CN116716943A

CN116716943A - Work machine control system, work machine control method, and work machine control program

Info

Publication number: CN116716943A
Application number: CN202310202923.4A
Authority: CN
Inventors: 段口将志
Original assignee: Yanmar Holdings Co Ltd
Current assignee: Yanmar Holdings Co Ltd
Priority date: 2022-03-07
Filing date: 2023-03-06
Publication date: 2023-09-08
Also published as: JP2023129871A

Abstract

Provided are a control system for a working machine, a control method for a working machine, and a control program for a working machine, wherein the feeling of boredom of an operator is easily reduced. The control system for a work machine includes an acquisition processing unit and a state switching processing unit. The acquisition processing unit acquires a detection result of an object around a body of the work machine provided with an actuator that operates according to an operation of the operation device. The state switching processing section is capable of switching the active state and the inactive state of the operating device independently of the door locking lever. The door lock lever is switchable between a lock released state in which the work machine can be operated and a lock state in which the work machine cannot be operated. The state switching processing unit sets the operating device to an active state when the door lock lever is in the unlocked state and the detection result satisfies a predetermined condition in the standby state of the working machine, and sets the operating device to an inactive state when the door lock lever is in the unlocked state and the detection result satisfies a predetermined condition in the operating state of the working machine.

Description

Work machine control system, work machine control method, and work machine control program

Technical Field

The present invention relates to a control system for a work machine, a control method for a work machine, and a control program for a work machine, which are used in a work machine capable of detecting an object around a machine body.

Background

As a related art, a work machine having a person detection means for detecting a person within a predetermined range around the work machine (excavator) is known (for example, refer to patent document 1). The control system for a working machine relating to the related art determines whether or not a person is detected by the person detection means in either of the (hydraulic) lock state and the (hydraulic) unlock state of the hydraulic circuit of the working machine. The lock state and the lock release state are switched by the operation of a door lock lever (hydraulic lock lever).

Here, in the "locked state", the cut-off valve provided in the hydraulic circuit cuts off the hydraulic circuit between the operating device (operating lever) and the (hydraulic) actuator, so that even if the operator operates the operating device, the corresponding actuator does not operate. On the other hand, in the "unlocked state", the cut-off valve communicates the hydraulic circuit between the operation device and the actuator, and therefore, when the operator operates the operation device, the corresponding actuator operates. Further, in the work machine relating to the related art, when it is determined that the person is detected by the person detection means, the operations of digging, turning, and advancing and retreating are prohibited.

Patent document 1: japanese patent laid-open No. 2020-56300

In the related art described above, the operation (actuation) of the work machine is uniformly prohibited when a person is detected, regardless of the operation state of the door locking lever. Therefore, for example, even if an operator tries to carefully perform work after recognizing that a person exists around the work machine, the work machine cannot be operated, and the operator must wait until no more person exists in the monitored area, and may feel tired.

Disclosure of Invention

The present invention aims to provide a control system for a working machine, a control method for a working machine and a control program for a working machine, wherein the boring feeling of an operator is easily reduced.

The control system for a working machine according to one embodiment of the present invention includes an acquisition processing unit and a state switching processing unit. The acquisition processing unit acquires a detection result of an object around a body of a working machine provided with an actuator that operates in response to an operation of an operation device. The state switching processing unit is configured to be capable of switching the active state and the inactive state of the operating device independently of the door lock lever. The door lock lever is configured to be switchable between a lock release state in which the work machine can be operated and a lock state in which the work machine cannot be operated. In the standby state of the working machine, the state switching processing unit sets the operating device to the active state when the door lock lever is in the unlock state and the detection result satisfies a predetermined condition. In addition, in the operating state of the work machine, when the door lock lever is in the unlock state and the detection result satisfies a predetermined condition, the state switching processing unit sets the operating device to the inactive state.

A work machine according to an aspect of the present invention includes the control system for a work machine and the machine body.

The method for controlling a working machine according to one embodiment of the present invention includes the steps of: obtaining a detection result of an object around a body of a working machine provided with an actuator that operates according to an operation of an operation device; and enabling the operating device to be in an active state when the door lock lever is in the unlocked state and the detection result satisfies a predetermined condition in a standby state of the working machine, independently of a door lock lever capable of switching between an unlocked state in which the working machine can be operated and a locked state in which the working machine cannot be operated. The method for controlling a working machine according to an embodiment of the present invention includes the steps of: obtaining a detection result of an object around a body of a working machine provided with an actuator that operates according to an operation of an operation device; and turning the operation device into an inactive state when the door lock lever is in the unlocked state and the detection result satisfies a predetermined condition in an operating state of the working machine, independently of a door lock lever capable of switching between an unlocked state in which the working machine can be operated and a locked state in which the working machine cannot be operated.

A control program for a working machine according to an embodiment of the present invention is a program for causing one or more processors to execute the control method of the working machine.

According to the present invention, it is possible to provide a work machine control system, a work machine control method, and a work machine control program that can easily reduce the feeling of boredom of an operator.

Drawings

Fig. 1 is a schematic perspective view showing the overall structure of a work machine according to embodiment 1.

Fig. 2 is a schematic diagram showing a hydraulic circuit and the like of the working machine according to embodiment 1.

Fig. 3 is a schematic plan view of the working machine according to embodiment 1, schematically illustrating a monitoring area or the like provided around the working machine, as viewed from above.

Fig. 4 is a schematic external view of a display device for displaying a display screen by the control system for a work machine according to embodiment 1.

Fig. 5 is an explanatory diagram showing a brief operation of the control system for the work machine according to embodiment 1.

Fig. 6 is a flowchart showing an example of the operation of the control system for a work machine according to embodiment 1.

Fig. 7 is a view showing an example of a display screen displayed by the control system for a work machine according to embodiment 1.

Fig. 8 is a schematic diagram showing a hydraulic circuit and the like of the working machine according to embodiment 2.

Reference numerals illustrate:

1 … control system for work machine; 3 … work machine; 11 … acquisition processing unit; a 12 … state switching processor; 13 … determination processing unit; 15 … alarm processing unit; 16 … deceleration processing unit; 30 … machine body; 35 … operating means; 40 … engine; 43 … hydraulic motor (actuator); 44 … hydraulic cylinders (actuators); 463 … door locking lever; a1 … surveillance area; ob1 … object; u1 … user.

Detailed Description

Hereinafter, embodiments of the present invention will be described with reference to the drawings. The following embodiments are examples of embodying the present invention, and are not intended to limit the technical scope of the present invention.

(embodiment 1)

[1] Integral structure

As shown in fig. 1, the work machine 3 of the present embodiment includes a traveling unit 31, a turning unit 32, and a work unit 33 in a machine body 30. As shown in fig. 2, the work machine 3 further includes a work machine control system 1 (hereinafter, also simply referred to as "control system 1"). As shown in fig. 1 and 2, the body 30 further includes a display device 2, a driving device 34, an operating device 35, an audio output unit 36, and the like.

The term "work machine" as used in the present disclosure refers to various types of work machines, and is exemplified by a backhoe (including a hydraulic excavator, a mini-excavator, and the like), a wheel loader, a carrier, and other work vehicles. The work machine 3 includes a work unit 33 configured to be able to perform one or more operations. The work machine 3 is not limited to the "vehicle", and may be a work vehicle such as a work ship, an unmanned aerial vehicle, or a multi-rotor aircraft. The work machine 3 is not limited to a construction machine (a working machine), and may be an agricultural machine (an agricultural machine) such as a rice transplanter, a tractor, or a combine harvester. In the present embodiment, a case where the work machine 3 is a riding type backhoe and is capable of performing an excavating work, a soil preparation work, a trench excavating work, a loading work, or the like as a work will be described as an example unless otherwise specified.

In the present embodiment, for convenience of explanation, the vertical direction in a state where the work machine 3 is usable is defined as the vertical direction D1. The front-rear direction D2 and the left-right direction D3 are defined based on a direction seen from a user (operator) riding (the driving unit 321 of) the work machine 3 in a non-revolving state of the revolving unit 32. In other words, each direction used in the present embodiment is a direction defined with reference to the machine body 30 of the work machine 3, and the direction in which the machine body 30 moves is "forward" when the work machine 3 advances, and the direction in which the machine body 30 moves is "backward" when the work machine 3 retreats. Similarly, when the working machine 3 is rotated right, the direction in which the front end portion of the machine body 30 moves is "right", and when the working machine 3 is rotated left, the direction in which the front end portion of the machine body 30 moves is "left". However, these directions are not intended to limit the direction of use (direction at the time of use) of the work machine 3.

Work machine 3 includes an engine 40 (see fig. 2) as a power source. In the present embodiment, the engine 40 is a diesel engine, as an example. The engine 40 is driven by supplying fuel (light oil here) from a fuel tank. In the work machine 3, for example, a hydraulic pump 41 (see fig. 2) is driven by an engine 40, and hydraulic oil is supplied from the hydraulic pump 41 to hydraulic actuators (including a hydraulic motor 43, a hydraulic cylinder 44, and the like) of each part of the machine body 30, whereby the machine body 30 is driven. Such a work machine 3 is controlled by, for example, a user (operator) riding in the driving portion 321 of the machine body 30 operating the lever or the like of the operating device 35.

In the present embodiment, since the work machine 3 is a riding backhoe as described above, the work unit 33 is driven in response to an operation by a user (operator) riding on the driving unit 321, and works such as excavation work are performed. The driver 321 on which the user rides is provided in the swing portion 32.

Here, the display device 2, the operation device 35, the audio output unit 36, and the like are mounted on the driving unit 321 of the machine body 30, and the user can operate the operation device 35 while looking at various information related to the work machine 3 displayed on the display device 2. As an example, by displaying information about the operation state of the work machine 3, such as the cooling water temperature and the operating oil temperature, on the display screen of the display device 2, the user can confirm information about the operation state of the work machine 3 required for the operation of the operation device 35 by the display device 2.

