JP2023129873A - Work machine control system, work machine, control method of work machine, and control program of work machine - Google Patents

Abstract

To provide a work machine control system capable of reducing the burden related to operation on an operator, a work machine, a control method of the work machine, and a control program of the work machine.SOLUTION: A work machine control system 1 includes an acquisition processing unit 11, a determination processing unit 13, and an alarm processing unit 15. The acquisition processing unit 11 acquires a detection result of objects around a machine body of the work machine 3. The determination processing unit 13 determines whether the work machine 3 is in an operable state. The alarm processing unit 15 performs a series of processing of alarm output. The alarm processing unit 15 is configured to output an alarm under the first situation and to continue the alarm output when the work machine 3 is determined to be ready for operation after the first situation. The first situation is a situation where that work machine 3 is determined as operable and the detection result satisfies the specified conditions.SELECTED DRAWING: Figure 2

Description

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

As a related technology, a work machine control system (work machine surrounding monitoring device) that determines the presence or absence of a person around a work machine (excavator) is known (for example, see Patent Document 1). This control system for work machines detects that the work machine is not in a state where it can be operated (workable state) because the gate lock lever is in the locked state, and it is determined that there are people around the work machine. Although the value of the detection flag is set to "1" (on), the alarm processing section (alarm control means) does not output an alarm at this point. After that, when the gate lock lever is unlocked and the work machine is ready for operation, the work machine control system detects a person, regardless of whether there is a person around the work machine at that time. If the value of the flag is "1", the alarm processing unit outputs an alarm.

As described above, in the work machine control system according to the related technology, when it is determined that the work machine is in an inoperable state and it is determined that there is a person around the work machine, the alarm processing unit is configured to prevent the work machine from being operated after that. An alarm is output when it is determined that the machine is ready for operation.

Japanese Patent Application Publication No. 2014-181509

In the above-mentioned related technology, if the gate lock lever is in the locked state, no alarm is output, so the operator, without being aware of the presence of people around the work machine, sets the gate lock lever to the unlocked state and may move to a state where it can be operated. In such a case, the operator needs to operate the work machine carefully, for example, in order to avoid the work machine from suddenly operating violently.

An object of the present invention is to provide a work machine control system, a work machine, a work machine control method, and a work machine control program that can easily reduce the burden on an operator.

A work machine control system according to one aspect of the present invention includes an acquisition processing section, a determination processing section, and an alarm processing section. The acquisition processing unit acquires detection results of objects around the body of the working machine. The determination processing unit determines whether the work machine is in an operable state or in an inoperable state. The alarm processing section outputs an alarm. The alarm processing unit outputs the alarm under a first situation, and continues outputting the alarm when it is determined that the work machine is in an operable state after the first situation. The first situation is a situation in which it is determined that the work machine cannot be operated, and the detection result satisfies a predetermined condition.

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

A method for controlling a working machine according to one aspect of the present invention includes acquiring a detection result of an object around a body of a working machine, and determining whether the working machine is in an operable state or an inoperable state. In a case where a first situation is a situation in which it is determined that the work machine is in an inoperable state and the detection result satisfies a predetermined condition, an alarm is output under the first situation, and the first situation is and continuing to output the alarm when it is determined that the work machine is in an operable state after.

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

According to the present invention, it is possible to provide a work machine control system, a work machine, a work machine control method, and a work machine control program that can easily reduce the burden on an operator related to operation.

FIG. 1 is a schematic perspective view showing the overall configuration of a working machine according to a first embodiment. FIG. 2 is a schematic diagram showing a hydraulic circuit and the like of the working machine according to the first embodiment. FIG. 3 is a schematic plan view of the working machine according to the first embodiment, viewed from above, and schematically showing a monitoring area and the like set around the working machine. FIG. 4 is a schematic external view of a display device on which a display screen is displayed by the work machine control system according to the first embodiment. FIG. 5 is an explanatory diagram showing a schematic operation of the work machine control system according to the first embodiment. FIG. 6 is a flowchart showing an example of the operation of the work machine control system in the first mode according to the first embodiment. FIG. 7 is a flowchart illustrating an example of the operation of the work machine control system in the second mode according to the first embodiment. FIG. 8 is a diagram showing an example of a display screen displayed by the work machine control system according to the first embodiment. FIG. 9 is a schematic diagram showing a hydraulic circuit and the like of a working machine according to the second embodiment.

Embodiments of the present invention will be described below with reference to the accompanying drawings. The following embodiment is an example embodying the present invention, and is not intended to limit the technical scope of the present invention.

(Embodiment 1)
[1] Overall Configuration As shown in FIG. 1, the work machine 3 according to the present embodiment includes a traveling section 31, a turning section 32, and a working section 33 in a body 30. Further, 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"). In addition, as shown in FIGS. 1 and 2, the aircraft body 30 further includes a display device 2, a drive device 34, an operating device 35, a sound output section 36, and the like.

In this embodiment, the control system 1 has, as its main function, a function of outputting an alarm according to the detection result of an object around the body 30 of the work machine 3. In other words, the control system 1 can also be called a peripheral monitoring system for the working machine 3, and the function of controlling the operation of the working machine 3 itself is not essential.

The term "work machine" as used in the present disclosure refers to various work machines, and examples thereof include work vehicles such as backhoes (including hydraulic excavators, mini excavators, etc.), wheel loaders, and carriers. The work machine 3 includes a work unit 33 configured to be able to perform one or more tasks. The work machine 3 is not limited to a "vehicle" and may be, for example, a work vessel, a work flying object such as a drone, or a multicopter. Furthermore, the working machine 3 is not limited to a construction machine (construction machine), but may be an agricultural machine (agricultural machine) such as a rice transplanter, a tractor, or a combine harvester. In this embodiment, unless otherwise specified, a case will be exemplified in which the work machine 3 is a riding type backhoe and is capable of performing excavation work, land leveling work, trench digging work, loading work, etc. explain.

Further, in this embodiment, for convenience of explanation, the vertical direction when the working machine 3 is in a usable state is defined as the up-down direction D1. Further, in the non-swinging state of the swinging section 32, a front-rear direction D2 and a left-right direction D3 are defined with reference to the direction seen from the user (operator) riding on (the driving section 321 of) the work machine 3. In other words, the directions used in this embodiment are all defined with the body 30 of the work machine 3 as a reference, and the direction in which the body 30 moves when the work machine 3 moves forward is "forward"; The direction in which the machine body 30 moves when the machine 3 retreats is "backward". Similarly, the direction in which the front end of the body 30 moves when the work machine 3 turns to the right is "rightward," and the direction in which the front end of the body 30 moves when the work machine 3 turns to the left is "to the left." However, these directions are not intended to limit the direction in which the work machine 3 is used (direction during use).

The working machine 3 includes an engine 40 (see FIG. 2) that serves as a power source. In this embodiment, as an example, the engine 40 is a diesel engine. The engine 40 is driven by being supplied with fuel (here, light oil) 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, etc.) of various parts of the machine body 30. By being supplied, the aircraft body 30 is driven. Such a working machine 3 is controlled by, for example, a user (operator) riding on the operating section 321 of the machine body 30 operating a control lever of the operating device 35 or the like.

In this embodiment, as described above, it is assumed that the working machine 3 is a riding type backhoe, so the working part 33 is driven according to the operation of the user (operator) riding on the driving part 321, and performs the excavation work. and other tasks. The driving section 321 on which the user rides is provided in the turning section 32.

Here, the operating section 321 of the machine body 30 is equipped with a display device 2, an operating device 35, a sound output section 36, etc., and the user can read various information related to the working machine 3 displayed on the display device 2. It is possible to operate the operating device 35 while watching. As an example, by displaying information regarding the operating status of the working machine 3 such as cooling water temperature and hydraulic oil temperature on the display screen of the display device 2, the user can check the operating status of the working machine 3 necessary for operating the operating device 35. Information regarding the status can be confirmed on the display device 2.

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

The turning section 32 is located above the running section 31 and is configured to be able to turn about a rotation axis along the vertical direction D1 with respect to the running section 31. The swing section 32 includes a swing hydraulic motor (hydraulic actuator) and the like. In addition to the driving section 321, the rotating section 32 is equipped with an engine 40, a hydraulic pump 41, and the like. Furthermore, a boom bracket 322 to which the working part 33 is attached is provided at the front end of the swing part 32.

The work unit 33 is configured to be able to execute one or more tasks. The working section 33 is supported by the boom bracket 322 of the rotating section 32 and performs work. The working section 33 has a bucket 331. The bucket 331 is a type of attachment (work tool) attached to the body 30 of the work machine 3, and is an arbitrary tool selected from a plurality of types of attachments depending on the content of the work. For example, the bucket 331 is removably attached to the aircraft body 30 and replaced depending on the content of the work. As attachments for the work machine 3, for example, in addition to the bucket 331, there are various attachments such as a breaker, an auger, a crusher, a fork, a fork claw, a steel cutter, an asphalt cutting machine, a grass mower, a ripper, a mulcher, a tiltrotator, and a tamper. There is equipment.

