Detection apparatus and construction machine

Abstract

A detection apparatus includes a detection unit including: a sensor for detecting at least a shape; a storage section for storing shape information of a counterweight, which is a portion of a construction machine, detected by the sensor as mark shape information; a determination section for determining whether the mark shape information matches detected shape information that is shape information of the counterweight newly detected by the sensor; and a processing section for, when the determination section has determined that the mark shape information and the detected shape information do not match, determining whether the detected shape information satisfies a predetermined update condition and, when having determined that the update condition is satisfied, updating the mark shape information stored in the storage section with the detected shape information as new mark shape information

1 . A detection apparatus provided in a construction machine, comprising:
 a sensor for detecting shape information of a portion of the construction machine;   a storage section for storing the shape information detected by the sensor as mark shape information;   a determination section for determining whether the mark shape information matches detected shape information that is shape information of the portion of the construction machine newly detected by the sensor; and   a processing section for, when the determination section has determined that the mark shape information and the detected shape information do not match, determining whether the detected shape information satisfies a predetermined update condition and, when having determined that the update condition is satisfied, updating the mark shape information stored in the storage section with the detected shape information as new mark shape information.   
     
     
         2 . The detection apparatus according to  claim 1 , further comprising
 a notification section, wherein   when the determination section has determined that the mark shape information and the detected shape information do not match, the processing section notifies an operator, using the notification section, that the construction machine has deformed.   
     
     
         3 . The detection apparatus according to  claim 1  or  2 , further comprising
 an input section to be manipulated by an operator, wherein 
 the processing section, when the determination section has determined that the mark shape information and the detected shape information do not match, determines whether a difference between the mark shape information and the detected shape information is within an allowable range and, 
 when having determined that the difference is within the allowable range, asks the operator whether to update the mark shape information stored in the storage section with the detected shape information as the new mark shape information and, 
 when the input section accepts an operation to select the update by the operator, updates the mark shape information stored in the storage section with the detected shape information as the new mark shape information. 
 
     
     
         4 . The detection apparatus according to  claim 2 , wherein
 the processing section, when the determination section has determined that the mark shape information and the detected shape information do not match, determines whether a difference between the mark shape information and the detected shape information exceeds an allowable range and,   when having determined that the difference exceeds the allowable range, causes the notification section to issue an alarm without updating the mark shape information.   
     
     
         5 . The detection apparatus according to  claim 1 , wherein
 the sensor comprises a range image sensor.   
     
     
         6 . The detection apparatus according to  claim 1 , further comprising
 an alarm section, wherein   the processing section, when the determination section has determined that the mark shape information and the detected shape information do not match, causes the notification section to issue an alarm and,   when the detected shape information has been stored in the storage section as the new mark shape information, causes the notification section to stop the alarm.   
     
     
         7 . A construction machine, comprising:
 the detection apparatus according to  claim 1 ;   a lower travelling body; and   an upper slewing body slewably mounted on an upper surface of the lower travelling body, wherein   the mark shape information represents a shape of a counterweight mounted on a rear end of the upper slewing body, and   the sensor is mounted on an upper surface of the counterweight.