The traveling unit 31 has a traveling function and is configured to be capable of traveling on the ground (including turning). The traveling unit 31 includes, for example, a pair of left and right crawler belts 311, a pair of bulldozer blades 312, and the like. The traveling unit 31 further includes a hydraulic motor 43 (hydraulic actuator) for driving the crawler 311.

The turning portion 32 is located above the traveling portion 31 and is configured to be rotatable with respect to the traveling portion 31 about a rotation axis along the up-down direction D1. The turning part 32 includes a hydraulic motor (hydraulic actuator) for turning, and the like. The turning unit 32 is equipped with an engine 40, a hydraulic pump 41, and the like in addition to the driving unit 321. A boom bracket 322 for attaching the working unit 33 is provided at the front end of the swivel unit 32.

The working unit 33 is configured to be able to execute one or more jobs. The working unit 33 is supported by the boom bracket 322 of the swing unit 32, and performs a work. The working unit 33 includes a bucket 331. The bucket 331 is 1 type of attachment (work tool) attached to the body 30 of the work machine 3, and is composed of any tool selected from a plurality of types of attachments according to the work content. As an example, the bucket 331 is detachably attached to the body 30, and is replaced according to the content of the work. Examples of the attachment for the work machine 3 include various implements such as a crusher, an auger, a stone crusher, a fork claw, a steel frame cutter, an asphalt cutter, a mower, a ripper, a mulch applicator, a tilting rotator, and a vibration compactor, in addition to the bucket 331.

The working unit 33 further includes a boom 332, an arm 333, a hydraulic actuator (including a hydraulic cylinder 44, a hydraulic motor, and the like), and the like. The bucket 331 is mounted to the front end of the arm 333.

The boom 332 is rotatably supported by the boom bracket 322 of the swing portion 32. Specifically, the boom 332 is supported by the boom bracket 322 so as to be rotatable about a rotation axis extending in the horizontal direction. The boom 332 has a shape extending upward from a base end portion supported by the boom bracket 322. The arm 333 is coupled to the distal end of the boom 332. The arm 333 is supported by the boom 332 so as to be rotatable about a rotation axis extending in the horizontal direction.

The working unit 33 receives power from the engine 40 as a power source and operates. Specifically, the hydraulic pump 41 is driven by the engine 40, and the hydraulic oil is supplied from the hydraulic pump 41 to the hydraulic actuators (hydraulic cylinders 44, etc.) of the working unit 33, whereby the respective units (the bucket 331, the boom 332, and the arm 333) of the working unit 33 are operated.

In the present embodiment, in particular, the working unit 33 has a structure in which the boom 332 and the arm 333 are independently rotatable in a multi-joint manner. That is, the boom 332 and the arm 333 are each rotated about the rotation axis in the horizontal direction, and thus, for example, the articulated work unit 33 including the boom 332 and the arm 333 can be extended or folded as a whole.

Like working unit 33, traveling unit 31 and turning unit 32 each also receive power from engine 40 as a power source and operate. That is, the hydraulic pump 41 supplies the hydraulic oil to the hydraulic motor 43 of the traveling unit 31, the hydraulic motor of the turning unit 32, and the like, and the turning unit 32 and the traveling unit 31 operate.

The actuators (in the present embodiment, hydraulic actuators including the hydraulic motor 43, the hydraulic cylinder 44, and the like) provided in the respective parts of the body 30 are operated in response to the operation of the operation device 35. That is, the work machine 3 of the present embodiment includes an actuator that operates according to the operation of the operation device 35. Accordingly, the work machine 3 performs various operations such as forward and backward movement by the traveling unit 31, turning by the turning unit 32, and excavation work by the working unit 33, in response to an operation of the operation device 35 by a user (operator).

Here, the body 30 includes various sensors (including a camera) for detecting an object Ob1 (see fig. 3) in a monitoring area A1 (see fig. 3) around the work machine 3, such as a camera for capturing the periphery of the body 30. In the present embodiment, as an example, as shown in fig. 3, a plurality of (here, 3) cameras including a left camera 341, a right camera 342, and a rear camera 343 are mounted on the swivel part 32 of the body 30. The left camera 341, the right camera 342, and the rear camera 343 are connected to the control system 1, and output the respective captured images to the control system 1. Fig. 3 is a plan view of the work machine 3 from above, schematically illustrating the monitoring area A1, the object Ob1, and the body 30 (including the left camera 341, the right camera 342, and the rear camera 343) of the work machine 3, which are set around the work machine 3.

The left camera 341, the right camera 342, and the rear camera 343 are provided to the left, right, and rear with respect to the driving unit 321, respectively, so as to be able to capture the monitoring area A1 that is left, right, and rear as seen from the operator riding on the driving unit 321 of the swing unit 32. That is, as shown in fig. 3, the monitoring area A1 includes a plurality of (here, 3) small areas a11, a12, a13, and the left camera 341 captures a small area a11 (left Fang Ouyu) which is left as viewed from the operator riding on the driver 321. Similarly, the right camera 342 captures a small area a12 (right area) which is seen as right from the operator who is riding on the driver 321, and the rear camera 343 captures a small area a13 (rear area) which is seen as rear from the operator who is riding on the driver 321. Thus, the left camera 341, the right camera 342, and the rear camera 343 can cover the sides (left and right) and the rear that are likely to be dead angles for the operator.

Fig. 2 schematically illustrates a hydraulic circuit and an electric circuit (electrical connection relationship) of the work machine 3 according to the present embodiment. In fig. 2, a solid line indicates a high-pressure (for the working oil) oil passage, a broken line indicates a low-pressure (for the pilot oil) oil passage, and an arrow with a single-dot chain line indicates a path of an electric signal.

As shown in fig. 2, the work machine 3 includes a pilot pump 42, a remote control valve 45, a 1 st restriction portion 46, a 2 nd restriction portion 47, a directional control valve (control valve) 48, a flow rate restriction portion 49, and the like, in addition to a hydraulic pump 41, a hydraulic motor 43 (not shown in fig. 2), and a hydraulic cylinder 44.

The hydraulic oil from the hydraulic pump 41 driven by the engine 40 is supplied to the hydraulic motor 43 of the traveling unit 31, the hydraulic motor of the turning unit 32, the hydraulic cylinder 44 of the working unit 33, and the like. Thereby, hydraulic actuators such as the hydraulic motor 43 and the hydraulic cylinder 44 are driven.

Here, the flow rate of the hydraulic oil supplied from the hydraulic pump 41 is not fixed, but can be changed (variable) by an appropriate means. The work machine 3 of the present embodiment includes a flow rate limiting portion 49, and the flow rate of the hydraulic oil can be adjusted by the flow rate limiting portion 49. In the present embodiment, the hydraulic pump 41 is constituted by a variable displacement pump capable of changing the amount of hydraulic fluid discharged for one rotation of the drive shaft, as an example.

The flow rate limiting section 49 has a control signal input port 491, an electromagnetic proportional valve 492, and an engine control section 493. The control signal input port 491 is a port for inputting a control signal for adjusting the discharge amount (flow rate) of the hydraulic oil of the hydraulic pump 41 constituted by the variable displacement pump. Specifically, the pilot oil serving as the control signal is supplied from the pilot pump 42 to the control signal input port 491, and the discharge amount of the hydraulic oil of the hydraulic pump 41 changes according to the supply amount (pilot pressure) of the pilot oil. The electromagnetic proportional valve 492 is an electromagnetic proportional control valve provided in a supply path of the pilot oil to the control signal input port 491, and adjusts the pilot pressure input to the control signal input port 491. The electromagnetic proportional valve 492 is connected to the control system 1, and adjusts the pilot pressure input to the control signal input port 491 in accordance with a control signal (supply current) from the control system 1, thereby changing the discharge amount of the hydraulic oil of the hydraulic pump 41. The engine control unit 493 controls the rotational speed of the engine 40. That is, the engine control unit 493 controls the rotation speed of the hydraulic pump 41 to change the discharge amount of the hydraulic oil from the hydraulic pump 41.

In this way, the flow rate limiter 49 can adjust the flow rate of the hydraulic oil discharged from the hydraulic pump 41 by controlling at least one of the flow rate of the hydraulic pump 41 that supplies the hydraulic oil, the rotation speed of the engine 40 that drives the hydraulic pump 41, and the pilot pressure. The flow rate limiting unit 49 may continuously change the flow rate of the hydraulic oil discharged from the hydraulic pump 41 in a stepless manner, or may change the flow rate stepwise (for example, 2 steps, 5 steps, 10 steps, or the like).

A pilot-type direction switching valve 48 capable of switching the direction and flow rate of the hydraulic fluid from the hydraulic pump 41 is provided in the hydraulic actuator such as the hydraulic motor 43 and the hydraulic cylinder 44. The directional control valve 48 is driven by the pilot oil supplied as an input command from the pilot pump 42.

Here, for example, a remote control valve 45 is provided in a supply path of the pilot oil to a direction switching valve 48 corresponding to the hydraulic cylinder 44 of the working unit 33. The remote control valve 45 outputs a work operation command of the work unit 33 in response to an operation of the operation device 35 (operation lever). The job operation instruction instructs the operation unit 33 to expand and contract. The flow rate of the pilot oil supplied from the pilot pump 42 to the remote control valve 45 can be adjusted by the 1 st restriction portion 46 and the 2 nd restriction portion 47. The 1 st restriction portion 46 includes a 1 st control valve 461, a door lock switch 462, and a door lock lever 463. The 2 nd restriction portion 47 has a 2 nd control valve 471.

The 1 st control valve 461 and the 2 nd control valve 471 are each constituted by an electromagnetic control valve (electromagnetic valve) and are inserted in series between the remote control valve 45 and the pilot pump 42. The 1 st control valve 461 is connected to a power supply via a door lock switch 462, and operates according to a supply current from the power supply. The 2 nd control valve 471 is connected to the control system 1, and operates according to a control signal (supply current) from the control system 1. The 1 st control valve 461 and the 2 nd control valve 471 are (electromagnetic) proportional control valves here, but are not limited thereto, and may be, for example, on-off valves capable of switching opening/shutting off of a flow channel.