The working unit 33 further includes a boom 332, an arm 333, a hydraulic actuator (including a hydraulic cylinder 44, a hydraulic motor, etc.), and the like. Bucket 331 is attached to the tip of arm 333.

The boom 332 is rotatably supported by the boom bracket 322 of the swing section 32. Specifically, the boom 332 is supported by the boom bracket 322 so as to be rotatable about a rotation axis along the horizontal direction. The boom 332 has a shape that extends upward from a base end supported by the boom bracket 322. Arm 333 is connected to the tip of boom 332. The arm 333 is supported by the boom 332 so as to be rotatable about a rotation axis along the horizontal direction.

The working section 33 operates by receiving power from an engine 40 as a power source. Specifically, the hydraulic pump 41 is driven by the engine 40, and hydraulic oil is supplied from the hydraulic pump 41 to the hydraulic actuators (hydraulic cylinder 44, etc.) of the working part 33, so that each part of the working part 33 (bucket 331, boom 332 and arm 333) are operated.

Particularly in this embodiment, the working unit 33 has a multi-jointed structure in which a boom 332 and an arm 333 are individually rotatable. In other words, by each of the boom 332 and the arm 333 rotating around a rotation axis along the horizontal direction, the multi-jointed working unit 33 including the boom 332 and the arm 333 can be extended or folded as a whole. It is possible to perform operations such as

Similarly to the working section 33, each of the traveling section 31 and the turning section 32 operates by receiving power from the engine 40 as a power source. That is, the hydraulic oil is supplied from the hydraulic pump 41 to the hydraulic motor 43 of the traveling section 31, the hydraulic motor of the swinging section 32, and the like, so that the swinging section 32 and the running section 31 operate.

Here, the fuselage 30 includes various sensors (such as a camera that images the surroundings of the fuselage 30) for detecting the object Ob1 (see FIG. 3) in the monitoring area A1 (see FIG. 3) around the working machine 3. (including camera). In this embodiment, as an example, as shown in FIG. There is. The left camera 341 , the right camera 342 , and the rear camera 343 are connected to the control system 1 and output images captured by each to the control system 1 . FIG. 3 is a plan view of the working machine 3 seen from above, showing the monitoring area A1 set around the working machine 3, the object Ob1, and the body 30 of the working machine 3 (left camera 341, right camera 342 and a rear camera 343).

The left camera 341, the right camera 342, and the rear camera 343 are configured so that they can capture images of the monitoring areas A1 on the left, right, and rear, respectively, as viewed from the operator riding on the driving section 321 of the turning section 32. It is installed toward the left, right, and rear with respect to the section 321. That is, as shown in FIG. 3, the monitoring area A1 includes a plurality of (three in this case) small areas A11, A12, and A13. A small area A11 (left area) to the left is imaged. Similarly, the right camera 342 captures an image of a small area A12 (right area) that is to the right as seen from the operator sitting in the driving unit 321, and the rear camera 343 images the small area A12 (right area) as seen from the operator sitting in the driving unit 321. A small area A13 (rear area) which is the rear side is imaged. This allows the left camera 341, right camera 342, and rear camera 343 to cover the sides (left and right) and rear, which tend to be blind spots for the operator.

FIG. 2 schematically shows a hydraulic circuit and an electric circuit (electrical connection relationship) of the working machine 3 according to the present embodiment. In FIG. 2, the solid line shows a high pressure oil path (for hydraulic oil), the dotted line shows a low pressure oil path (for pilot oil), and the dashed-dotted arrow shows the path of an electrical signal.

As shown in FIG. 2, the work machine 3 includes, in addition to a hydraulic pump 41, a hydraulic motor 43 (not shown in FIG. 2), and a hydraulic cylinder 44, a pilot pump 42, a remote control valve 45, a first restricting section 46, and a hydraulic cylinder 44. 2 restriction section 47, a direction switching valve (control valve) 48, a flow rate restriction section 49, and the like.

Hydraulic oil from a hydraulic pump 41 driven by the engine 40 is supplied to a hydraulic motor 43 of the traveling section 31, a hydraulic motor of the swing section 32, a hydraulic cylinder 44 of the working section 33, and the like. As a result, 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 appropriate means. The work machine 3 according to the present embodiment includes a flow rate restriction section 49, and the flow rate of the hydraulic oil can be adjusted by the flow rate restriction section 49. In this embodiment, as an example, the hydraulic pump 41 is a variable displacement pump that can change the amount of hydraulic fluid discharged per rotation of the drive shaft.

The flow rate restriction section 49 includes 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 into which a control signal for adjusting the discharge amount (flow rate) of hydraulic oil of the hydraulic pump 41, which is a variable displacement pump, is input. Specifically, pilot oil serving as a control signal is supplied from the pilot pump 42 to the control signal input port 491, and the discharge amount of hydraulic oil from the hydraulic pump 41 changes depending on the supply amount (pilot pressure) of the pilot oil. . The electromagnetic proportional valve 492 is an electromagnetic proportional control valve provided on the pilot oil supply path 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 according to the control signal (supply current) from the control system 1, thereby operating the hydraulic pump 41. Changes the amount of oil discharged. Engine control section 493 controls the rotation speed of engine 40. That is, the engine control unit 493 changes the amount of hydraulic oil discharged from the hydraulic pump 41 by controlling the rotation speed of the hydraulic pump 41.

In this way, the flow rate restriction unit 49 controls at least one of the flow rate of the hydraulic pump 41 that supplies hydraulic oil, the rotation speed of the engine 40 that drives the hydraulic pump 41, and the pilot pressure, so that the flow rate from the hydraulic pump 41 is reduced. The flow rate of discharged hydraulic fluid can be adjusted. The flow rate limiter 49 may change the flow rate of the hydraulic oil discharged from the hydraulic pump 41 steplessly or continuously, or may change it stepwise (for example, in 2 steps, 5 steps, or 10 steps, etc.). Good too.

Hydraulic actuators such as the hydraulic motor 43 and the hydraulic cylinder 44 are provided with a pilot-type directional switching valve 48 that can switch the direction and flow rate of hydraulic oil from the hydraulic pump 41. The directional switching valve 48 is driven by being supplied with pilot oil as an input command from the pilot pump 42 .

Here, for example, a remote control valve 45 is provided in the pilot oil supply path to the directional switching valve 48 corresponding to the hydraulic cylinder 44 of the working part 33. The remote control valve 45 outputs a work operation command for the work unit 33 in response to the operation of the operating device 35 (operation lever). The work operation command instructs the expansion operation, contraction operation, etc. of the work unit 33. Further, the flow rate of the pilot oil supplied from the pilot pump 42 to the remote control valve 45 can be adjusted by the first restriction part 46 and the second restriction part 47. The first restriction section 46 includes a first control valve 461, a gate lock switch 462, and a gate lock lever 463. The second restriction portion 47 has a second control valve 471 .

The first control valve 461 and the second control valve 471 are both electromagnetic control valves (electromagnetic valves), and are inserted in series between the remote control valve 45 and the pilot pump 42. The first control valve 461 is connected to a power source via a gate lock switch 462, and operates according to the current supplied from the power source. The second 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 first control valve 461 and the second control valve 471 are assumed to be (electromagnetic) proportional control valves here, but are not limited to this, and may be, for example, on-off valves that can switch the opening/blocking of a flow path. It's okay.

Both the first control valve 461 and the second control valve 471 open the pilot oil flow path in a energized state, that is, a state in which a current as a control signal is supplied, and in a non-energized state, that is, a state in which a current as a control signal is supplied. With the current cut off, the pilot oil flow path is cut off. Therefore, by cutting off the supply current (control signal) to at least one of the first control valve 461 and the second control valve 471, the hydraulic actuator (hydraulic cylinder 44, etc.) corresponding to the remote control valve 45 becomes unable to drive. , the hydraulic actuator is forcibly stopped without operating the operating device 35.

Similarly, a remote control valve is also provided in the pilot oil supply path to the directional control valve corresponding to the hydraulic motor 43 of the traveling section 31. This remote control valve outputs a traveling operation command for the traveling section 31 in response to the operation of the operating device 35 (operating lever). The traveling operation command instructs the traveling operation (forward or backward, etc.) of the traveling section 31. Furthermore, a remote control valve is also provided in the pilot oil supply path to the directional control valve corresponding to the hydraulic motor of the swing section 32. This remote control valve outputs a rotation operation command for the rotation section 32 in response to the operation of the operation device 35 (operation lever). The turning operation command instructs the turning operation of the turning section 32 (left turning, right turning, etc.). A first control valve 461 and a second control valve 471 are also inserted between these remote control valves and the pilot pump 42.

