraulic excavator1on the basis of information received by the GPS receiving portion37.

The time counting unit8has time information for specifying time when an obstacle is detected by the sensors31L,31R, and31B. Specifically, the time counting unit8has a function of updating time set in advance and outputs current time in response to an output instruction from the control unit4. The time counting unit8is one example of a time information holding portion.

The storage unit5stores log data shown inFIG. 11, the log data correlating the first position information (the first positional coordinates CP1), the second position information (the second positional coordinates CP2), the time information obtained by the time counting unit8, and a work state of the hydraulic excavator1detected by the work state detection portion35with each other. The storage unit5also stores a log data table TB shown inFIG. 11(seeFIG. 11), map data of a work site, and the like. The log data table TB is a table for storing, as log data, information about an obstacle detected in the monitoring regions310L,310R, and310B (in the surroundings of the hydraulic excavator1). Specifically, in the log data table TB, there are stored, so as to be correlated with each other, the time information obtained by the time counting unit8, relative positional coordinates of an obstacle (the first positional coordinates CP1) with respect to the reference position RP, the positional coordinates of the reference position RP (the second positional coordinates CP2) obtained by the GPS receiving portion37, and a work state of the hydraulic excavator1detected by the work state detection portion35. In the log data table TB, the first positional coordinates CP1, the second positional coordinates CP2, and a work state of the hydraulic excavator1are stored in time series.

Next, recording processing of log data conducted by the control unit4will be described with reference to the flow chart ofFIG. 9.

First, in Step S1, the control unit4acquires the relative angle α between the lower travelling body2and the upper slewing body3from the angle detection portion33.

In Step S2, the control unit4(the monitoring region setting portion4b) determines whether the lower travelling body2is positioned in the detection regions of the sensors31L,31R, and31B or not on the basis of the relative angle α detected by the angle detection portion33to set the monitoring regions310L,310R, and310B.

For example, in the case where the lower travelling body2and the upper slewing body3face to the same direction (in the case where the lower travelling body2is not positioned in the detection regions of the sensors31L,31R, and31B), the monitoring regions310L,310R, and310B are set within ranges shown inFIG. 5andFIG. 6. Additionally, in the case where the lower travelling body2and the upper slewing body3face to different directions (in the case the lower travelling body2is positioned in the detection regions of the sensors31L,31R, and31B), the monitoring regions310L,310R, and310B are set, for example, within ranges shown inFIG. 7andFIG. 8.

In Step S3, the control unit4causes the left side sensor31L, the right side sensor31R, and the rear side sensor31B to operate and determines whether an obstacle is detected in the monitoring regions310L,310R, and310B or not. In a case where an obstacle is detected, the control unit also detects a distance from each of the sensors31L,31R, and31B to the obstacle. On the other hand, the processing in Steps S1to S3is repeated during a period before detection of an obstacle.

Then, when an obstacle is detected (S3: YES), the processing proceeds to Step S4. In Step S4, the control unit4acquires current time held by the time counting unit8as time when the obstacle is detected.

In Step S5, the control unit4(the first calculation portion4a) calculates the first positional coordinates CP1(the first position information) of an obstacle relative to the reference position RP of the hydraulic excavator1on the basis of the detection results obtained by the sensors31L,31R, and31B as shown inFIG. 10. Specifically, the control unit4calculates coordinates (x1, y1, z1) of an obstacle as the first positional coordinates CP1in a case where three-dimensional coordinates of the reference position RP are set to be (0, 0, 0). The first positional coordinates CP1are one example of the first position information.

In Step S6, the control unit4calculates GPS coordinates of the reference position RP of the hydraulic excavator1as the second positional coordinates CP2(X1, Y1, Z1) at the work site on the basis of information received by the GPS receiving portion37for specifying the second positional coordinates CP2of the reference position RP. The second positional coordinates CP2are one example of the second position information.

In Step S7, the work state detection portion35detects the work state (in work or during stop) of the hydraulic excavator1, and the detection result is input to the control unit4.

In Step S8, the control unit4generates log data correlating time acquired in Step S4, the first positional coordinates CP1calculated in Step S5, the second positional coordinates CP2calculated in Step S6, and the work state detected in Step S7with each other, and stores the log data in the log data table TB shown inFIG. 11. The control unit4stores the log data in the log data table TB in time series starting with the oldest log data.