The 1 st control valve 461 and the 2 nd control valve 471 each open the flow channel of the pilot oil in the energized state, that is, in the state where the current as the control signal is supplied, and shut off the flow channel of the pilot oil in the non-energized state, that is, in the state where the current as the control signal is shut off. Therefore, when the supply of current (control signal) to at least one of the 1 st control valve 461 and the 2 nd control valve 471 is cut off, the hydraulic actuator (hydraulic cylinder 44 or the like) corresponding to the remote control valve 45 becomes unable to be driven, and the hydraulic actuator is forcibly stopped regardless of the operation device 35.

Similarly, a remote control valve is also provided in the supply path of the pilot oil to the direction switching valve corresponding to the hydraulic motor 43 of the traveling unit 31. The remote control valve outputs a travel operation command of the travel unit 31 in response to an operation of the operation device 35 (operation lever). The travel operation command instructs the travel unit 31 to travel (forward, backward, etc.). A remote control valve is also provided in the supply path of the pilot oil to the direction switching valve corresponding to the hydraulic motor of the swirl unit 32. The remote control valve outputs a swivel operation command of the swivel part 32 according to an operation of the operation device 35 (operation lever). The swivel operation instruction instructs the swivel operation (left swivel, right swivel, or the like) of the swivel unit 32. Further, a 1 st control valve 461 and a 2 nd control valve 471 are interposed between these remote control valves and the pilot pump 42.

The door lock switch 462 is interlocked with the door lock lever 463. The door lock lever 463 is disposed in the driving part 321 of the body 30, and receives an operation input from a user (operator). In the present embodiment, the door lock lever 463 can be operated in the up-down direction D1, as an example. The door lock switch 462 is turned "off" if the door lock lever 463 is located at the upper end position of the movable range, i.e., the "raised position", and the door lock switch 462 is turned "on" if the door lock lever 463 is located at the lower end position of the movable range, i.e., the "lowered position". Further, a door lock switch 462 is connected to the control system 1, and on/off of the door lock switch 462 is monitored by the control system 1.

Therefore, if the door lock lever 463 is located at the "lowered position", the 1 st control valve 461 is in the energized state, and the hydraulic actuator (hydraulic cylinder 44 or the like) is driven by the operation of the operating device 35. On the other hand, if the door lock lever 463 is located at the "raised position", the 1 st control valve 461 is in the non-energized state, and the hydraulic actuator is forcibly stopped regardless of the operation of the operating device 35. Therefore, in order to drive the hydraulic actuator (hydraulic cylinder 44 or the like), the user (operator) needs to operate the door lock lever 463 to the "lowered position".

Further, since the turning unit 32 and the traveling unit 31 are also operated by supplying hydraulic oil from the hydraulic pump 41 to the hydraulic actuator (the hydraulic motor 43, etc.), if the door lock lever 463 is located at the "raised position", the turning unit 32 and the traveling unit 31 are not driven. That is, if the door lock lever 463 is located at the "raised position", all of the working unit 33, the turning unit 32, and the traveling unit 31 are forcibly in a state of being unable to be driven.

In short, the door lock switch 462 is in a "locked state" in which the operation of the work machine 3 is restricted (including prohibited) when it is turned off, and is in an "unlocked state" in which the operation of the work machine 3 is not restricted when it is turned on. Further, if the door lock lever 463 is located at the "raised position", and the door lock switch 462 is in the locked state (off), the operation of the work machine 3 is forcibly restricted regardless of the operation device 35. The door lock lever 463 is a lever operated when locking the operation of the work machine 3 in this manner, and is synonymous with a cut-off lever.

The operation device 35 is disposed in the driving portion 321 of the body 30, and is a user interface for receiving operation input by a user (operator). The operation device 35 outputs, for example, an electric signal (operation signal) corresponding to an operation by a user, thereby receiving various operations by the user.

The sound output unit 36 outputs sound (including voice) to a user (operator). The acoustic output unit 36 includes a buzzer, a speaker, or the like, and receives an electrical signal to output sound. The acoustic output unit 36 is connected to the control system 1, and outputs sounds such as beeps and sounds based on acoustic control signals from the control system 1. In the present embodiment, the acoustic output unit 36 is provided in the driving unit 321 of the body 30, similarly to the display device 2. The audio output unit 36 may be provided integrally with the display device 2.

The control system 1 executes various processes (information processing) using, as its main configuration, a computer system including one or more processors such as a CPU (Central Processing Unit: central processing unit), and one or more memories such as a ROM (Read Only Memory) and a RAM (Random Access Memory: random access Memory). In the present embodiment, the control system 1 is a unified controller that controls the entire work machine 3, and is constituted by, for example, an electronic control unit (ECU: electronic Control Unit). However, the control system 1 may be provided separately from the unified controller, or may have one processor or a plurality of processors as a main configuration. The control system 1 is described in detail in the column "[2] the structure of the control system".

The display device 2 is disposed in the driving portion 321 of the body 30, and is a user interface for receiving operation inputs by a user (operator) and outputting various information to the user. The display device 2 outputs, for example, an electric signal corresponding to an operation by a user, thereby receiving various operations by the user. As a result, the user (operator) can visually recognize the display screen Dp1 (see fig. 4) displayed on the display device 2, and can operate the display device 2 as necessary.

As shown in fig. 2, the display device 2 includes a control unit 21, an operation unit 22, and a display unit 23. The display device 2 is configured to be capable of communicating with the control system 1 and to be capable of transmitting and receiving data to and from the control system 1. In the present embodiment, the display device 2 is a dedicated device used in the work machine 3, as an example.

The control unit 21 controls the display device 2 based on data from the control system 1. Specifically, the control unit 21 outputs an electric signal corresponding to the user operation received by the operation unit 22, or displays the display screen Dp1 generated by the control system 1 on the display unit 23.

The operation unit 22 is a user interface for receiving an operation input from a user (operator) to the display screen Dp1 displayed on the display unit 23. The operation unit 22 receives various operations performed by the user U1 by outputting an electric signal corresponding to the operation of the user U1 (see fig. 4), for example. In the present embodiment, as an example, as shown in fig. 4, the operation unit 22 includes a plurality of (here, 6) mechanical push-button switches 221 to 226. The plurality of push-button switches 221 to 226 are arranged near (in the example of fig. 4, below) the display area along the periphery of the display area of the display unit 23. The plurality of button switches 221 to 226 correspond to items displayed on the display screen Dp1 described later, and any item on the display screen Dp1 is operated (selected) by operating any one of the plurality of button switches 221 to 226.

The operation unit 22 may include a touch panel, an operation dial, and the like. In this case, any item in the display screen Dp1 is also operated (selected) by the operation of the operation unit 22.

The display unit 23 is a user interface for presenting information to the user U1 (operator), such as a liquid crystal display or an organic EL display, which displays various information. The display unit 23 displays various information to the user. In the present embodiment, the display unit 23 is a full-color liquid crystal display with a backlight, and has a display area of "horizontal length" that is long in the lateral direction, as shown in fig. 4, as an example.

In addition to the above configuration, the body 30 further includes a communication terminal, a fuel tank, a battery, and the like. The body 30 is provided with various sensors (including a camera) for detecting a detection target in a monitoring area around the work machine 3, such as a camera for photographing the periphery of the body 30.

[2] Structure of control system

Next, the configuration of the control system 1 according to the present embodiment will be described with reference to fig. 2. The control system 1 controls each part of the machine body 30 (including the traveling part 31, the turning part 32, the working part 33, and the like). In the present embodiment, control system 1 is a component of work machine 3, and forms work machine 3 together with machine body 30 and the like. In other words, work machine 3 of the present embodiment includes at least control system 1 and body 30.

As shown in fig. 2, the control system 1 includes an acquisition processing unit 11, a state switching processing unit 12, a determination processing unit 13, a detection processing unit 14, an alarm processing unit 15, and a deceleration processing unit 16. In the present embodiment, the control system 1 has a computer system having one or more processors as an example, and thus the plurality of functional units (the acquisition processing unit 11 and the like) are realized by the one or more processors executing a control program for a work machine. The plurality of functional units included in the control system 1 may be provided so as to be dispersed in a plurality of cases, or may be provided in one case.

The control system 1 is configured to be capable of communicating with devices provided in each part of the body 30. That is, the control system 1 is connected to at least the display device 2, the left camera 341, the right camera 342, the rear camera 343, the audio output unit 36, the door lock switch 462, the 2 nd control valve 471, the electromagnetic proportional valve 492, the engine control unit 493, and the like. Thus, the control system 1 can control the display device 2, the audio output unit 36, and the like, or can acquire captured images of the left camera 341, the right camera 342, the rear camera 343, and the like. Here, the control system 1 may directly transmit and receive various information (data) to and from each device, or may indirectly transmit and receive various information (data) via a repeater or the like. As an example, the control system 1 and devices provided in each part of the body 30 CAN communicate with each other by a communication system such as CAN (Controller Area Network: controller area network).

The acquisition processing unit 11 performs acquisition processing for acquiring a detection result of the object Ob1 around the body 30 of the work machine 3. Specifically, in the present embodiment, the object Ob1 around the body 30 is detected by the detection processing unit 14 based on the outputs of the left camera 341, the right camera 342, and the rear camera 343. Therefore, the acquisition processing unit 11 acquires the detection result of the object Ob1 around the body 30 from the detection processing unit 14. In the present embodiment, the object Ob1 is a "person", as an example. That is, when the work machine 3 moves or when the "person" around the work machine 3 moves, and the "person" enters the monitoring area A1 around the work machine 3, the detection processing unit 14 detects the "person" as the object Ob1. When a plurality of objects Ob1 exist in the monitoring area A1, the detection processing unit 14 may detect the number of objects Ob1 (the number of people) in addition.

In the present embodiment, regardless of whether the door lock lever 463 is located at the "raised position" or the "lowered position", the acquisition processing unit 11 periodically or aperiodically acquires the detection result of the object Ob1 around the body 30 from the detection processing unit 14.