Gate lock switch 462 is linked to gate lock lever 463. The gate lock lever 463 is arranged in the operating section 321 of the aircraft body 30, and receives operation input from a user (operator). In this embodiment, as an example, the gate lock lever 463 can be operated along the vertical direction D1. If the gate lock lever 463 is in the "up position" which is the upper end of the movable range, the gate lock switch 462 is "off", and if the gate lock lever 463 is in the "lower position" which is the lower end of the movable range, the gate is turned off. Lock switch 462 is "on". The gate lock switch 462 is connected to the control system 1, and the control system 1 monitors whether the gate lock switch 462 is turned on or off.

Therefore, when the gate lock lever 463 is in the "down position", the first control valve 461 is energized, and the hydraulic actuator (hydraulic cylinder 44, etc.) is driven by the operation of the operating device 35. On the other hand, if the gate lock lever 463 is in the "up position", the first control valve 461 is de-energized, and the hydraulic actuator is forcibly stopped without operating the operating device 35. Therefore, in order to drive the hydraulic actuator (hydraulic cylinder 44, etc.), the user (operator) needs to operate the gate lock lever 463 to the "down position".

Furthermore, each of the swing section 32 and the traveling section 31 is operated by supplying hydraulic oil from the hydraulic pump 41 to a hydraulic actuator (hydraulic motor 43, etc.), so even if the gate lock lever 463 is in the "up position" For example, the turning section 32 and the traveling section 31 also become undriveable. In other words, when the gate lock lever 463 is in the "raised position", the working section 33, the swing section 32, and the traveling section 31 are all forced to be in a non-driveable state.

In short, the gate lock switch 462 is in a "locked state" in which the operation of the work machine 3 is restricted (including prohibited) when it is off, and is in an "unlocked state" in which the operation of the work machine 3 is not restricted when it is on. It is in. If the gate lock lever 463 is in the "up position" and the gate lock switch 462 is in the locked state (off), the operation of the working machine 3 is forcibly restricted without operating the operating device 35. The gate lock lever 463 is a lever operated when locking the operation of the working machine 3 in this way, and is synonymous with a cut-off lever.

The operating device 35 is disposed in the operating section 321 of the aircraft body 30, and is a user interface for receiving operation input from a user (operator). The operating device 35 receives various operations by the user, for example, by outputting an electrical signal (operation signal) corresponding to the user's operation.

The sound output unit 36 outputs sound (including voice) to the user (operator). The sound output section 36 includes a buzzer, a speaker, or the like, and outputs sound upon receiving an electrical signal. The sound output unit 36 is connected to the control system 1 and outputs a sound such as a beep sound or a voice in response to a sound control signal from the control system 1. In the present embodiment, the sound output unit 36 is provided in the operating unit 321 of the aircraft body 30 similarly to the display device 2. The sound output section 36 may be provided integrally with the display device 2.

The control system 1 mainly includes a computer system having one or more processors such as a CPU (Central Processing Unit), and one or more memories such as a ROM (Read Only Memory) and a RAM (Random Access Memory). Executes various processes (information processing). In this embodiment, the control system 1 is an integrated controller that controls the entire working machine 3, and includes, for example, an electronic control unit (ECU). However, the control system 1 may be provided separately from the integrated controller, or may be mainly composed of one processor or a plurality of processors. The control system 1 will be described in detail in the section "[2] Configuration of control system".

The display device 2 is disposed in the operating section 321 of the aircraft body 30, and is a user interface for receiving operation input from a user (operator) and outputting various information to the user. The display device 2 receives various operations by the user, for example, by outputting electrical signals according to the user's operations. Thereby, the user (operator) can visually recognize the display screen Dp1 (see FIG. 4) displayed on the display device 2, and can also operate the display device 2 as necessary.

The display device 2 includes a control section 21, an operation section 22, and a display section 23, as shown in FIG. The display device 2 is configured to be able to communicate with the control system 1, and can exchange data with the control system 1. In this embodiment, as an example, the display device 2 is a dedicated device used for the work machine 3.

The control unit 21 controls the display device 2 according to data from the control system 1. Specifically, the control unit 21 outputs an electrical signal according to the user's operation received by the operation unit 22, and 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 operation input from a user (operator) on the display screen Dp1 displayed on the display unit 23. The operation unit 22 accepts various operations by the user U1, for example, by outputting electrical signals according to the operations by the user U1 (see FIG. 4). In this embodiment, as an example, the operation unit 22 includes a plurality of mechanical push button switches 221 to 226 (six in this case), as shown in FIG. The plurality of push button switches 221 to 226 are arranged close to the display area (below in the example of FIG. 4) along the periphery of the display area of the display section 23. These plurality of pushbutton switches 221 to 226 are associated with items displayed on the display screen Dp1, which will be described later. The item is operated (selected).

Further, the operation unit 22 may include a touch panel, an operation dial, and the like. In this case as well, any item on the display screen Dp1 will be operated (selected) by operating 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 that displays various information. The display unit 23 presents various information to the user by display. In this embodiment, as an example, the display section 23 is a full-color liquid crystal display with a backlight, and has a "horizontally long" display area that is long in the horizontal direction, as shown in FIG.

In addition to the configuration described above, the aircraft body 30 further includes a communication terminal, a fuel tank, a battery, and the like. Furthermore, the machine body 30 is equipped with various sensors (including a camera) for detecting objects to be detected in the monitoring area around the work machine 3, such as a camera that images the surroundings of the machine body 30.

[2] Configuration 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 aircraft body 30 (including the traveling part 31, the turning part 32, the working part 33, etc.). In this embodiment, the control system 1 is a component of the working machine 3, and constitutes the working machine 3 together with the body 30 and the like. In other words, the work machine 3 according to this embodiment includes at least the control system 1 and the machine body 30.

As shown in FIG. 2, the control system 1 includes an acquisition processing section 11, a switching processing section 12, a determination processing section 13, a detection processing section 14, and an alarm processing section 15. In this embodiment, as an example, the control system 1 has a main configuration of a computer system having one or more processors, so the one or more processors execute the control program for the work machine, thereby controlling these functional units (acquisition processing 11 etc.) are realized. These plurality of functional units included in the control system 1 may be provided in a distributed manner in a plurality of casings, or may be provided in one casing.

The control system 1 is configured to be able to communicate with devices provided in each part of the aircraft body 30. That is, the control system 1 includes at least the display device 2, the left camera 341, the right camera 342, the rear camera 343, the sound output unit 36, the gate lock switch 462, the second control valve 471, the electromagnetic proportional valve 492, and the engine control 493 and the like are connected. Thereby, the control system 1 can control the display device 2, the sound output unit 36, etc., and acquire images captured by the left camera 341, right camera 342, rear camera 343, etc. Here, the control system 1 may exchange various types of information (data) with each device directly or indirectly via a repeater or the like. The control system 1 and devices provided in each part of the aircraft body 30 can communicate using a communication method such as CAN (Controller Area Network), for example.

The acquisition processing unit 11 executes an acquisition process to acquire the detection results of the object Ob1 around the body 30 of the working machine 3. Specifically, in this embodiment, the object Ob1 around the aircraft body 30 is detected by the detection processing unit 14 based on the outputs of the left camera 341, right camera 342, and rear camera 343. Therefore, the acquisition processing unit 11 acquires the detection result of the object Ob1 around the aircraft body 30 from the detection processing unit 14. In this embodiment, as an example, the object Ob1 is a "person". In other words, if a "person" intrudes into the monitoring area A1 around the work machine 3 as a result of the movement of the work machine 3 or the movement of the "person" around the work machine 3, the detection processing unit 14 detects the ” is detected as object Ob1. When a plurality of objects Ob1 exist in the monitoring area A1, the detection processing unit 14 may also detect the number of objects Ob1 (the number of people).

In the present embodiment, the acquisition processing unit 11 transmits the detection result of the object Ob1 around the aircraft body 30 to the detection processing unit 14 regardless of whether the gate lock lever 463 is in the “up position” or the “down position”. Obtained from regularly or irregularly.

The switching processing section 12 executes a mode switching process for switching the operation mode of the alarm processing section 15. In this embodiment, as an example, a plurality of operation modes including a first mode and a second operation mode are prepared as the operation modes of the alarm processing section 15. The switching processing unit 12 switches the operating mode of the alarm processing unit 15 by selectively selecting one of the plurality of operating modes. For example, when the switching processing section 12 selects the second mode while the operation mode of the alarm processing section 15 is the first mode, the operation mode of the alarm processing section 15 switches from the first mode to the second mode. Similarly, when the switching processing section 12 selects the first mode while the operation mode of the alarm processing section 15 is the second mode, the operation mode of the alarm processing section 15 switches from the second mode to the first mode.

Here, the switching processing section 12 switches the operation mode of the alarm processing section 15 in response to a user's (operator's) operation. As an example, with a setting screen displayed as the display screen Dp1 on the display device 2, the user may select an arbitrary operation mode (first mode or second mode) on the setting screen. Manipulate. When the display device 2 receives such an operation, the switching processing section 12 switches the operation mode of the alarm processing section 15 to an arbitrary operation mode selected by the user. On the setting screen displayed on the display device 2, it is also possible to confirm the currently selected operation mode.