In Step S9, the control unit4determines whether an obstacle enters a state where the obstacle cannot be detected in the monitoring regions310L,310R, and310B or not on the basis of the detection results of the sensors31L,31R, and31B. In a case where an obstacle is still detected in the monitoring regions310L,310R, and310B (S9: NO), the control unit4again executes the above-described processing of Steps S4to S8. In other words, during a period when the obstacle is present in the monitoring regions310L,310R, and310B, the control unit4repeats recording of the log data at a predetermined interval. On the other hand, in a case where no more obstacle is detected in the monitoring regions310L,310R, and310B (S9: YES), the control unit4ends log data recording processing.

As a result of execution of the above-described log data recording processing, log data related to an obstacle is recorded in the log data table TB shown inFIG. 11in time series.

The control unit4also executes warning output processing in addition to the above-described log data recording processing. In the following, a configuration of the hydraulic excavator1for executing the warning output processing will be described.

The storage unit5stores a boundary BD set in proximity to the hydraulic excavator1as shown inFIG. 10. The boundary BD is set independently of the above monitoring regions310L,310R, and310B. Specifically, the boundary BD is set in advance in the detection regions of the sensors31L,31R, and31B capable of detecting presence/absence of an obstacle and a distance to the obstacle. The storage unit5stores coordinates of the boundary BD relative to the reference position RP.

With reference toFIG. 3, the control unit4includes the count portion4ewhich counts the number of approaches of an obstacle to the hydraulic excavator1over the boundary BD. Specifically, the count portion4edetermines whether an obstacle approaches the hydraulic excavator1over the boundary BD or not on the basis of the first positional coordinates CP1of an obstacle relative to the reference position RP calculated by the first calculation portion4a, and the coordinates of the boundary BD stored in the storage unit5. Here, in a case where determination is made that an obstacle approaches the hydraulic excavator1over the boundary BD, the count portion4ecounts the number of approaches (increment), and when the number of approaches exceeds a threshold value set in advance, outputs, to the warning output unit9to be described later, an instruction to give warning.

The warning output unit9outputs warning to the operator of the hydraulic excavator1when the number of approaches counted by the count portion4eexceeds the threshold value. Specifically, the warning output unit9outputs warning by a buzzer sound in response to the output instruction from the control unit4(the count portion4e). The warning output unit9can be formed with a warning buzzer.

In the following, the warning output processing executed by the control unit4will be described with reference to the flow chart inFIG. 12. Since Steps S1to S3inFIG. 12are the same as Steps S1to S3inFIG. 9, no description will be made thereof.

When an obstacle is detected in the monitoring regions310L,310R, and310B (S3: YES), the control unit4(the first calculation portion4a) calculates the first positional coordinates CP1of the obstacle relative to the reference position RP of the hydraulic excavator1on the basis of detection results of the sensors31L,31R, and31B in Step S10. Since the processing in Step S10is the same as that of Step S5inFIG. 9, no description will be made thereof.

In Step S11, the control unit4(the count portion4e) determines whether the obstacle approaches the hydraulic excavator1over the boundary BD on the basis of the coordinates of the boundary BD stored in the storage unit5and the first positional coordinates CP1calculated in Step S5.

Here, when determination is made that the obstacle does not approach the hydraulic excavator1over the boundary BD (S11: NO), the processing returns to Step S1.

On the other hand, when determination is made that the obstacle approaches the hydraulic excavator1over the boundary BD (S11: YES), the control unit4(the count portion4e) increments a counter indicative of the number of approaches by one in Step S12. An initial value of the counter indicative of the number of approaches is set to be “0”.

Next, the control unit4(the count portion4e) determines whether the number of approaches exceeds the threshold value set in advance or not in Step S13, and in a case where the number of approaches is not more than the threshold value (S13: NO), the processing returns to Step S1.

On the other, in a case where the number of approaches exceeds the threshold value (S13: YES), the control unit4(the count portion4e) outputs, to the warning output unit9, an instruction to give warning in Step S14, and the warning output unit9outputs warning for a fixed time period.

Next, after output of the warning for a fixed time period, the counter indicative of the number of approaches is initialized (i.e. set to be “0”) in Step S15to return the processing to Step S1.

The hydraulic excavator1also has a function of displaying a plan of a work site in the display unit6(seeFIG. 3). In the following, description will be made of a configuration for displaying the plan of a work site.