The determination processing unit 13 performs a determination process of determining whether the "state in which the work machine 3 cannot be operated" or the "state in which the work machine 3 can be operated" is performed. The term "state in which the work machine 3 cannot be operated" as used herein refers to a state in which the work machine 3 cannot be driven by the operation of the operation device 35, and includes at least a state in which the door lock lever 463 is located at the "raised position" and the door lock switch 462 is turned off. The "state in which the work machine 3 cannot be operated" includes, for example, a state in which an ignition switch of the work machine 3 is turned off (i.e., the engine 40 is stopped), a state in which a main power supply of the work machine 3 is turned off, and the like. In contrast, the "state in which the work machine 3 can be operated" refers to a state in which the work machine 3 is driven by the operation of the operation device 35, and includes at least a state in which the door lock lever 463 is located at the "lowered position" and the door lock switch 462 is turned on. The "state in which the work machine 3 can be operated" includes, for example, a state in which an ignition switch of the work machine 3 is on (i.e., the engine 40 is being driven), a state in which a main power supply of the work machine 3 is on, and the like.

In the present embodiment, the state of the door lock lever 463 when the door lock lever 463 is in the "raised position", that is, the "state in which the work machine 3 cannot be operated" is defined as the "locked state". On the other hand, the state of the door lock lever 463 when the door lock lever 463 is in the "lowered position", that is, the "state in which the work machine 3 can be operated" is defined as the "unlock state".

The determination processing unit 13 determines whether the door lock lever 463 is located at the "up position" or the "down position" based on at least the input signal from the door lock switch 462. In the present embodiment, the door lock lever 463 is set to the "raised position" (i.e., the locked state) or the ignition switch is turned off, and the "state in which the work machine 3 cannot be operated" is set as an example. On the other hand, the door lock lever 463 is set to the "lowered position" (i.e., the unlocked state) and the ignition switch is turned on, so that the operating machine 3 can be operated. That is, if the door lock switch 462 is turned off, the determination processing unit 13 determines that the door lock lever 463 is located at the "raised position", that is, in the "state where the work machine 3 cannot be operated". If the ignition switch of the work machine 3 is turned off, the determination processing unit 13 uniformly determines that the "state in which the work machine 3 cannot be operated" is present, regardless of the state of the door lock lever 463. In other words, in the present embodiment, if the door lock lever 463 is in the locked state or the ignition switch is turned off, the determination processing unit 13 determines that the work machine 3 cannot be operated, and if the door lock lever 463 is in the unlocked state and the ignition switch is turned on, the determination processing unit 13 determines that the work machine 3 can be operated.

In the present embodiment, the determination processing unit 13 also determines whether or not the detection result of the object Ob1 around the body 30 satisfies a predetermined condition. That is, the determination processing unit 13 determines whether or not the detection result obtained by the acquisition processing unit 11 from the detection processing unit 14 satisfies a predetermined condition.

The "predetermined condition" mentioned here is a condition applied to the detection result for outputting an alarm (executing alarm processing), and includes, for example, the presence of an object Ob1 or the like in the monitoring area A1 around the body 30. The "predetermined condition" may include, for example, that the object Ob1 has a specific attribute, that the object Ob1 has a predetermined time or longer in the monitoring area A1, that a specific position around the body 30 (for example, a position which is a dead angle of an operator or a position within a certain distance from the body 30) is present in addition to the object Ob1 in the monitoring area A1, or that the object Ob1 has a specific attribute instead of the object Ob1 in the monitoring area A1. As an example, the "specific attribute" mentioned here includes that the object Ob1 is moving, that the object Ob1 is a person (general person) other than a worker, that the object Ob1 (here, "person") is not aware of the existence of the body 30 due to facing away from the body 30 or the like, that the object Ob1 exists by a predetermined number or more, or the like. In the present embodiment, as an example, the presence of the object Ob1 (here, "person") in the monitoring area A1 is set as a "predetermined condition".

In the present embodiment, the determination processing unit 13 also determines whether the work machine 3 is in the standby state or the operating state. The "standby state" referred to herein means a state in which at least the control system 1 and the engine 40 are in operation and the operating device 35 is not operated. When the operating device 35 includes an operating lever, the operating lever is not operated by a user (operator) and is in a neutral position (neutral position), and the operating device 35 is not operated. When the working machine 3 is in the standby state, each part of the machine body 30 (the traveling part 31, the turning part 32, and the working part 33) is not operated, but is in a state where it can be immediately operated according to the operation of the operation device 35. The "operating state" refers to a state in which at least the control system 1 and the engine 40 are in operation and the operating device 35 has been operated. When the operating device 35 includes an operating lever, the operating lever is located at a position other than the neutral position (neutral position) by the user (operator) operating the operating lever, and the operating device 35 is operated. When the work machine 3 is in the operating state, any part of the machine body 30 (the traveling part 31, the turning part 32, or the working part 33) operates.

In the present embodiment, the determination processing unit 13 determines whether the work machine 3 is in the standby state or the operating state based on at least the operation state of the operating device 35 by the user (operator). In short, the determination processing unit 13 determines the standby state and the operating state of the work machine 3 based on the operation state of the operation device 35 by the user. Basically, if the operating device 35 is not operated, such as the operating lever being in the neutral position, the determination processing unit 13 determines that the work machine 3 is in the standby state, and if the operating device 35 is operated, such as the operating lever being in a position other than the neutral position, the determination processing unit 13 determines that the work machine 3 is in the operating state. In this way, by determining the standby state and the operating state of the work machine 3 based on the operating state of the operating device 35, the process of determining whether the work machine is in the standby state or the operating state is easy.

As an example, an operation pressure sensor for detecting the operation content of a user (operator) who uses the operation device 35 is attached to the operation device 35. The operation pressure sensor detects an operation direction and an operation amount of an operation lever (or an operation pedal) or the like of the operation device 35 corresponding to each actuator, for example, in the form of pressure, and outputs the detected values to the control system 1. The determination processing unit 13 of the control system 1 determines the standby state and the operating state of the work machine 3 based on the detection value indicating the operating state of the operating device 35 of the operating pressure sensor.

However, the period from when the operation of the operation device 35 is suspended until a predetermined time (for example, several seconds) elapses may be eliminated from the standby state. That is, the operation device 35 may not be determined to be in the standby state even when the operation device 35 is not operated until a predetermined time elapses after the operation of the operation device 35 is suspended. Alternatively, the determination processing unit 13 may determine the standby state and the operating state of the work machine 3 based on the operation amount of the operation device 35 such as the movement angle of the operation lever from the neutral position. In this case, it is preferable that the determination processing unit 13 determines that the work machine 3 is in the standby state when the operation amount of the operation device 35 is less than the threshold value, and determines that the work machine 3 is in the operating state when the operation amount of the operation device 35 is equal to or greater than the threshold value.

The determination processing unit 13 outputs the determination result to at least the state switching processing unit 12. That is, the determination result (also referred to as the 1 st determination result) of whether the "state in which the work machine 3 cannot be operated" or the "state in which the work machine 3 can be operated", the determination result (also referred to as the 2 nd determination result) of whether the detection result satisfies the predetermined condition, and the determination result (also referred to as the 3 rd determination result) of whether the work machine 3 is in the standby state or the operating state are input from the determination processing unit 13 to the state switching processing unit 12.

The detection processing unit 14 detects (detects) the object Ob1 in the monitoring area A1 around the body 30. That is, the detection processing unit 14 determines whether or not the object Ob1 is present (whether or not present) in the monitoring area A1, and outputs a detection result indicating whether or not the object Ob1 is present in the monitoring area A1. Specifically, in the present embodiment, the detection processing unit 14 acquires the outputs of the left camera 341, the right camera 342, and the rear camera 343 from the left camera 341, the right camera 342, and the rear camera 343 periodically or aperiodically. That is, the detection processing unit 14 acquires image data of the monitoring area A1 (each of the small areas a11, a12, a 13) around the work machine 3. The data acquired by the detection processing unit 14 is stored in, for example, a memory or the like. The detection processing unit 14 detects the object Ob1 in the monitoring area A1 based on the outputs (image data) of the left camera 341, the right camera 342, and the rear camera 343.

Specifically, the detection processing unit 14 extracts a feature amount in an image by performing image processing on the acquired image data, and determines whether or not an object Ob1 (in the present embodiment, a "person") is captured in the image based on the feature amount. Here, when the object Ob1 is photographed in the image, the detection processing section 14 determines which of the left camera 341, the right camera 342, and the rear camera 343 photographed the object Ob1 is photographed in the image. That is, the detection processing unit 14 performs detection of the object Ob1 by distinguishing which of the small area a11 imaged by the left camera 341, the small area a12 imaged by the right camera 342, and the small area a13 imaged by the rear camera 343 is present.

The alarm processing unit 15 outputs an alarm, that is, reports. Here, the alarm processing unit 15 performs alarm processing in which an alarm is outputted (reported) based on the detection result of the detection processing unit 14, that is, the detection result of the object Ob1 in the monitoring area A1 around the machine body 30. The "report" mentioned in the present disclosure refers to output of an alarm to a user (operator) by various means, including output of an alarm by means such as sound (including sound), display (including lighting of a display lamp), vibration (vibration function), transmission to other terminals, or writing to a non-transitory recording medium. However, the alarm processing unit 15 basically reports the alarm so that the user (operator) can recognize the alarm in real time. In the present embodiment, when the object Ob1 is present in the monitoring area A1 around the body 30, the alarm processing unit 15 causes the display unit 23 of the display device 2 to display the object Ob1, and causes the acoustic output unit 36 to output an alarm. The alarm sound may be a simple beep sound or a sound such as "please notice". The alarm content (display content and alarm sound) may be changed according to the detection result (the position of the object Ob1, the distance from the body 30 to the object Ob1, etc.) of the detection processing unit 14.

The deceleration processing unit 16 executes deceleration (decelerator) processing for automatically controlling the rotation speed of the engine 40. For example, when the working unit 33 or the like is not operated and the state where the output of the engine 40 is not required continues for a certain period of time, the deceleration processing unit 16 outputs a control signal to the engine control unit 493 to reduce the rotation speed of the engine 40. That is, the deceleration processing unit 16 has an automatic deceleration function, and automatically controls the rotational speed of the engine 40.