The determination processing unit 13 executes a determination process to determine whether the work machine 3 is in a "state in which the work machine 3 cannot be operated" or in the "state in which the work machine 3 can be operated." The "state in which the work machine 3 cannot be operated" here means a state in which the work machine 3 is not driven by the operation of the operating device 35, and at least the gate lock lever 463 is in the "up position" and the gate lock switch 462 is turned off. Including the state where . Furthermore, "a state in which the work machine 3 cannot be operated" includes, for example, a state in which the ignition of the work machine 3 is turned off (that is, the engine 40 is stopped), a state in which the main power source of the work machine 3 is turned off, etc. include. On the other hand, "a state in which the work machine 3 can be operated" means a state in which the work machine 3 is driven by operating the operating device 35, and at least the gate lock lever 463 is in the "down position" and the gate lock switch 462 is on. Including the state where . Furthermore, the "state in which the work machine 3 can be operated" includes, for example, a state in which the ignition of the work machine 3 is on (that is, the engine 40 is running), a state in which the main power source of the work machine 3 is on, etc. include.

The determination processing unit 13 determines whether the gate lock lever 463 is in the "up position" or the "down position" based on at least the input signal from the gate lock switch 462. In this embodiment, as an example, a state in which the gate lock lever 463 is in a locked state in the "up position" or the ignition is turned off is defined as a "state in which the work machine 3 cannot be operated." On the other hand, a state in which the gate lock lever 463 is in the unlocked state in the "down position" and the ignition is turned on is defined as a "state in which the work machine 3 can be operated." That is, if the gate lock switch 462 is off, the determination processing unit 13 determines that the gate lock lever 463 is in the "up position", that is, in a "state in which the work machine 3 cannot be operated". Furthermore, if the ignition of the work machine 3 is off, the determination processing unit 13 uniformly determines that the work machine 3 is in a state where it cannot be operated, regardless of the state of the gate lock lever 463. In short, in this embodiment, if the gate lock lever 463 is in the locked state or the ignition is off, the determination processing unit 13 determines that the work machine 3 is in a state where it cannot be operated, and the gate lock lever 463 is in the locked state. If the lock is released and the ignition is turned on, it is determined that the working machine 3 is ready to be operated.

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

The "predetermined condition" here is a condition imposed on the detection result in order to output an alarm (execute alarm processing), and for example, the object Ob1 exists in the monitoring area A1 around the aircraft 30. Including things such as. Further, the "predetermined conditions" include, for example, in addition to or instead of the object Ob1 existing in the monitoring area A1, the object Ob1 has a specific attribute, and the object Ob1 exists in the monitoring area A1 for a predetermined time or more. , or a specific position around the aircraft body 30 (for example, a position that is a blind spot of the operator or a position within a certain distance from the aircraft body 30). The "specific attributes" mentioned here include, for example, that the object Ob1 is moving, that the object Ob1 is a person other than the worker (an ordinary person), that the object Ob1 (here, a "person") has its back to the aircraft 30. This includes not noticing the existence of the aircraft 30 due to directing the aircraft 30, or the presence of a predetermined number or more of objects Ob1. In this embodiment, as an example, the presence of an object Ob1 (here, a "person") in the monitoring area A1 is set as a "predetermined condition."

Further, the determination processing section 13 outputs the determination result to at least the alarm processing section 15. In other words, the alarm processing unit 15 contains a determination result (also referred to as a first determination result) as to whether the work machine 3 is in a "state where it cannot be operated" or "a state where the work machine 3 can be operated" and the detection result in a predetermined manner. A determination result (also referred to as a second determination result) as to whether the condition is satisfied is input from the determination processing unit 13.

The detection processing unit 14 detects (detects) the object Ob1 in the monitoring area A1 around the aircraft body 30. That is, the detection processing unit 14 determines the presence or absence (presence or absence) of the object Ob1 in the monitoring area A1, and outputs a detection result indicating whether or not the object Ob1 exists in the monitoring area A1. Specifically, in this embodiment, the detection processing unit 14 outputs the outputs of the left camera 341, right camera 342, and rear camera 343 from the left camera 341, right camera 342, and rear camera 343 periodically or infrequently. Obtain regularly. That is, the detection processing unit 14 acquires image data of the monitoring area A1 (each small area A11, A12, A13) around the work machine 3. The data acquired by the detection processing unit 14 is stored in, for example, a memory or the like. Then, 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, right camera 342, and rear camera 343.

Specifically, the detection processing unit 14 performs image processing on the acquired image data to extract feature amounts in the image, and based on the feature amounts, detects object Ob1 (in this embodiment) in the image. Then, it is determined whether a "person") is included in the image. Here, if the object Ob1 is reflected in the image, the detection processing unit 14 determines whether the object Ob1 is reflected in the image captured by the left camera 341, the right camera 342, or the rear camera 343. do. That is, the detection processing unit 14 detects that the object Ob1 exists in any 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. Detection of the object Ob1 is performed based on whether the object Ob1 is detected or not.

The alarm processing unit 15 outputs an alarm, that is, performs notification. Here, the alarm processing section 15 executes an alarm process of outputting (notifying) an alarm based on the detection result of the detection processing section 14, that is, the detection result of the object Ob1 in the monitoring area A1 around the aircraft body 30. "Notification" in the present disclosure means outputting a warning to the user (operator) by various means, such as sound (including voice), display (including lighting of an indicator light), vibration ( (vibration function), sending an alarm to another terminal, or writing to a non-temporary recording medium, etc. However, the alarm processing unit 15 basically provides notification in a manner that allows the user (operator) to recognize the alarm in real time.

As its basic operation, the alarm processing unit 15 determines whether or not to output an alarm, depending on the determination result (second determination result) as to whether the detection result of the detection processing unit 14 satisfies a predetermined condition. do. Specifically, while the work machine 3 is in operation, if the detection result satisfies a predetermined condition, that is, if the object Ob1 exists in the monitoring area A1 around the machine body 30, the alarm processing unit 15 outputs an alarm. On the other hand, when the detection result does not satisfy the predetermined condition while the work machine 3 is in operation, that is, when the object Ob1 does not exist in the monitoring area A1 around the machine body 30, the alarm processing unit 15 does not output an alarm. In the present embodiment, as an example, when the object Ob1 exists in the monitoring area A1 around the aircraft 30, the alarm processing section 15 causes the display section 23 of the display device 2 to display a message to that effect, and causes the sound output section 36 to issue an alarm. Output sound. The alarm sound may be a simple beep sound or may be a sound such as "Please be careful". Furthermore, the content of the alarm (display content and alarm sound) may change depending on the detection result of the detection processing unit 14 (the position of the object Ob1, the distance from the aircraft body 30 to the object Ob1, etc.).

In this embodiment, as described above, the operation mode of the alarm processing unit 15 is selectively selected from a plurality of operation modes including the first mode and the second mode. In the first mode, the alarm processing unit 15 prohibits the output of an alarm when it is determined that the work machine 3 is ready to be operated after the first situation. Here, it is assumed that the first situation is a situation in which it is determined that the work machine 3 cannot be operated, and the detection result satisfies a predetermined condition. On the other hand, in the second mode, the alarm processing unit 15 outputs an alarm under the first situation, and continues outputting the alarm when it is determined that the work machine 3 is in an operable state after the first situation. Here, it is assumed that the first situation is a situation in which it is determined that the work machine 3 cannot be operated, and the detection result satisfies a predetermined condition.

In this way, in the control system 1 according to the present embodiment, it is determined (by the determination processing unit 13) that “the work machine 3 is in a state where it cannot be operated” and the detection result (by the detection processing unit 14) is determined under the predetermined condition. The situation that satisfies the following is defined as the first situation. Then, at least after the first situation, for example, when the gate lock lever 463 is operated to the "down position" (unlocked state), the determination processing unit 13 determines that "the work machine 3 is in a state where it can be operated". The operation of the alarm processing unit 15 when it is determined that this occurs is different between the first mode and the second mode. Specifically, when it is determined that the work machine 3 is in a state where the work machine 3 can be operated after the first situation, the alarm processing unit 15 prohibits the output of the alarm in the first mode, but in the second mode, the alarm processing unit 15 prohibits the output of the alarm ( Continue outputting the alarm (that was output under the first situation).

"Prohibit the output of an alarm" as used herein means not to output an alarm (not to output it). Therefore, when "prohibiting the output of an alarm" from a state in which an alarm is already being output, the alarm processing unit 15 shifts to a state in which it does not output an alarm by discontinuing (stopping) outputting the alarm. In addition, when "prohibiting alarm output" from a state in which no alarm is originally output (that is, the alarm is stopped), the alarm processing unit 15 is set to a state in which the alarm is not output (that is, the alarm is stopped). Continue.

Furthermore, "continuing to output the alarm" as used herein means maintaining the state in which the alarm is output. Therefore, when "continuing the output of an alarm" from a state in which an alarm has already been output, the alarm processing unit 15 continuously executes the operation of outputting the alarm without canceling (stopping) the output of the alarm. do.