The storage unit5further stores the map data of a work site. The map data of the work site includes information about a position and a dimension of the work site (information including latitude, longitude, elevation, shape, area, and the like), and information about a position and a size (information including latitude, longitude, shape, size, etc.) of an installation object (a wall, a utility pole, etc.) disposed at the work site.

The second calculation portion4dcalculates a position (coordinates) of an obstacle at the work site on the basis of the first positional coordinates CP1and the second positional coordinates CP2correlated with the log data, and the map data.

The control unit4includes the generation portion4cwhich generates a plan of a work site on the basis of the map data stored in the storage unit5. Specifically, the generation portion4cspecifies a shape and a size of the work site, as well as specifying a position and a size of an installation object at the work site on the basis of the information about a position and a dimension of the work site and the information about a position and a size of the installation object disposed at the work site, the information being included in the map data, and generates a plan of a work site for illustrating these specified data.

With reference toFIG. 3, the hydraulic excavator1is further equipped with the display unit6for displaying a plan of a work site generated by the generation portion4c, and a position of an obstacle at a work site which is calculated by the second calculation portion4d. The display unit6is a display such as an LCD which is provided in the cabin3band has a function of displaying various kinds of screens.

The hydraulic excavator1is further equipped with the input unit10for inputting, to the control unit, an instruction for causing the display unit6to display a plan of a work site and a position of an obstacle on the plan of a work site. In response to operation of the input unit10by an operator in the cabin3b, the control unit4outputs, to the display unit6, an instruction for causing the display unit to display a plan of a work site and an obstacle.

Specifically, the display unit6displays a screen SC shown inFIG. 14. The screen SC includes a plan of a work site corresponding to a plan view of a work site, an obstacle arranged on a plan of a work site (indicated by a sign *), and a detection time of an obstacle arranged adjacent to the sign *. The detection time of an obstacle can be omitted from the screen SC.

With reference toFIG. 13, description will be made of display processing of a plan of a work site conducted by the control unit4in the following.

In Step S16, the control unit4waits for input of an instruction for displaying a plan of a work site by an operator in the cabin3bby operation of the input unit10.

When determination is made that the instruction for displaying a plan of a work site is input (S16: NO), the control unit4(the generation portion4c) reads the map data stored in the storage unit5(Step S17) and generates a plan of a work site (Step S18).

In Step S19, the control unit4(the second calculation portion4d) reads the log data from the log data table TB in the storage unit5.

Next, in Step S20, the control unit4(the second calculation portion4d) calculates coordinates of an obstacle on the plan of a work site on the basis of the first positional coordinates CP1and the second positional coordinates CP2.

Then, in Step S21, the control unit4(the second calculation portion4d) causes the display unit6to display the screen SC (FIG. 12) which shows the plan of a work site and a position of the obstacle (sign “*”) on the plan of a work site.

InFIG. 12, the signs “*” present along outlines of a wall and an electric wire indicate a wall and an electric wire detected as obstacles. Thus displaying a position of an obstacle on a plan of a work site as well allows one who looks at the plan of a work site to understand that the signs “*” present along the outlines of the wall and the electric wire represent a wall and an electric wire.

On the other hand, the sign “*” provided in a generally central part of the plan of a work site, i.e., provided in a part where no installation object such as a wall, a utility pole, or an electric wire is present represents a worker or other obstacle approaching the hydraulic excavator1and being detected as an obstacle. One who looks at the plan of a work site can understand that one obstacle or other is present even in a part of the work site where no installation object is present.

Also as shown inFIG. 3, the hydraulic excavator1is equipped with the communication unit7capable of transmitting and receiving data including log data to/from an external apparatus OM via a network N (e.g. mobile phone communication network etc.). The communication unit7transmits and receives data to/from the external apparatus OM in response to an instruction from the control unit4. For example, the communication unit7is capable of transmitting, to the external apparatus OM, not only log data but also information stored in the storage unit5, information calculated by the control unit4, and information (including a plan of a work site, and the number of counting by the count portion4e) generated by the control unit4in response to an instruction from the control unit4.

As described in the foregoing, according to the present embodiment, log data is recorded in time series, the log data correlating time when an obstacle is detected with the first positional coordinates CP1. Therefore, not only a position of an obstacle but also a time zone in which the obstacle is detected can be grasped.