Specifically, the deceleration processing unit 16 controls the rotation speed of the engine 40 according to the operation state of the operation device 35 by the user, and switches the rotation speed of the engine 40 to a low idle rotation speed lower than a predetermined value when the operation device 35 is not operated for a predetermined time. On the other hand, when the operation device 35 is operated, the deceleration processing section 16 switches the rotation speed of the engine 40 to a high idle rotation speed (> low idle rotation speed) higher than the predetermined value. That is, the deceleration processing unit 16 controls the rotation speed of the engine 40 of the work machine 3 to be lower than a predetermined value when the work machine 3 is in the standby state, and controls the rotation speed of the engine 40 to be higher than the predetermined value when the work machine 3 is in the operating state. However, the deceleration processing unit 16 may control the rotation speed of the engine 40 based on the determination result of the determination processing unit 13, i.e., the determination result of whether the work machine 3 is in the standby state or the operating state. In this way, the rotation speed of the engine 40 can be suppressed to be low in the standby state in which the output of the engine 40 is not required, and the sound and vibration generated by the engine 40 and the fuel consumption in the engine 40 can be reduced.

The state switching processing section 12 performs state switching processing of switching the active state and the inactive state of the operating device 35 independently of the door lock lever 463. In short, in the present embodiment, the active state and the inactive state of the operation device 35 can be switched by the door lock lever 463, but the state switching processing section 12 switches the active state and the inactive state of the operation device 35 independently of the operation of the door lock lever 463.

The "effective state of the operating device 35" referred to herein means a state in which the operating device 35 is effective, that is, a state in which the work machine 3 is driven by the operation of the operating device 35, and is synonymous with "a state in which the work machine 3 can be operated". The "invalid state of the operating device 35" refers to a state in which the operating device 35 is invalid, that is, a state in which the work machine 3 is not driven by the operation of the operating device 35, and is synonymous with "a state in which the work machine 3 cannot be operated".

The door lock lever 463 can switch between a "lock released state" in which the work machine 3 can be operated and a "lock state" in which the work machine 3 cannot be operated (work machine 3). In the "state where the work machine 3 cannot be operated", the actuator (in the present embodiment, the hydraulic actuator including the hydraulic motor 43, the hydraulic cylinder 44, and the like) is forcibly stopped regardless of the operation device 35. That is, if the door lock lever 463 is in the "locked state", all of the working unit 33, the turning unit 32, and the traveling unit 31 are forcibly in the non-drivable state, and therefore the operating device 35 is in the "inactive state". On the other hand, in the "state where the work machine 3 can be operated", the actuator operates according to the operation of the operation device 35. That is, if the door lock lever 463 is in the "lock released state", the operation unit 33, the turning unit 32, and the traveling unit 31 are all in a state that can be driven according to the operation of the operation device 35, and therefore the operation device 35 is in the "active state".

The state switching processing unit 12 is configured to be able to switch the active state and the inactive state of the operating device 35 independently of the door lock lever 463 which is capable of switching between the unlocked state in which the operating machine 3 can be operated and the locked state in which the operating machine 3 cannot be operated. Specifically, the state switching processing unit 12 switches between the active state and the inactive state of the operation device 35 by controlling the 2 nd control valve 471 of the 2 nd restriction unit 47. For example, the state switching processing unit 12 turns the operation device 35 into the inactive state by turning the 2 nd control valve 471 of the 2 nd restriction unit 47 into the off state. On the other hand, the state switching processing unit 12 turns on (opens) the 2 nd control valve 471 of the 2 nd restriction unit 47 to thereby put the operating device 35 into an active state.

Here, the 2 nd control valve 471 of the 2 nd restriction portion 47 is inserted in series with the 1 st control valve 461 linked with the door lock lever 463 in a flow channel of the pilot oil supplied from the pilot pump 42 to the remote control valve 45. Therefore, the "state in which the work machine 3 can be operated" is limited to the case where both the 1 st control valve 461 and the 2 nd control valve 471 are in the open (open) state, and if at least one of the 1 st control valve 461 and the 2 nd control valve 471 is in the shut-off state, the "state in which the work machine 3 cannot be operated" is set. In other words, when the state switching processing unit 12 sets the operating device 35 to the active state, the state is set to the "state in which the operating machine 3 can be operated" only when the door lock lever 463 is in the unlocked state, and the state is set to the "state in which the operating machine 3 cannot be operated" when the door lock lever 463 is in the locked state. On the other hand, when the state switching processing unit 12 turns the operation device 35 into the inactive state, the door lock lever 463 is in either the locked state or the unlocked state, and the operation device becomes "a state in which the operation device 3 cannot be operated".

However, in the standby state of the work machine 3, when the door lock lever 463 is in the unlocked state and the detection result (of the detection processing unit 14) satisfies the predetermined condition, the state switching processing unit 12 sets the operating device 35 in the active state. That is, when the 3 rd determination result of the determination processing unit 13 is in the "standby state", the 1 st determination result indicating that the operation device 35 is in the "unlocked state" (i.e., the "state in which the operation device 3 can be operated") is obtained, and the 2 nd determination result indicating that the detection result satisfies the predetermined condition is obtained, the state switching processing unit 12 sets the operation device 35 to the "active state". Therefore, when the work machine 3 is in the standby state and the door lock lever 463 is in the "lowered position" (lock released state), the state switching processing unit 12 sets the operating device 35 to the "active state" if the object Ob1 (person) enters the monitoring area A1. Thus, the "state in which the work machine 3 can be operated" is set, and the actuator is operated according to the operation of the operation device 35.

In addition, in the operating state of the work machine 3, when the door lock lever 463 is in the unlocked state and the detection result (of the detection processing unit 14) satisfies the predetermined condition, the state switching processing unit 12 turns the operation device 35 into the inactive state. That is, when the 3 rd determination result of the determination processing unit 13 is in the "operating state", the 1 st determination result indicating that the operation device 35 is in the "unlocked state" (i.e., the "state in which the work machine 3 can be operated") is obtained, and the 2 nd determination result indicating that the detection result satisfies the predetermined condition is obtained, the state switching processing unit 12 sets the operation device 35 to the "active state". Therefore, when the work machine 3 is in the operating state and the door lock lever 463 is in the "lowered position" (lock released state), the state switching processing unit 12 sets the operating device 35 to the "inactive state" if the object Ob1 (person) enters the monitoring area A1. Thus, the "state in which the work machine 3 cannot be operated" is set, and the actuator is forcibly stopped regardless of the operation device 35.

As described above, the state switching processing unit 12 switches the operation device 35 to the inactive state when the predetermined invalidation condition is satisfied. Here, the invalidation condition includes that the door lock lever 463 is in the unlocked state in the operating state of the work machine 3 and the detection result satisfies a predetermined condition. In this case, even if the door lock lever 463 is in the unlocking state, the operation device 35 is switched to the inactive state, and the "state in which the work machine 3 cannot be operated" is set. The state switching processing unit 12 switches the operation device 35 to the active state when a predetermined activation condition is satisfied after switching the operation device 35 to the inactive state. Here, the validation condition includes that the door lock lever 463 is in the unlocked state in the operating state of the work machine 3 and the detection result satisfies the predetermined condition. However, when the door lock lever 463 is in the locked state, even if the state switching processing unit 12 switches the operation device 35 to the active state, the state is not "a state in which the work machine 3 can be operated", but is "a state in which the work machine 3 cannot be operated".

The invalidation condition is not limited to the above-described condition, and may include, for example, a user (operator) standing up from the seat of the driver 321, releasing the seatbelt, or a standby state lasting for a predetermined time, in addition to or instead of the detection result satisfying a predetermined condition. The state switching processing unit 12 may switch the operation device 35 to the invalid state when at least one of the invalidation conditions is satisfied, or may switch the operation device 35 to the invalid state when a predetermined combination of the invalidation conditions is satisfied.

The condition for validation is not limited to the above-described condition, and may include, for example, in addition to or instead of the detection result satisfying a predetermined condition, a user (operator) sitting on a seat of the driver 321, wearing a seat belt, or the door lock lever 463 being operated from a locked state to an unlocked state. The state switching processing unit 12 may switch the operation device 35 to the active state when at least one of the above-described activation conditions is satisfied, or may switch the operation device 35 to the active state when a predetermined combination of the above-described activation conditions is satisfied.

[3] Control method for work machine

An example of a control method (hereinafter, simply referred to as a "control method") of the work machine 3, which is mainly executed by the control system 1, will be described below with reference to fig. 5 to 7.

The control method of the present embodiment is executed by the control system 1 having a computer system as a main configuration, in other words, is embodied by a control program for a work machine (hereinafter, simply referred to as a "control program"). That is, the control program of the present embodiment is a computer program for causing one or more processors to execute each process of the control method. Such a control program may be executed by the control system 1 and the display device 2, for example.

Here, the control system 1 executes various processes described below regarding the control method when a specific start operation set in advance for executing the control program is performed. The start operation is, for example, a start operation (ignition switch on) of the engine 40 of the work machine 3. On the other hand, when a specific ending operation set in advance is performed, the control system 1 ends various processes described below regarding the control method. The end operation is, for example, a stop operation (ignition off) of the engine 40 of the work machine 3.

[3.1] brief action

Here, first, the control method of the present embodiment, that is, the general operation of the state switching processing unit 12 of the control system 1 of the present embodiment will be described with reference to fig. 5. As shown in fig. 5, when focusing on both items of the door lock lever 463 and whether or not there is a person, it is known that the operation of the state switching processing unit 12 is different between the standby state and the operation state. Here, the "door locking lever" includes both of the "lock released state" and the "locked state". The "presence or absence of a person" includes two states, namely, a state in which the detection result satisfies a predetermined condition (presence of a person) and a state in which the detection result does not satisfy the predetermined condition (absence of a person).