[3] Method for controlling work machine Hereinafter, an example of a method for controlling work machine 3 (hereinafter simply referred to as "control method") mainly executed by control system 1 will be described with reference to FIGS. 5 to 8.

The control method according to the present embodiment is executed by the control system 1 mainly composed of a computer system, so in other words, it is implemented by a work machine control program (hereinafter simply referred to as "control program"). . That is, the control program according to this embodiment is a computer program for causing one or more processors to execute each process related to the control method. Such a control program may be executed cooperatively by the control system 1 and the display device 2, for example.

Here, the control system 1 executes the following various processes related to the control method when a preset specific start operation for executing the control program is performed. The starting operation is, for example, starting the engine 40 of the working machine 3 (ignition on). On the other hand, the control system 1 ends the following various processes related to the control method when a preset specific end operation is performed. The termination operation is, for example, an operation to stop the engine 40 of the working machine 3 (ignition off).

[3.1] General operation Here, first, the control method according to the present embodiment, that is, the rough operation in each of the first mode and the second mode of the alarm processing unit 15 of the control system 1 according to the present embodiment, will be explained in Fig. This will be explained with reference to 5. As shown in FIG. 5, when focusing on the two items of work availability and presence/absence of someone, it is clear that the operations after the first situation are different between the first mode and the second mode. Here, "work availability" refers to "a state in which the work machine 3 cannot be operated" (indicated as "inoperable" in Fig. 5) and a "state in which the work machine 3 can be operated" (indicated as "operable" in Fig. 5). ). “Person presence/absence” refers to “a state in which the detection result satisfies a predetermined condition” (indicated as “person present” in Figure 5) and “a state in which the detection result does not satisfy a predetermined condition” (indicated as “person absent” in Fig. 5). ).

In this embodiment, as described above, the work machine 3 cannot be operated because the gate lock lever 463 is in the "up position" and the object Ob1 is present in the monitoring area A1 around the machine body 30. A situation in which the detection result satisfies a predetermined condition is defined as a "first situation." Under the first situation, the alarm processing unit 15 of the control system 1 outputs an alarm in both the first mode and the second mode (denoted as "alarm present" in FIG. 5). Here, in the first mode, if it is determined that the work machine 3 is in a state where the work machine 3 can be operated by operating the gate lock lever 463 to the "down position" after the first situation, the control system 1 The alarm processing unit 15 prohibits the output of an alarm (denoted as "no alarm" in FIG. 5). On the other hand, in the second mode, if it is determined that the work machine 3 is in a state where it can be operated after the first situation, the alarm processing unit 15 of the control system 1 continues to output the alarm (in FIG. Warning").

In short, the control method according to the present embodiment acquires the detection result of the object Ob1 around the body 30 of the work machine 3, and determines whether the work machine 3 is in an operable state or an inoperable state. and have. In this control method, a first situation is a situation in which it is determined that the working machine 3 is in an inoperable state and the detection result satisfies a predetermined condition. If the operation mode of the alarm processing unit 15 is in the first mode, the control method prohibits the output of the alarm when it is determined that the work machine 3 is in an operable state after the first situation. Furthermore, it has On the other hand, if the operation mode of the alarm processing unit 15 is in the second mode, the control method is to output an alarm under the first situation, and when it is determined that the work machine 3 is ready to be operated after the first situation. The method further comprises: continuing to output the alarm.

Here, as shown in FIG. 5, the operation related to the alarm output when it is determined that the work machine 3 is in an operable state after the first situation is independent of the detection result of the detection processing unit 14. It is decided. In other words, the alarm output depends on whether the detection result when it is determined that the work machine 3 is ready to be operated after the first situation satisfies a predetermined condition (person present) or does not satisfy a predetermined condition (person absent). There is no difference in such operations. For example, in the first mode, the alarm is issued regardless of whether the detection result when it is determined that the work machine 3 is in a state where it can be operated after the first situation satisfies the predetermined condition or does not satisfy the predetermined condition. output is prohibited.

[3.2] First mode Next, details of the control method according to the present embodiment when the operation mode of the alarm processing unit 15 is in the first mode, that is, the specific operation of the control system 1, will be explained using the flowchart in FIG. Explain with reference to.

As a premise, if the gate lock lever 463 is in the "down position" and "the work machine 3 can be operated", then the determination result (second determination) of whether the detection result of the detection processing unit 14 satisfies the predetermined condition is (result), it is determined whether or not to output a warning. In this state, if the detection result satisfies a predetermined condition, that is, if the object Ob1 exists in the monitoring area A1 around the aircraft body 30, the alarm processing unit 15 outputs an alarm. On the other hand, when the detection result does not satisfy the predetermined condition, that is, when the object Ob1 does not exist in the monitoring area A1 around the aircraft body 30, the alarm processing unit 15 does not output an alarm. Further, in this state, the control system 1 sets the value of the detection flag prepared in the nonvolatile memory or the like to "0" (off) as an initial value.

Then, as shown in FIG. 6, when the gate lock lever 463 is operated from the "down position" to the "up position" as a trigger (S1: Yes), the control system 1 starts the processing from step S2 onwards. do. Here, the determination processing unit 13 of the control system 1 determines whether the gate lock lever 463 is in the "up position" or "down position" by turning on/off the gate lock switch 462. By switching from on to off, it is determined that the gate lock lever 463 has been operated to the "up position" (S1: Yes). Here, when the gate lock lever 463 is in the "up position", the gate lock switch 462 is turned off, and the first control valve 461 of the first restriction part 46 on the primary pressure side of the pilot oil passage is in the cutoff state, and the "work" "Machine 3 cannot be operated."

In step S2, the acquisition processing unit 11 of the control system 1 acquires the detection result of the object Ob1 around the aircraft 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 exists in the monitoring area A1, based on the outputs of the left camera 341, right camera 342, and rear camera 343. The acquisition processing unit 11 acquires detection results from the detection processing unit 14 .

In step S3, the determination processing unit 13 of the control system 1 determines whether 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 (S3: Yes), and moves the process to step S4. . On the other hand, if the object Ob1 (here, "person") does not exist in the monitoring area A1, the determination processing unit 13 determines that the detection result does not satisfy the predetermined condition (S3: No), and moves the process to step S6. let

In step S4, the determination processing unit 13 of the control system 1 sets the value of the detection flag to "1" (on). Here, the detection flag value "1" (on) indicates that the object Ob1 (person) exists in the monitoring area A1, and the detection flag value "0" (off) indicates that the object Ob1 (person) exists in the monitoring area A1. indicates that it does not exist.

In step S5, the alarm processing unit 15 of the control system 1 outputs an alarm indicating that the detection result of the detection processing unit 14 satisfies a predetermined condition, that is, the object Ob1 exists in the monitoring area A1 around the aircraft 30. At this time, the alarm processing section 15 causes the display section 23 of the display device 2 to display the detection result information I1, I2 (see FIG. 8), and causes the sound output section 36 to output an alarm sound. Therefore, the operator (user U1) can recognize that the object Ob1 exists around the aircraft body 30.

That is, if it is determined that the work machine 3 is in a state where it cannot be operated (S1: Yes) and the detection result satisfies the predetermined condition (S3: Yes), it is determined that the first situation exists, and the detection flag is set. is turned on (S4). Further, the alarm processing unit 15 of the control system 1 outputs an alarm under the first situation. As a result, in the first situation, although the operator (user U1) is unable to operate the work machine 3, the alarm (at least the alarm sound from the sound output unit 36) indicates that the object Ob1 is present around the machine body 30. It is possible to recognize that

In step S6, it is determined whether the gate lock lever 463 has been operated from the "up position" to the "down position". At this time, the determination processing unit 13 of the control system 1 determines whether the gate lock lever 463 is in the "up position" or "down position" by turning on/off the gate lock switch 462. By switching from off to on, it is determined that the gate lock lever 463 has been operated to the "down position" (S6: Yes), and the process moves to step S7. Here, when the gate lock lever 463 is in the "lower position", the gate lock switch 462 is turned on, and the first control valve 461 of the first restriction part 46 on the primary pressure side of the pilot oil passage is in the open state, and the "work" Machine 3 is now ready to be operated. On the other hand, if the determination processing unit 13 determines that the gate lock lever 463 is not operated to the "down position" (S6: No), the process proceeds to step S2.

In this way, after the first situation in which it is determined that the work machine 3 cannot be operated, the work machine 3 remains in the "down position" until the gate lock lever 463 is operated by the user (operator) to the maintain a state in which it cannot be operated. In short, the determination processing unit 13 is able to determine that the work machine 3 is in an operable state only after the first situation and at least the user of the work machine 3 performs an operation. Therefore, if it is determined that the work machine 3 is in an operable state after the first situation (S6: Yes), it is determined that the user has at least intentionally performed an operation to put the work machine 3 in an operable state. become. In other words, it is not determined that the work machine 3 is in a state where the user can operate the work machine 3 without permission after the first situation without the user's intention.

