Interference prevention device for construction machinery

An interference prevention device for a construction machine that includes a work device, the work device including a boom raisably connected to a main body of the construction machine adjacently to a cab of the construction machine, an arm pivotably attached to a tip portion of the boom, and an attachment pivotably attached to a tip portion of the arm, the interference prevention device comprising:

• an acquisition unit comprising acquisition circuitry configured to acquire posture information indicating a posture of the work device of the construction machine;
• a distance sensor comprising distance sensor circuitry configured to acquire distance image data indicating distance distribution in a surrounding environment of a cab in the construction machine;
• and
• a controller comprising control circuitry configured to
• determine pixel data corresponding to the boom in the distance image data by using the posture information acquired by the acquisition unit,
• remove the pixel data from the distance image data,
• detect the work device or a grasped object of the work device from the distance image data without the pixel data corresponding to the boom,
• determine that danger of interference exists when the work device or the grasped object enters a region set for a predetermined distance away from the cab, and
• perform at least one of a warning to an occupant in the cab and operation restriction of the construction machine when the danger of interference is determined to exist.