That is, when the door lock lever 463 is in the unlocked state (lowered position) and the detection result satisfies the predetermined state due to the presence of the object Ob1 in the monitoring area A1 around the machine body 30, the state switching processing unit 12 sets the operating device 35 to the active state if the work machine 3 is in the standby state. Thus, the "state in which the work machine 3 can be operated" is set, and the actuator is operated according to the operation of the operation device 35. On the other hand, even when the door lock lever 463 is in the unlocked state (lowered position) and the detection result satisfies the predetermined state due to the presence of the object Ob1 in the monitoring area A1 around the machine body 30, the state switching processing unit 12 sets the operation device 35 to the inactive state while the work machine 3 is in the operating state. Thus, the "state in which the work machine 3 cannot be operated" is set, and the actuator is forcibly stopped regardless of the operation device 35.

In summary, the control method of the present embodiment includes the steps of: obtaining a detection result of an object Ob1 around a body 30 of a work machine 3; and switching the active state and the inactive state of the operating device 35 independently of the door lock lever that is switchable between the unlocked state in which the operating machine 3 can be operated and the locked state in which the operating machine 3 cannot be operated. If the work machine 3 is in the standby state, the control method is to put the operating device 35 in the active state when the door lock lever 463 is in the unlocked state and the detection result satisfies the predetermined condition. On the other hand, if the work machine 3 is in the operating state, the control method is to put the operating device 35 in the inactive state when the door lock lever 463 is in the unlocked state and the detection result satisfies the predetermined condition.

[3.2] detailed actions

Next, a specific operation of the control system 1, which is a control method of the present embodiment, will be described in detail with reference to the flowchart of fig. 6.

On the premise, the control system 1 sets the value of the standby flag prepared in the nonvolatile memory or the like as "0" (off) as an initial value. Then, at the time when the engine 40 of the work machine 3 is started (ignition switch is turned on), the control system 1 starts the processing of step S1 and thereafter, repeatedly executes the processing of steps S1 to S12.

In step S1, the determination processing unit 13 of the control system 1 determines whether or not the work machine 3 is in a standby state. In the present embodiment, the determination processing unit 13 determines whether or not the working machine 3 is in the standby state based on the operation state of the operating device 35 by the user (operator), and if the operating device 35 is not operated, such as the operation lever being in the neutral position, the determination processing unit determines that the working machine 3 is in the standby state (yes in S1), and moves the process to step S2. On the other hand, if the operating device 35 is operated, such as when the operating lever is located at a position other than the neutral position, the determination processing unit 13 determines that the work machine 3 is in the operating state (S1: no), and moves the process to step S4.

In step S2, the determination processing unit 13 of the control system 1 sets the value of the standby flag to "1" (on). Here, a value of "1" (on) of the standby flag indicates that the work machine 3 is in the standby state, and a value of "0" (off) of the standby flag indicates that the work machine 3 is not in the standby state (i.e., in the operating state).

In step S3, the deceleration processing unit 16 of the control system 1 controls the rotation speed of the engine 40 of the work machine 3 to a low idle rotation speed lower than a predetermined value. That is, when it is determined that the work machine 3 is in the standby state (yes in S1), the deceleration processing unit 16 controls the rotation speed of the engine 40 to be lower than a predetermined value by the automatic deceleration function.

In step S4, the determination processing unit 13 of the control system 1 resets the value of the standby flag to "0" (off). That is, when the value of the standby flag is set to "1" (on) in step S2, the value of the standby flag is reset in step S4. Thus, the value "0" (off) of the standby flag indicates that the work machine 3 is in an operating state.

In step S5, the deceleration processing unit 16 of the control system 1 controls the rotation speed of the engine 40 of the work machine 3 to a high idle rotation speed higher than a predetermined value. That is, when it is determined that the work machine 3 is in the operating state (S1: no), the deceleration processing unit 16 controls the rotation speed of the engine 40 to be higher than a predetermined value by the automatic deceleration function.

In step S6, it is determined whether the door lock lever 463 is in the unlocking state (lowered position). At this time, the determination processing unit 13 of the control system 1 determines whether the door lock lever 463 is in the locked state (raised position) or in the unlocked state (lowered position) based on the on/off of the door lock switch 462. When the door lock switch 462 is turned on, the determination processing unit 13 determines that the door lock lever 463 is in the unlocked state (yes in S6), and moves the process to step S7. Here, when the door lock lever 463 is in the unlock state, the 1 st control valve 461 of the 1 st restriction portion 46 located on the primary pressure side of the pilot oil passage is in the open state, and the "state in which the work machine 3 can be operated" is set. On the other hand, if the door lock switch 462 is turned off, the determination processing unit 13 determines that the door lock lever 463 is in the locked state (S6: no), and moves the process to step S10.

In step S7, the acquisition processing unit 11 of the control system 1 acquires the detection result of the object Ob1 around the body 30 from the detection processing unit 14. That is, the detection processing unit 14 outputs a detection result indicating whether or not the object Ob1 is present in the monitoring area A1 based on the outputs of the left camera 341, the right camera 342, and the rear camera 343. The acquisition processing unit 11 acquires the detection result from the detection processing unit 14.

In step S8, the determination processing unit 13 of the control system 1 determines whether or not the detection result satisfies a predetermined condition. At this time, if the object Ob1 (here, "person") exists in the monitoring area A1, the determination processing unit 13 determines that the detection result satisfies the predetermined condition (S8: yes), and moves the process to step S9. On the other hand, if the object Ob1 is not present in the monitoring area A1 (here, a "person"), the determination processing unit 13 determines that the detection result does not satisfy the predetermined condition (S8: no), and advances the process to step S11.

In step S9, the alarm processing unit 15 of the control system 1 presents (outputs an alarm) information indicating that the detection result of the detection processing unit 14 satisfies a predetermined condition, that is, that the object Ob1 is present in the monitoring area A1 around the body 30. At this time, the alarm processing unit 15 causes the display unit 23 of the display device 2 to display the detection result information I1, I2 (see fig. 7), and causes the acoustic output unit 36 to output an alarm sound. Alternatively, the alarm processing unit 15 displays only the detection result information I1, I2 on the display unit 23 of the display device 2. The detection result information I1, I2 displayed on the display unit 23 of the display device 2 will be described in detail in the column of "[3.3] display screen". Therefore, the operator (user U1) can recognize that the object Ob1 exists around the body 30.

In step S10, the state switching processing unit 12 of the control system 1 determines whether or not the value of the standby flag is "1" (on). That is, when the standby flag is set to on (S2) because it is determined in step S1 that the standby state is in (S1: yes), the state switching processing unit 12 determines that the value of the standby flag is "1" (on) (S10: yes), and moves the process to step S11. On the other hand, when the standby flag remains off because it is determined in step S1 that the standby state is not set (S1: no), the state switching processing unit 12 determines that the value of the standby flag is "0" (off) (S10: no), and moves the process to step S12.

In step S11, the state switching processing unit 12 of the control system 1 sets the operation device 35 to an active state. At this time, the state switching processing unit 12 turns on (opens) the 2 nd control valve 471 of the 2 nd restriction unit 47, thereby turning on the operation device 35. Thus, the "state in which the work machine 3 can be operated" is set, and the actuator is operated according to the operation of the operation device 35.

In step S12, the state switching processing unit 12 of the control system 1 turns the operation device 35 into an inactive state. At this time, the state switching processing unit 12 turns the 2 nd control valve 471 of the 2 nd restriction unit 47 into the off state, thereby turning the operation device 35 into the inactive state. Thus, the "state in which the work machine 3 cannot be operated" is set, and the actuator is forcibly stopped regardless of the operation device 35.

After step S11 or step S12, the control system 1 ends a series of actions. The control system 1 repeatedly executes the processing of steps S1 to S12. However, the flowchart shown in fig. 6 is merely an example, and the process may be appropriately added or omitted, or the order of the processes may be appropriately replaced.

As described above, the control method of the present embodiment is to put the operating device 35 into the active state (S11) when the door lock lever 463 is in the unlocked state (S6: yes) and the detection result satisfies the predetermined condition in the standby state of the work machine 3 (S10: yes). In this way, when the work machine 3 is in the standby state, the operating device 35 can be brought into the active state even if the object Ob1 (person) is present around the work machine 3. Therefore, the following control method is not adopted: regardless of the operation state of the door lock lever 463, when an object Ob1 (person) is present around the work machine 3, the operation (actuation) of the work machine 3 is uniformly prohibited. Therefore, for example, when the operator performs a work carefully after recognizing that a person is present around the work machine 3, the operator can operate the work machine 3 without waiting for the person to be no longer present in the monitoring area A1. As a result, the work machine control system 1, the work machine 3, the control method of the work machine 3, and the control program for the work machine that easily reduce the feeling of boredom of the operator can be provided.

In the control method of the present embodiment, when the door lock lever 463 is in the unlocked state (S6: yes) and the detection result satisfies the predetermined condition (S8: yes) in the operating state of the work machine 3 (S10: no), the state switching processing unit 12 turns the operation device 35 into the inactive state (S12). In this way, only when work machine 3 is in the operating state, when object Ob1 (a person) is present around work machine 3, operation device 35 can be set to the inactive state. Therefore, the following control method is not adopted: regardless of the operation state of the door lock lever 463, when an object Ob1 (person) is present around the work machine 3, the operation (actuation) of the work machine 3 is uniformly prohibited. Therefore, for example, in a case where the operator performs a work carefully after recognizing that a person is present around the work machine 3, the work machine 3 can be operated without waiting for the person to be no longer present in the monitoring area A1. As a result, the work machine control system 1, the work machine 3, the control method of the work machine 3, and the control program for the work machine that easily reduce the feeling of boredom of the operator can be provided.

In particular, in the control method of the present embodiment, the rotation speed of the engine 40 of the work machine 3 is controlled to be lower than a predetermined value when the work machine 3 is in the standby state, and the rotation speed of the engine 40 is controlled to be higher than a predetermined value when the work machine 3 is in the operating state. Therefore, after the rotation speed of the engine 40 is higher than the predetermined value (S5), the door lock lever 463 is in the unlocked state (S6: yes), and when the detection result satisfies the predetermined condition (S8: yes), the state switching processing unit 12 turns the operation device 35 into the inactive state (S12). In this way, when the object Ob1 (a person) is present around the work machine 3 in the state where the rotation speed of the engine 40 is at the high idle rotation speed, the operation device 35 becomes inactive.