In step S7, the alarm processing unit 15 of the control system 1 prohibits the output of an alarm. If it is determined in step S3 that the detection result satisfies the predetermined condition (S3: Yes), and it is determined that the first situation exists, in step S7, the alarm processing unit 15 stops (stops) the output of the alarm. ), the alarm will not be output. On the other hand, if it is determined in step S3 that the detection result does not satisfy the predetermined condition (S3: No), and it is determined that the first situation is not present, the alarm processing unit 15 issues an alarm in step S7. The state of no output (that is, the alarm is stopped) continues.

In step S8, the alarm processing unit 15 of the control system 1 determines whether the value of the detection flag is "1" (on). That is, if it is determined in step S3 that the detection result satisfies the predetermined condition (S3: Yes) and the detection flag is set on (S4), the alarm processing unit 15 is "1" (on) (S8: Yes), and the process moves to step S9. On the other hand, if it is determined in step S3 that the detection result does not satisfy the predetermined condition (S3: No) and the detection flag remains off, the alarm processing unit 15 determines that the value of the detection flag is "0". ” (off) (S8: No), and the process moves to step S10.

In step S9, the alarm processing unit 15 of the control system 1 presents information in a manner different from the alarm output in step S5. In this embodiment, the alarm processing unit 15 displays the detection result information I1 and I2 on the display unit 23 of the display device 2 in step S5, and causes the sound output unit 36 to output an alarm sound, whereas in step S9 In this case, only the detection result information I1 and I2 is displayed on the display unit 23 of the display device 2. The detection result information I1 and I2 displayed on the display unit 23 of the display device 2 will be described in detail in the section "[3.4] Display screen". That is, at least in step S9, no alarm sound is output from the sound output unit 36. In this way, when it is determined that the working machine 3 is in a state where it can be operated after the first situation, the warning processing unit 15 presents information in a manner different from the warning. Therefore, although the operator (user U1) can recognize the presence of the object Ob1 around the aircraft 30 through information presentation (here, display), he is freed from the annoyance caused by the alarm (here, the alarm sound). .

In step S10, the alarm processing unit 15 of the control system 1 determines whether a predetermined time has elapsed since the output of the alarm was prohibited (S8). The predetermined time is the time during which the process of prohibiting the alarm output is continued, and is set to, for example, several seconds (such as 3 seconds or 5 seconds). At this time, the alarm processing unit 15 compares the elapsed time since the prohibition of the alarm output (S8) with a predetermined time, and if the elapsed time has reached the predetermined time, determines that the predetermined time has elapsed (S10: Yes), the process moves to step S11. On the other hand, if the elapsed time has not reached the predetermined time, it is determined that the predetermined time has not elapsed (S10: No), and the alarm processing unit 15 moves the process to step S7.

In step S11, the value of the detection flag is reset to "0" (off). That is, if the value of the detection flag is set to "1" (on) in step S4, the value of the detection flag is reset in step S11. Thereby, the control system 1 ends the series of operations.

The control system 1 repeatedly executes the processes of steps S1 to S11 above. However, the flowchart shown in FIG. 6 is only an example, and processes may be added or omitted as appropriate, and the order of processes may be changed as appropriate. For example, instead of step S10, the alarm processing unit 15 may cause the process to proceed to step S11 by a predetermined operation by the user (operator).

As explained above, the control method according to the present embodiment includes prohibiting the output of an alarm when it is determined that the work machine 3 is in an operable state after the first situation. Here, the first situation is a situation in which it is determined that the working machine 3 is in an inoperable state and the detection result satisfies a predetermined condition. Therefore, for example, if the operator (user U1) recognizes that there is an object Ob1 (person) around the work machine 3 and releases the gate lock lever 463, the work machine 3 Even if it becomes possible, no alarm will be output. Therefore, the warning can be troublesome for the operator who is carefully working while paying attention to the people around the work machine 3, and it is possible to avoid being distracted by the warning and causing a decrease in concentration. As a result, it is possible to provide a work machine control system 1, a work machine 3, a method for controlling the work machine 3, and a work machine control program that can easily reduce a decrease in the operator's concentration.

[3.3] Second mode Next, details of the control method according to the present embodiment when the operation mode of the alarm processing unit 15 is in the second mode, that is, the specific operation of the control system 1, will be explained using the flowchart of FIG. Explain with reference to.

As a premise, if the gate lock lever 463 is in the "down position" and "the work machine 3 can be operated", then the determination result (second determination) of whether the detection result of the detection processing unit 14 satisfies the predetermined condition is (result), it is determined whether or not to output a warning. In this state, if the detection result satisfies a predetermined condition, that is, if the object Ob1 exists in the monitoring area A1 around the aircraft body 30, the alarm processing unit 15 outputs an alarm. On the other hand, when the detection result does not satisfy the predetermined condition, that is, when the object Ob1 does not exist in the monitoring area A1 around the aircraft body 30, the alarm processing unit 15 does not output an alarm. Further, in this state, the control system 1 sets the value of the detection flag prepared in the nonvolatile memory or the like to "0" (off) as an initial value.

Then, as shown in FIG. 7, when the gate lock lever 463 is operated from the "down position" to the "up position" as a trigger (S21: Yes), the control system 1 starts the processing from step S22 onwards. do. Here, the processes in steps S21 to S26 are the same as the processes in steps S1 to S6 in the flowchart of FIG. 6, respectively, so a detailed explanation of the processes in steps S21 to S26 will be omitted.

That is, in step S26, the determination processing unit 13 of the control system 1 determines that the gate lock lever 463 has been operated to the "down position" by switching the gate lock switch 462 from off to on (S26: Yes). , the process moves to step S27. On the other hand, if the determination processing unit 13 determines that the gate lock lever 463 is not operated to the "down position" (S26: No), the process proceeds to step S22.

In this way, after the first situation in which it is determined that the work machine 3 cannot be operated, the work machine 3 remains in the "down position" until the gate lock lever 463 is operated by the user (operator) to the maintain a state in which it cannot be operated. In short, the determination processing unit 13 is able to determine that the work machine 3 is in an operable state only after the first situation and at least the user of the work machine 3 performs an operation. Therefore, if it is determined that the work machine 3 is in an operable state after the first situation (S26: Yes), it is determined that the user has at least intentionally performed an operation to put the work machine 3 in an operable state. become. In other words, it is not determined that the work machine 3 is in a state where the user can operate the work machine 3 without permission after the first situation without the user's intention.

In step S27, the alarm processing unit 15 of the control system 1 determines whether the value of the detection flag is "1" (on). That is, if it is determined in step S23 that the detection result satisfies the predetermined condition (S23: Yes) and the detection flag is set to on (S24), the alarm processing unit 15 is "1" (on) (S27: Yes), and the process moves to step S28. On the other hand, if it is determined in step S23 that the detection result does not satisfy the predetermined condition (S23: No) and the detection flag remains off, the alarm processing unit 15 determines that the value of the detection flag is "0". ” (off) (S27: Yes), and the control system 1 ends the series of operations.

In step S28, the alarm processing unit 15 of the control system 1 continues outputting the alarm. That is, if it is determined in step S23 that the detection result satisfies the predetermined condition (S23: Yes), and it is determined that the first situation exists, in step S28, the alarm processing unit 15 performs an operation to output an alarm. Continue. On the other hand, if it is determined in step S23 that the detection result does not satisfy the predetermined condition (S23: No), and it is determined that the first situation is not present, the value of the detection flag is "0" (off). Since it is determined that there is a warning (S27: Yes), the continuation process of outputting the warning is not executed.

In step S29, the alarm processing unit 15 of the control system 1 determines whether a predetermined period of time has elapsed since the continuation of the output of the alarm (S28). The predetermined time is the time during which the alarm output continues, and is set to, for example, several seconds (such as 3 seconds or 5 seconds). At this time, the alarm processing unit 15 compares the elapsed time since the continuation of the alarm output (S28) with a predetermined time, and if the elapsed time has reached the predetermined time, determines that the predetermined time has elapsed (S29: Yes), the process moves to step S30. On the other hand, if the elapsed time has not reached the predetermined time, it is determined that the predetermined time has not elapsed (S29: No), and the alarm processing unit 15 moves the process to step S28.

In step S30, the value of the detection flag is reset to "0" (off). That is, if the value of the detection flag is set to "1" (on) in step S24, the value of the detection flag is reset in step S30. The control system 1 then moves the process to step S27.

The control system 1 repeatedly executes the processes of steps S21 to S30. However, the flowchart shown in FIG. 7 is only an example, and processes may be added or omitted as appropriate, and the order of processes may be changed as appropriate. For example, instead of step S29, the alarm processing unit 15 may cause the process to proceed to step S30 by a predetermined operation by the user (operator).