As described in the foregoing, in a case where the sensors31L,31R, and31B are provided in the upper slewing body3, turning of the upper slewing body3at a specific angle might result in causing the lower travelling body2to enter the detection regions of the sensors31L,31R, and31B, so that the lower travelling body2is erroneously detected as an obstacle. Therefore, in a case, as described above, where determination made whether the lower travelling body2is positioned in the detection region or not on the basis of the relative angle α detected by the angle detection portion33results in finding the lower travelling body2being positioned in the detection region, setting a region obtained by excluding the lower travelling body2from the detection region as the monitoring regions310L,310R, and310B can suppress such erroneous detection as described above.

Also in the present embodiment, since the second positional coordinates CP2as GPS coordinates of the reference position RP of the hydraulic excavator1are further correlated with the log data, it is possible to grasp not only a relative position of an obstacle with respect to the hydraulic excavator1but also an absolute position of an obstacle.

The present embodiment also enables a work state of the hydraulic excavator1to be grasped at the time when an obstacle is detected because a work state (in work or during stop) is further correlated with the log data of the hydraulic excavator1.

Since the present embodiment has the communication unit7capable of transmitting and receiving log data to/from the external apparatus OM via the network N, a third party (a site supervisor etc.) other than an operator can grasp approach of an obstacle to the hydraulic excavator1in real time.

Also in the present embodiment, when an obstacle is detected, warning is not simply output but log data which correlates a position of the obstacle with time when the obstacle is detected is stored. Therefore, not only an operator but also a site supervisor as a third party, etc., can grasp a position of an obstacle and a time zone where the obstacle is detected, and the like.

Additionally, since log data is recorded in time series in the present embodiment, it is also possible to grasp whether an obstacle is a stationary objector not, and in a case where the obstacle is not a stationary object, to grasp movement of the obstacle (i.e., whether the obstacle approaches the hydraulic excavator1or goes away therefrom, etc.).

According to the present embodiment, a position of an obstacle at a work site (on a plan of a work site) can be specified. Thus, it is possible to efficiently conduct safety management of work at the work site.

According to the present embodiment, a plan of a work site can be generated by the generation portion4con the basis of the map data stored in the storage unit5.

Additionally, in the present embodiment, a buzzer sound is output when the number of approaches made by an obstacle to the hydraulic excavator1over the boundary BD exceeds a threshold value. Thus, an operator can reliably recognize that the obstacle approaches.

The construction machine according to the present invention is not limited to the above-described embodiment but may be varied or modified within a range of claims.

For example, the above embodiment has been described with respect to a case where the monitoring regions310L,310R, and310B are set on the basis of the relative angle α calculated by the angle detection portion33. In detail, the range shown inFIG. 5andFIG. 6is set to be the monitoring regions310L,310R, and310B in the case where the lower travelling body2and the upper slewing body3face to the same direction. In the case where the lower travelling body2and the upper slewing body3face to different directions, the range shown inFIG. 7andFIG. 8is set to be the monitoring regions310L,310R, and310B. However, the monitoring region is not limited thereto but, for example, a range designated in advance may be uniformly set as a monitoring region. In this case, unlike the above embodiment, reference to the relative angle α is not required and therefore the angle detection portion33can be omitted.

Additionally, while the above embodiment has been described with respect to a case where log data is recorded in the log data table TB in the storage unit5, a log data recording destination is not limited to the storage unit5. For example, log data may be transmitted to a designated external device via the communication unit7and be recorded in the external device. In this manner, a third party (a site supervisor etc.) other than an operator can grasp approach of an obstacle in real time. The log data may also be recorded in both the storage unit5and the external device.

While the above embodiment has been described with respect to a case where the number of approaches is counted, i.e. the number of times when an obstacle approaches the hydraulic excavator1side over the boundary BD, a basis on which an approach is counted or not is not limited to the boundary BD. It is for example possible to count the number of entries of an obstacle into the monitoring regions310L,310R, and310B as the number of approaches without setting the boundary BD.

Also, while in the above embodiment, time, the first positional coordinates CP1, the second positional coordinates CP2, and a work state are correlated with each other in the log data, a correlation target is not limited thereto. For example, orientation data received by the GPS receiving portion37may be further correlated in the log data. In this manner, it is possible to grasp the orientation of the upper slewing body3when an obstacle is detected.