Therefore, since the rotation speed of the engine 40 (the rotation speed of the hydraulic pump 41) is high, the discharge amount (flow rate) of the hydraulic oil of the hydraulic pump 41 is large, and therefore, when the operation speed of the hydraulic actuator driven by the hydraulic oil is relatively high, the operation device 35 can be brought into an inactive state. In contrast, since the rotation speed of the engine 40 (the rotation speed of the hydraulic pump 41) is low, the discharge amount (flow rate) of the hydraulic oil of the hydraulic pump 41 is small, and therefore, when the operation speed of the hydraulic actuator driven by the hydraulic oil is relatively low, the operation device 35 can be brought into an active state. Therefore, although the object Ob1 (person) is present around the work machine 3, when the operation device 35 is in the active state, the output (operation speed) of the actuator is limited, and therefore, contact between the work machine 3 and the object Ob1 (person) is easily avoided.

In the present embodiment, since the operation device is in the standby state (S1: yes, S10: yes), when the operation device 35 is in the active state and the operation of the actuator is permitted despite the presence of the object Ob1 (person) around the work machine 3, information presentation is performed. In short, the alarm processing unit 15 presents information on the detection result (S9) at least when the door lock lever 463 is in the unlocked state (yes in S6) and the state switching processing unit 12 makes the operation device 35 in the active state (S11) even if the detection result satisfies the predetermined condition (yes in S8). In this way, when the operation device 35 is in the active state despite the presence of the object Ob1 (human) around the work machine 3, the information presentation relating to the detection result is performed, and therefore, the attention of the operator can be called.

In the present embodiment, even when the work machine is not in the standby state (S1: no, S10: no), information presentation is performed when the object Ob1 (person) is present around the work machine 3. In short, the alarm processing unit 15 presents information on the detection result (S9) at least when the door lock lever 463 is in the unlocked state (S6: yes) and the detection result satisfies the predetermined condition (S8: yes). Thus, when the object Ob1 (person) is present around the work machine 3, the information on the detection result is presented regardless of whether the operation device 35 is in the active state or the inactive state, and thus the attention of the operator can be called.

[3.3] display Screen

Next, a configuration of a display screen Dp1 displayed on the display unit 23 of the display device 2 by the control method according to the present embodiment will be described with reference to fig. 7. In the drawings, such as fig. 7, showing the display screen Dp1 displayed on the display unit 23 of the display device 2, the one-dot chain line, the lead line, and the reference numerals indicating the areas are merely given for the sake of explanation, and should not be actually displayed on the display device 2.

As shown in fig. 7, the captured images Im11, im12, im13 of the monitoring area A1, the detection result information I1, I2 indicating the detection result of the detection processing unit 14, and the like are displayed on the display screen Dp 1. In fig. 7, only the region R1 of the display screen Dp1, in which the captured images Im11, im12, im13, and the like of the monitor region A1 are displayed, is shown, and the regions other than the region R1 are omitted. The captured image Im11 is an image of the small area a11 on the left of the driving section 321 captured by the left camera 341, and the captured image Im12 is an image of the small area a12 on the right of the driving section 321 captured by the right camera 342. The captured image Im13 is an image of the small area a13 behind the driver 321 captured by the rear camera 343.

The control system 1 displays the captured images Im11, im12, and Im13 acquired by the detection processing unit 14 in real time. An icon Im10 imitating the body 30, which is observed from the information, is displayed in the center of the region R1. The icon Im10 schematically shows the positional relationship of the imaging ranges (small areas a11, a12, a 13) of the left camera 341, the right camera 342, and the rear camera 343 viewed from the body 30.

The detection result information I1 is a band-shaped (frame-shaped) image in which the captured image including the object Ob1 is highlighted among the captured images Im11, im12, im 13. The detection result information I2 is an image indicating the direction in which the object Ob1 is located when viewed from the driver 321. In the example of fig. 7, it is assumed that an object Ob1 (here, "person") is present in the small area a11 on the left of the driving section 321, which is photographed by the left camera 341. Therefore, the captured image Im11 of the captured images Im11, im12, im13 is highlighted by the detection result information I1, and the detection result information I2 indicating that the object Ob1 is present to the left of the driving unit 321 is displayed below the captured image Im 11.

The display mode of the detection result information I1, I2 is preferably changed according to the position of the object Ob1 in the monitoring area A1. For example, the display mode such as the display color, size, or display pattern (including a blinking pattern) of the detection result information I1, I2 is changed according to the position of the object Ob1 in the monitoring area A1. For example, the display mode of the detection result information I1, I2 is changed to a more conspicuous display color as the object Ob1 approaches the body 30, and as an example, the display color of the detection result information I1, I2 changes from yellow to red as the object Ob1 approaches the body 30.

In this way, on the display screen Dp1, not only the captured images Im11, im12, im13 of the monitoring area A1 but also the detection result of the object Ob1 in the monitoring area A1 is displayed as the detection result information I1, I2. Therefore, the operator (user U1) can easily confirm whether or not the object Ob1 (presence or absence) is present in the monitoring area A1 by observing the display screen Dp 1. Thus, the operator (user U1) can confirm the situation of the side, rear, etc. of the work machine 3, which is likely to be a dead angle when viewed from the driver 321, on the display screen Dp1 displayed on the display device 2. Therefore, compared with a configuration in which only the detection result information I1, I2 is displayed, when the object Ob1 is present in the monitoring area A1, the state of the object Ob1 can be easily grasped in detail on the display screen Dp 1.

[4] Modification examples

A modification of embodiment 1 will be described below. The modifications described below can be applied in appropriate combination.

The control system 1 in the present disclosure includes a computer system. The computer system has one or more processors and one or more memories as hardware as main structures. The functions as the control system 1 in the present disclosure are realized by a processor executing a program recorded in a memory of a computer system. The program may be recorded in advance in a memory of the computer system, may be provided via an electric communication line, or may be recorded in a non-transitory recording medium such as a memory card, an optical disk, or a hard disk drive readable by the computer system. A part or all of the functional units included in the control system 1 may be constituted by an electronic circuit.

At least a part of the functions of the control system 1 are integrated in one housing, and are not necessarily required for the control system 1, and the constituent elements of the control system 1 may be provided so as to be distributed among a plurality of housings. In contrast, in embodiment 1, functions dispersed in a plurality of devices (for example, the control system 1 and the display device 2) may be concentrated in one housing. At least a part of the functions of the control system 1 may be realized by a cloud (cloud computing) or the like.

The power source of work machine 3 is not limited to the diesel engine, and may be, for example, engine 40 other than the diesel engine, a motor (electric motor), or a hybrid power source including engine 40 and a motor (electric motor).

The display device 2 is not limited to a dedicated device, and may be a general-purpose terminal such as a laptop computer, a tablet terminal, or a smart phone. The display unit 23 is not limited to a system for directly displaying a display screen such as a liquid crystal display or an organic EL display, and may be configured to display a display screen by projection such as a projector.

As a method of inputting information of the operation unit 22, a method other than a push button switch, a touch panel, and an operation dial may be used. For example, the operation unit 22 may be a pointing device such as a keyboard or a mouse, or may be a voice input, a gesture input, or an input of an operation signal from another terminal.

The output (information presentation) method of the alarm by the alarm processing unit 15 is not limited to the display on the display unit 23 of the display device 2 and the output of the alarm sound from the acoustic output unit 36. For example, the alarm processing unit 15 may output an alarm by only either one of the display unit 23 of the display device 2 and the alarm sound from the acoustic output unit 36, or may output an alarm by means such as vibration (vibration function), transmission to another terminal, or writing to a non-transitory recording medium, or a combination thereof.

The sensor for detecting the object Ob1 in the monitoring area A1 around the body 30 is not limited to the left camera 341, the right camera 342, and the rear camera 343, and may include one, two, or 4 or more cameras (image sensors). For example, the object Ob1 in the monitoring area A1 may be detected by a camera capable of capturing an image of all directions, such as an all-direction camera (360-degree camera), when viewed from the work machine 3. In addition, the sensor for detecting the object Ob1 in the monitoring area A1 may include, for example, a human sensor, a sonar sensor, a radar, a LiDAR (Light Detection and Ranging), or the like, in addition to or instead of the camera. Here, the sensor that detects the object Ob1 in the monitoring area A1 may be a three-dimensional sensor that measures the distance to the object Ob1 by a TOF (Time Of Flight) system that measures the distance to the distance measurement point based on the reciprocation Time Of light or sound to reach the distance measurement point and return.

The detection processing unit 14 for detecting (detecting) the object Ob1 around the body 30 is not an essential structure for the control system 1. For example, the detection processing unit 14 may be included in a detection system other than the control system 1, and in this case, the acquisition processing unit 11 of the control system 1 may acquire a detection result of the object Ob1 around the body 30 of the work machine 3 from outside the control system 1 (detection system).

In addition to or instead of "person", the object Ob1 may include a moving body such as a vehicle (including other work machines), a structure such as a wall or a column, a plant, an animal, a step, a trench, or other obstacle.

The actuators of the respective parts of the body 30 are not limited to hydraulic actuators, and may be, for example, pneumatic actuators driven by air pressure of compressed air or the like, electric actuators driven by electric power supply, or a combination thereof.

The state switching processing unit 12 is not limited to the case where the door lock lever 463 is in the unlocked state in the standby state of the work machine 3 and the detection result satisfies the predetermined condition, and the operation device 35 is in the active state. For example, when the detection result does not satisfy the predetermined condition, the state switching processing unit 12 may set the operation device 35 to the active state regardless of whether the work machine 3 is in the standby state or the operating state. Similarly, the state switching processing unit 12 sets the operation device 35 to the inactive state is not limited to the case where the door lock lever 463 is in the unlocked state in the operating state of the work machine 3, and the detection result satisfies the predetermined condition. For example, when the door lock lever 463 is in the locked state in the operating state of the work machine 3, the state switching processing unit 12 may deactivate the operation device 35 regardless of whether or not the detection result satisfies the predetermined condition.