As explained above, the control method according to the present embodiment outputs an alarm under the first situation, and continues outputting the alarm when it is determined that the work machine 3 is in an operable state after the first situation. have something to do. Here, the first situation is a situation in which it is determined that the working machine 3 is in an inoperable state and the detection result satisfies a predetermined condition. Therefore, for example, the operator (user U1) may put the gate lock lever 463 into the unlocked state and shift the work machine 3 to a state where it can be operated without being aware that there are people around the work machine 3. Easy to prevent. Therefore, for example, the level of attention required of the operator can be reduced in order to prevent the working machine 3 from suddenly operating vigorously. As a result, it is possible to provide a work machine control system 1, a work machine 3, a method for controlling the work machine 3, and a work machine control program that can easily reduce the burden on the operator.

By the way, in this embodiment, when the operation mode of the alarm processing unit 15 is at least in the second mode, the alarm is output not only under the first situation but also under the second situation in the same way as under the first situation. Here, the second situation is a situation in which it is determined that the working machine 3 is in an operable state and the detection result satisfies a predetermined condition. That is, when the second situation is a situation in which it is determined that the work machine 3 is in an operable state and the detection result satisfies a predetermined condition, the warning processing unit 15 outputs the warning even under the second situation. As a result, even when the work machine 3 is in a state where it can be operated, the alarm processing unit 15 outputs an alarm when the object Ob1 is present in the monitoring area A1 around the machine body 30, and the user (operator) It is possible to notify the

Further, the alarm processing unit 15 continues to output the alarm even when it is determined that the working machine 3 is in an inoperable state after the second situation. In other words, the alarm processing unit 15 determines that the work machine 3 is in an unoperable state after the second situation, just as it is determined that the work machine 3 is in an unoperable state after the first situation. Even if it is determined, the alarm will continue to be output. Therefore, when the object Ob1 exists in the monitoring area A1 around the aircraft body 30, the alarm processing unit 15 can output an alarm and notify the user (operator).

Here, in this embodiment, not only when the operation mode of the alarm processing section 15 is in the second mode but also when the operation mode is in the first mode, the alarm processing section 15 operates under the second situation and under the first situation. Outputs an alarm in the same way. Further, when the operation mode of the alarm processing section 15 is in the first mode, the alarm processing section 15 continues outputting the alarm when it is determined that the work machine 3 cannot be operated after the second situation. .

[3.4] Display Screen Next, the configuration of the 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. 8. In the drawings showing the display screen Dp1 displayed on the display unit 23 of the display device 2, such as FIG. It is not actually displayed on the display device 2.

As shown in FIG. 8, on the display screen Dp1, captured images Im11, Im12, Im13 of the monitoring area A1, detection result information I1, I2 representing the detection results of the detection processing unit 14, etc. are displayed. In FIG. 8, only the region R1 in which the captured images Im11, Im12, Im13, etc. of the monitoring area A1 are displayed on the display screen Dp1 is shown, and the illustration of regions other than the region R1 is omitted. The captured image Im11 is an image of the small area A11 to the left of the driving section 321, which is photographed by the left camera 341, and the captured image Im12 is an image of the small area A11 to the left of the driving section 321, which is photographed by the right camera 342. This is an image of a small area A12. The captured image Im13 is an image of the small area A13 behind the driving section 321, which is 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 aircraft 30 as seen from the information is displayed in the center of the region R1. The icon Im10 schematically represents the positional relationship of the imaging ranges (small areas A11, A12, A13) of the left camera 341, right camera 342, and rear camera 343 as seen from the aircraft body 30.

The detection result information I1 is a band-shaped (frame-shaped) icon that highlights the captured image that includes the object Ob1 among the captured images Im11, Im12, and Im13. The detection result information I2 is an icon that indicates the direction in which the object Ob1 exists when viewed from the driving unit 321. In the example of FIG. 8, it is assumed that an object Ob1 (here, a "person") exists in a small area A11 to the left of the driving section 321, which is imaged by the left camera 341. Therefore, among the captured images Im11, Im12, and Im13, the captured image Im11 is highlighted in the detection result information I1, and the detection result information indicates that the object Ob1 is present below the captured image Im11 to the left of the driving section 321. I2 is displayed.

The display mode of the detection result information I1 and I2 is preferably changed depending on the position of the object Ob1 in the monitoring area A1. For example, the display color, size, display pattern (including blinking pattern, etc.) of the detection result information I1 and I2 are changed depending on the position of the object Ob1 in the monitoring area A1. For example, the closer the object Ob1 is to the aircraft 30, the more noticeable the display color of the detection result information I1, I2 is changed. For example, when the object Ob1 approaches the aircraft 30, the display color of the detection result information I1, I2 changes Changes from yellow to red.

In this way, the display screen Dp1 not only displays the captured images Im11, Im12, and Im13 of the monitoring area A1, but also displays the detection results of the object Ob1 in the monitoring area A1 as detection result information I1 and I2. . Therefore, the operator (user U1) can easily confirm the presence or absence (existence) of the object Ob1 in the monitoring area A1 by looking at the display screen Dp1. Thereby, the operator (user U1) can check the situation on the side and rear of the working machine 3, which are likely to be blind spots from the operating section 321, on the display screen Dp1 displayed on the display device 2. Therefore, compared to a configuration in which only the detection result information I1 and I2 is displayed, when the object Ob1 exists within the monitoring area A1, it becomes easier to understand the situation of the object Ob1 in detail on the display screen Dp1.

[4] Modification Examples Modification examples of the first embodiment will be listed below. The modified examples described below can be applied in combination as appropriate.

Control system 1 in the present disclosure includes a computer system. A computer system mainly includes one or more processors and one or more memories as hardware. The functions of the control system 1 in the present disclosure are realized by a processor executing a program recorded in the memory of the computer system. The program may be pre-recorded in the memory of the computer system, may be provided through a telecommunications line, or may be recorded on a non-transitory storage medium readable by the computer system, such as a memory card, optical disc, hard disk drive, etc. may be provided. Furthermore, some or all of the functional units included in the control system 1 may be configured with electronic circuits.

Furthermore, it is not an essential configuration for the control system 1 that at least some of the functions of the control system 1 are concentrated in one housing, but the components of the control system 1 are distributed over multiple housings. may be provided. On the contrary, in Embodiment 1, the functions that are distributed across multiple devices (for example, the control system 1 and the display device 2) may be integrated into one housing. Furthermore, at least some of the functions of the control system 1 may be realized by a cloud (cloud computing) or the like.

Further, the power source of the working machine 3 is not limited to a diesel engine, but may be, for example, an engine 40 other than a diesel engine, a motor (electric motor), or a hybrid type including an engine 40 and a motor (electric motor). It may be a power source.

Further, 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 smartphone. Furthermore, the display unit 23 is not limited to a mode in which a display screen is directly displayed, such as a liquid crystal display or an organic EL display, but may be configured to display a display screen by projection, for example, like a projector. .

Further, as a mode of inputting information on the operation unit 22, modes other than push button switches, touch panels, and operation dials may be adopted. For example, the operation unit 22 may employ aspects such as a keyboard, a pointing device such as a mouse, voice input, gesture input, or input of operation signals from another terminal.

Furthermore, the manner in which the alarm is output by the alarm processing unit 15 is not limited to displaying it on the display unit 23 of the display device 2 and outputting an alarm sound from the sound output unit 36. For example, the alarm processing section 15 may output the alarm by displaying it on the display section 23 of the display device 2 or by producing an alarm sound from the sound output section 36, or by using vibrations. The alarm may be output by means such as transmission to another terminal or writing to a non-temporary recording medium, or a combination thereof. Even in such a case, it is preferable that the warning processing unit 15 presents information in a manner different from the warning when it is determined that the work machine 3 is ready to be operated after the first situation.

In addition, the sensors for detecting the object Ob1 in the monitoring area A1 around the aircraft 30 are not limited to the left camera 341, the right camera 342, and the rear camera 343, but include one, two, or four or more cameras ( image sensor). Furthermore, for example, the object Ob1 in the monitoring area A1 may be detected using a camera that can capture images in all directions when viewed from the working machine 3, such as a 360-degree camera. Further, the sensor for detecting the object Ob1 in the monitoring area A1 may include, in addition to or instead of the camera, a sensor such as a human sensor, a sonar sensor, a radar, or LiDAR (Light Detection and Ranging). Here, the sensor that detects the object Ob1 in the monitoring area A1 uses a TOF (Time Of Flight) method that measures the distance to the distance measurement point based on the round trip time for light or sound to reach the distance measurement point and return. Accordingly, it may be a three-dimensional sensor that measures the distance to the object Ob1.

Furthermore, the detection processing unit 14 that detects (detects) the object Ob1 around the aircraft body 30 is not an essential component of the control system 1. For example, the detection processing section 14 may be included in a detection system different from the control system 1, and in this case, the acquisition processing section 11 of the control system 1 receives data from the outside of the control system 1 (detection system) from the work machine. The detection results of the object Ob1 around the aircraft 30 of No. 3 are acquired.