Additionally, while in the above embodiment, a two-dimensional map is illustrated as an example of a plan of a work site as shown inFIG. 12, the plan of a work site is not limited to a two-dimensional map. The plan of a work site may be a three-dimensional map.

The above-described specific embodiment mainly includes the invention having the following configuration.

In order to solve the above problem, the present invention provides a construction machine including a lower travelling body; an upper slewing body provided on the lower travelling body to be turnable with respect to the lower travelling body; an obstacle detection sensor which detects presence/absence of an obstacle in a monitoring region set around the construction machine in advance and a distance to the obstacle; a first calculation portion which calculates first position information including positional coordinates of the obstacle relative to a reference position set in the construction machine in advance based on a detection result obtained by the obstacle detection sensor; a time information holding portion which has time information for specifying time when the obstacle is detected; and a storage unit which stores log data that correlates the first position information with the time information.

According to the present invention, log data which correlates time when an obstacle is detected with the first position information is stored in the storage unit in time series. Therefore, not only a position of an obstacle but also a time zone where the obstacle is detected can be grasped.

In the construction machine, preferably the obstacle detection sensor has a detection region in which presence/absence of an obstacle and a distance to the obstacle can be detected and is provided in the upper slewing body, the construction machine further including an angle detection portion which detects a relative angle between the lower travelling body and the upper slowing body in a turning direction of the upper slewing body; and a monitoring region setting portion which determines whether the lower travelling body is positioned in the detection region or not based on the relative angle detected by the angle detection portion, and in a case where the lower travelling body is positioned in the detection region, sets a region obtained by excluding the lower travelling body from the detection region as the monitoring region.

In a case where the obstacle detection sensor is provided in the upper slewing body, turning of the upper slewing body at a specific angle might result in causing the lower travelling body to enter the detection region of the sensor, so that the lower travelling body is erroneously detected as an obstacle. Therefore, as in above mode, such erroneous detection as described above can be suppressed by determining whether the lower travelling body is positioned in the detection region or not based on the relative angle detected by the angle detection portion and when finding the lower travelling body being positioned in the detection region, by setting a region obtained by excluding the lower travelling body from the detection region as the monitoring regions.

The construction machine preferably further includes a position information receiving portion which receives a signal for specifying second position information including positional coordinates of the reference position, in which the storage unit stores the log data further correlating the second position information.

In this mode, since the second positional coordinates including positional coordinates of the reference position of the hydraulic excavator1are further correlated with the log data, not only a relative position of an obstacle with respect to the construction machine but also an absolute position of the obstacle can be grasped.

The construction machine preferably further includes a work state detection portion which detects a work state indicating whether the construction machine is in work or during stop, in which the storage unit stores the log data further correlating the work state.

In this mode, since a work state (in work or during stop) of the hydraulic excavator1is further correlated with the log data, a work state of the hydraulic excavator1at the time when the obstacle is detected can be also grasped.

The construction machine preferably further includes a communication unit capable of transmitting the log data to an external apparatus via a network.

In this mode, a third party (a site supervisor etc.) other than an operator can grasp approach of an obstacle to the construction machine in real time.

In the construction machine, preferably, the storage unit further stores map data of a work site, the construction machine further including a second calculation portion which calculates a position of the obstacle at the work site based on the first positional coordinates and the second positional information correlated with the log data, and the map data; and a display unit which displays a plan of a work site generated based on the map data, and a position of the obstacle at the work site which is calculated by the second calculation portion.

In this mode, since a position of an obstacle at a work site (on a plan of a work site) can be specified, it is possible to efficiently conduct safety management of work at the work site.

Specifically, the construction machine may further include a generation portion which generates the plan of a work site based on the map data.

In this mode, a plan of a work site can be generated by the generation portion on the basis of map data stored in the storage unit.

The construction machine preferably further includes a count portion which counts the number of approaches of the obstacle to the construction machine over a boundary set in advance in the detection region of the obstacle detection sensor, in the detection region of which, presence/absence of the obstacle and a distance to the obstacle can be detected; and a warning output unit which outputs warning to an operator of the construction machine when the number of approaches exceeds a threshold value set in advance.

In this mode, since warning is output when the number of approaches made by an obstacle to the construction machine side over the boundary exceeds a threshold value, an operator can reliably recognize that the obstacle approaches.