The predetermined condition includes the presence of the object Ob1 in the monitoring area A1 around the work machine 3, which is not a necessary configuration for the control system 1. The determination processing unit 13 determines the standby state and the operating state of the work machine 3 based on the operation state of the operation device 35 by the user, which is not necessarily required. It is not necessary that the deceleration processing unit 16 control the rotation speed of the engine 40 of the work machine 3 to be lower than a predetermined value when the work machine 3 is in the standby state and control the rotation speed of the engine 40 to be higher than a predetermined value when the work machine 3 is in the operating state. It is not necessary that the state switching processing unit 12 sets the operation device 35 to the inactive state when the door lock lever 463 is in the unlocked state after the rotation speed of the engine 40 is higher than the predetermined value and the detection result satisfies the predetermined condition.

In addition, when the door lock lever 463 is in the unlocked state and the state switching processing section 12 sets the operation device 35 to the active state even if the detection result satisfies the predetermined condition, it is not necessary to perform information presentation concerning the detection result. Note that, when the door lock lever 463 is in the unlocked state and the detection result satisfies the predetermined condition, information presentation concerning the detection result is not necessarily performed. In addition, when the door lock lever 463 is in the unlocked state and the detection result satisfies the predetermined condition in the standby state of the work machine 3, the state switching processing unit 12 sets the operating device 35 to the active state, which is not a necessary configuration.

(embodiment 2)

As shown in fig. 8, the working machine 3 of the present embodiment is different from the working machine 3 of embodiment 1 in a configuration related to the operation of the operation device 35. Hereinafter, the same components as those of embodiment 1 will be denoted by common reference numerals, and description thereof will be omitted as appropriate.

Fig. 8 schematically illustrates a hydraulic circuit and an electric circuit (electrical connection relationship) of the work machine 3 according to the present embodiment. In fig. 8, a solid line indicates a high-pressure (for the working oil) oil passage, a broken line indicates a low-pressure (for the pilot oil) oil passage, and an arrow with a single-dot chain line indicates a path of an electric signal.

As shown in fig. 8, the work machine 3 includes a plurality of control valves 401 to 404 in addition to the hydraulic pump 41, the hydraulic motor 43, the hydraulic cylinder 44, the pilot pump 42, the directional control valve (control valve) 48, and the like. In fig. 8, the flow rate limiting portion 49 and the like are appropriately omitted. In fig. 8, only one hydraulic cylinder 44 for driving the boom 332 is shown, but the same hydraulic circuit is also configured for the hydraulic cylinder 44 for driving the arm 333, the bucket 331, or the like. In fig. 8, only the hydraulic motor 43 of the traveling unit 31 is shown, but the same hydraulic circuit is configured for the hydraulic motor of the turning unit 32.

The plurality of control valves 401 to 404 are provided in place of the 2 nd control valve 471 and the remote control valve 45 (see fig. 2) serving as the 2 nd restriction portion 47. Specifically, control valves 401 to 404 are provided in the supply paths of the pilot oil to each direction switching valve 48. Further, the 1 st control valve 461 is provided on the upstream side of the pilot oil in terms of the control valves 401 to 404. The control valves 401 to 404 are each composed of an electromagnetic control valve (electromagnetic valve) and interposed between the direction switching valve 48 and the pilot pump 42. Each of the control valves 401 to 404 is connected to the control system 1, and operates in response to a control signal (supply current) from the control system 1. Specifically, the control system 1 controls the control valves 401 to 404 in response to the operation of the operation device 35 (operation lever), for example, to instruct the expansion operation and the contraction operation of the working unit 33. The control valves 401 to 404 are (electromagnetic) proportional control valves, but are not limited thereto, and may be, for example, on-off valves capable of switching the opening and shutting of the flow paths.

Such a direction switching valve and a control valve are provided not only in the hydraulic cylinder 44 for driving the boom 332 and the hydraulic motor 43 of the traveling unit 31, but also in the hydraulic circuit of the hydraulic cylinder 44 for driving the arm 333, the bucket 331, and the like, and the hydraulic motor of the swing unit 32. Therefore, the traveling unit 31, the turning unit 32, and the working unit 33 can be operated according to the operation of the operation device 35.

In the present embodiment, the operation device 35 is an electric operation device 35, and outputs an electric signal (operation signal) corresponding to an operation by a user (operator) to the control system 1 to receive various operations by the user. In the present embodiment, the operation device 35 includes a pair of operation levers 351 and 352 (see fig. 8), as an example. The lever 351 is positioned on the right hand side from the user (operator) riding in the driving section 321, and the lever 352 is positioned on the left hand side from the user riding in the driving section 321. Therefore, the user holds the operation lever 351 with the right hand and the operation lever 352 with the left hand, and operates the pair of operation levers 351 and 352 independently, respectively, to thereby cause the work machine 3 to perform various operations.

The operation levers 351 and 352 are bar-type operation pieces, and are operated to tilt toward any one of the "front", "rear", "left" and "right", for example, to output an electric signal (operation signal) corresponding to the operation. As an example, the operation device 35 outputs different operation signals in response to an operation to tilt the operation lever 351 forward, an operation to tilt the operation lever 351 rightward, an operation to tilt the operation lever 352 forward, and an operation to tilt the operation lever 352 rightward, respectively.

In the work machine 3 of the present embodiment, the state switching processing unit 12 maintains the control valves 401 to 404 in the cut-off state regardless of the operation device 35 (operation lever), thereby realizing the invalid state of the operation device 35. In this way, in the active state of the operation device 35, the control valves 401 to 404 are controlled to operate the actuator in response to the operation signal from the operation device 35, whereas in the inactive state of the operation device 35, the actuator is forcibly stopped. Alternatively, the state switching processing unit 12 may invalidate the operation signal from the operation device 35 to realize the invalid state of the operation device 35.

In this configuration, the operation (control method) of the control system 1 is also the same as that of embodiment 1. The structure of embodiment 2 can be used in combination with the various structures described in embodiment 1 (including modifications) as appropriate.

Claims

1. A control system for a working machine is characterized by comprising:

an acquisition processing unit that acquires a detection result of an object around a body of a work machine provided with an actuator that operates according to an operation of an operation device; and

a state switching processing section capable of switching an active state and an inactive state of the operating device independently of a door locking lever capable of switching a lock release state capable of operating the working machine and a lock state incapable of operating the working machine,

The state switching processing unit sets the operating device to the active state when the door lock lever is in the unlock state and the detection result satisfies a predetermined condition in a standby state of the work machine.

2. The control system for a work machine according to claim 1, wherein,

further comprises a judging and processing part, wherein the judging and processing part is provided with a judging and processing part,

the determination processing unit determines the standby state and the operating state of the work machine based on an operation state of the operation device by a user.

3. The control system for a working machine according to claim 1 or 2, wherein,

the device is also provided with a deceleration processing part,

the deceleration processing unit controls the rotational speed of an engine of the work machine to be lower than a predetermined value when the work machine is in the standby state, and controls the rotational speed of the engine to be higher than the predetermined value when the work machine is in the operating state.

4. The control system for a work machine according to claim 3, wherein,

the state switching processing unit sets the operating device to the inactive state when the door lock lever is in the unlock state after the rotation speed of the engine is higher than the predetermined value and the detection result satisfies the predetermined condition.

5. The control system for a working machine according to any one of claims 1 to 4, wherein,

the prescribed condition includes the presence of the object in a monitored area around the work machine.

6. The control system for a working machine according to any one of claims 1 to 5, wherein,

also provided with an alarm processing part, wherein the alarm processing part is provided with an alarm processing part,

the alarm processing unit presents information on the detection result at least when the door lock lever is in the unlock state and the state switching processing unit brings the operation device into the active state even if the detection result satisfies the predetermined condition.

7. A working machine is characterized by comprising:

the control system for a working machine according to any one of claims 1 to 6; and

the machine body.

8. A control method of a working machine is characterized in that,

the method comprises the following steps:

obtaining a detection result of an object around a body of a working machine provided with an actuator that operates according to an operation of an operation device; and

the operation device is set to an active state when the door lock lever is in the unlocked state and the detection result satisfies a predetermined condition in a standby state of the working machine, independently of a door lock lever that is switchable between a locked state in which the working machine can be operated and a locked state in which the working machine cannot be operated.

9. A control program for a working machine, characterized in that,

a control method for causing one or more processors to execute the work machine of claim 8.

10. A control system for a working machine is characterized by comprising:

the state switching processing unit sets the operating device to the inactive state when the door lock lever is in the unlock state and the detection result satisfies a predetermined condition in an operating state of the work machine.

11. The control system for a work machine according to claim 10, wherein,

the state switching processing unit sets the operating device to the active state when the door lock lever is in the unlock state and the detection result satisfies the predetermined condition in a standby state of the work machine.

12. The control system for a working machine according to claim 10 or 11, wherein,

the determination processing unit determines a standby state and the operating state of the work machine based on an operation state of the operation device by a user.

13. The control system for a working machine according to any one of claims 10 to 12, wherein,

the device is also provided with a deceleration processing part,

the deceleration processing unit controls the rotational speed of an engine of the work machine to be lower than a predetermined value when the work machine is in a standby state, and controls the rotational speed of the engine to be higher than the predetermined value when the work machine is in the operating state.

14. The control system for a working machine according to any one of claims 10 to 13, wherein,

15. The control system for a working machine according to any one of claims 10 to 14, wherein,

the alarm processing unit is configured to present information on the detection result at least when the door lock lever is in the unlock state and the detection result satisfies the predetermined condition.

16. A working machine is characterized by comprising:

the control system for a work machine according to any one of claims 10 to 15; and

the machine body.

17. A control method of a working machine is characterized in that,

the method comprises the following steps:

the operation device is set to an inactive state when the door lock lever is in the unlocked state and the detection result satisfies a predetermined condition in an operating state of the working machine, independently of a door lock lever that is switchable between a locked state in which the working machine can be operated and a locked state in which the working machine cannot be operated.

18. A control program for a working machine, characterized in that,

a control method for causing one or more processors to execute the work machine of claim 17.