In addition to or instead of "people," object Ob1 may include moving objects such as vehicles (including other working machines), structures such as walls and pillars, plants, animals, steps, grooves, or other obstacles. May contain things.

Further, the actuators of each part of the aircraft body 30 are not limited to hydraulic actuators, but may be, for example, pneumatic actuators driven by air pressure such as compressed air, electric actuators driven by electric power supply, or a combination thereof. good.

Further, switching the operation mode of the alarm processing section 15 is not an essential function of the control system 1, and the switching processing section 12 can be omitted as appropriate. That is, the alarm processing unit 15 may be configured to operate only in either the first mode or the second mode. Furthermore, the alarm processing unit 15 may have other operation modes in addition to or in place of at least one of the first mode and the second mode. As an example of another operation mode, the alarm processing unit 15 does not output an alarm under the first situation, and outputs an alarm when it is determined that the work machine 3 is in an operable state after the first situation. It may have three modes. Further, the alarm processing unit 15 always keeps the detection result at a predetermined level, regardless of the first determination result (determination result of whether the work machine 3 is in a state where it cannot be operated or whether it is in a state where it can be operated). There may be a fourth mode in which a warning is output based only on the determination result (second determination result) as to whether the condition is satisfied. Further, the alarm processing unit 15 may have a fifth mode in which the output of the alarm is always prohibited regardless of the first determination result or the second determination result.

Furthermore, it is not an essential configuration for the control system 1 that the predetermined condition includes the presence of the object Ob1 in the monitoring area A1 around the working machine 3. Furthermore, it is not essential that the alarm processing unit 15 outputs an alarm in the first mode under the first situation. Further, it is essential that the determination processing unit 13 determines that the work machine 3 is in an inoperable state if the gate lock lever 463 of the work machine 3 is in the locked state or the ignition of the work machine 3 is turned off. isn't it. Similarly, it is not essential for the determination processing unit 13 to determine that the work machine 3 is in an operable state if the gate lock lever 463 is in the unlocked state and the ignition is turned on. Furthermore, in the first mode, when it is determined that the work machine 3 is ready to be operated after the first situation, it is not essential that the warning processing unit 15 presents information in a manner different from the warning. Further, it is not essential that the determination processing unit 13 be able to determine that the work machine 3 is in an operable state until at least the user of the work machine 3 performs an operation after the first situation.

In addition, in the second mode, when the alarm processing unit 15 determines that the work machine 3 is in a state where it can be operated and the detection result satisfies a predetermined condition as the second situation, the alarm processing unit 15 may issue an alarm even under the second situation. Outputting is not a required configuration. Furthermore, it is not an essential configuration for the alarm processing unit 15 to continue outputting the alarm in the second mode when it is determined that the work machine 3 cannot be operated after the second situation.

(Embodiment 2)
As shown in FIG. 9, the working machine 3 according to the present embodiment is different from the working machine 3 according to the first embodiment in the configuration related to the operation of the operating device 35. Hereinafter, configurations similar to those in Embodiment 1 will be given the same reference numerals and descriptions will be omitted as appropriate.

FIG. 9 schematically shows a hydraulic circuit and an electric circuit (electrical connection relationship) of the working machine 3 according to the present embodiment. In FIG. 9, the solid line shows a high pressure oil path (for hydraulic oil), the dotted line shows a low pressure oil path (for pilot oil), and the dashed-dotted arrow shows the path of an electrical signal.

As shown in FIG. 9, the work machine 3 includes a plurality of control valves 401 to 404 in addition to a hydraulic pump 41, a hydraulic motor 43, a hydraulic cylinder 44, a pilot pump 42, a directional switching valve (control valve) 48, etc. ing. Further, in FIG. 9, illustration of the flow rate restricting section 49 and the like is appropriately omitted. In FIG. 9, only one hydraulic cylinder 44 for driving the boom 332 is shown, but a similar hydraulic circuit is also configured for the hydraulic cylinder 44 for driving the arm 333, bucket 331, etc. Further, although only the hydraulic motor 43 of the traveling section 31 is shown in FIG. 9, a similar hydraulic circuit is also configured for the hydraulic motor of the swing section 32.

The plurality of control valves 401 to 404 are provided in place of the second control valve 471 as the second restriction section 47 and the remote control valve 45 (see FIG. 2). Specifically, the control valves 401 to 404 are provided in the pilot oil supply path to each directional switching valve 48. Further, a first control valve 461 is provided on the upstream side of the pilot oil when viewed from the control valves 401 to 404. The control valves 401 to 404 are all electromagnetic control valves (electromagnetic valves), and are inserted between the directional switching valve 48 and the pilot pump 42, respectively. Each of the control valves 401 to 404 is connected to the control system 1 and operates according to a control signal (supplied current) from the control system 1. Specifically, the control system 1 controls the control valves 401 to 404 in accordance with the operation of the operating device 35 (operating lever), and instructs, for example, the expansion operation and contraction operation of the working section 33. Each of the control valves 401 to 404 is assumed here to be an (electromagnetic) proportional control valve, but is not limited thereto, and may be, for example, an on-off valve that can switch between opening and blocking of a flow path.

Such directional switching valves and control valves are used not only for the hydraulic cylinder 44 for driving the boom 332 and the hydraulic motor 43 for the traveling section 31, but also for the hydraulic cylinder 44 for driving the arm 333 or the bucket 331, etc., and for the rotating section 32. It is also provided in the hydraulic circuit of the hydraulic motor. Therefore, it is possible to operate the traveling section 31, the turning section 32, and the working section 33 according to the operation of the operating device 35.

In this embodiment, the operating device 35 is an electric operating device 35, and outputs an electrical signal (operating signal) corresponding to the user's (operator's) operation to the control system 1, thereby allowing the user to perform various operations. accept. In this embodiment, as an example, the operating device 35 includes a pair of operating levers 351 and 352 (see FIG. 9). The operating lever 351 is located on the right hand side when viewed from the user (operator) who is on board the driving section 321, and the operating lever 352 is located on the left hand side when viewed from the user who is on board the driving section 321. Therefore, the user, for example, holds the operating lever 351 with the right hand and the operating lever 352 with the left hand, and causes the work machine 3 to perform various operations by individually operating the pair of operating levers 351 and 352.

The operation levers 351 and 352 are stick-type operators, and can be operated by tilting them toward, for example, "front", "rear", "left", or "right". Outputs the corresponding electrical signal (operation signal). For example, the operating device 35 can perform an operation of tilting the operating lever 351 forward, an operation of tilting the operating lever 351 to the right, an operation of tilting the operating lever 352 forward, and an operation of tilting the operating lever 352 to the right. A different operation signal is output corresponding to each.

Also in this configuration, the operation (control method) of the control system 1 is the same as in the first embodiment. The configuration according to the second embodiment can be employed in appropriate combination with the various configurations (including modified examples) described in the first embodiment.

1 Work Machine Control System 3 Work Machine 11 Acquisition Processing Unit 13 Judgment Processing Unit 15 Alarm Processing Unit 30 Aircraft 463 Gate Lock Lever A1 Monitoring Area Ob1 Object U1 User

Claims (9)

an acquisition processing unit that acquires detection results of objects around the body of the work machine;
a determination processing unit that determines whether the work machine is in an operable state or in an inoperable state;
an alarm processing unit that outputs an alarm;
The alarm processing unit outputs the alarm under the first situation when the first situation is a situation in which it is determined that the work machine is in an inoperable state and the detection result satisfies a predetermined condition; Continuing to output the alarm when it is determined that the working machine is ready to be operated after the first situation;
Control system for work machines. The predetermined condition includes the object being present in a monitoring area around the work machine.
A control system for a work machine according to claim 1. If the gate lock lever of the work machine is in the locked state or the ignition of the work machine is turned off, the determination processing unit determines that the work machine is in an inoperable state, and the gate lock lever is in the locked state. determining that the working machine is ready to be operated if it is in an unlocked state and the ignition is on;
A control system for a working machine according to claim 1 or 2. The alarm processing unit outputs the alarm even under the second situation when the work machine is determined to be in an operable state and the detection result satisfies the predetermined condition as a second situation. ,
A control system for a working machine according to any one of claims 1 to 3. The alarm processing unit continues to output the alarm when it is determined that the working machine is in an inoperable state after the second situation.
The control system for a work machine according to claim 4. The determination processing unit is capable of determining that the work machine is in an operable state only after at least an operation by a user of the work machine after the first situation.
A control system for a work machine according to any one of claims 1 to 5. A work machine control system according to any one of claims 1 to 6,
The aircraft body,
working machine. Obtaining detection results of objects around the body of the working machine;
determining whether the work machine is in an operable state or in an inoperable state;
In a case where a first situation is a situation in which it is determined that the working machine is in an inoperable state and the detection result satisfies a predetermined condition, an alarm is output under the first situation, and after the first situation, the continuing to output the alarm when it is determined that the work machine is in a state where it can be operated;
How to control working machines. The method for controlling a working machine according to claim 8,
A work machine control program to be executed by one or more processors.