Operating machinery

Abstract

Based on the detection results of objects detected by the on-board obstacle detection device, the object's type is determined and its movement direction is predicted. Based on the object's type and movement direction, information related to objects detected by the on-board obstacle detection device and determined to have moved outside the detection range of the on-board obstacle detection device is immediately deleted from the environment map. This allows information about objects that have fallen outside the detection range to be appropriately processed based on the cause of the object.

Description

Technical Field

[0001] The present invention relates to a working machine. Background Art

[0002] Currently, there is a technology that generates or deletes an environment map based on detected obstacle information and controls the vehicle body behavior based on the information in the generated environment map.

[0003] For example, Patent Document 1 discloses an autonomous mobile device comprising: a fault detection unit that detects an obstacle; a map generation unit that records information about the obstacle detected by the fault detection unit in an environmental map; a fault elimination unit that deletes the information about the obstacle recorded by the map generation unit from the environmental map as time passes; and a path determination unit that sets a movement path based on the information recorded in the environmental map.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Publication No. 2019-12504 Summary of the Invention

[0007] Problems to be solved by the invention

[0008] In the above-mentioned prior art, for obstacles outside the detection range of the on-board obstacle detection unit, obstacle information is deleted from the environment map based on the time and number of times the obstacle was detected, and the deletion rate is adjusted. However, the reasons why obstacles become outside the detection range are not necessarily fully considered. If an obstacle becomes outside the detection range due to entering a blind spot of the on-board obstacle detection unit, there is a concern that the autonomous mobile device may come into contact with the obstacle. Furthermore, since the reason for the obstacle becoming outside the detection range cannot be determined, it is believed that planning an avoidance route for the autonomous mobile device that takes into account obstacles that fall outside the detection range becomes redundant.

[0009] The present invention has been made in view of the above circumstances, and an object thereof is to provide a working machine capable of appropriately processing information on an object outside the detection range according to the cause of the object.

[0010] Means for solving problems

[0011] The present application includes multiple means for solving the above-mentioned problems. One example is a working machine comprising: a vehicle body having a moving device; a working device arranged on the vehicle body; multiple actuators for moving the moving device and the working device; an object detection device for detecting objects around the vehicle body; and a control device for generating an environment map including information about objects existing around the vehicle body based on information about the objects detected by the object detection device, and for operating the multiple actuators based on the generated environment map, wherein the control device performs the following actions: based on the detection result of the object detected by the object detection device, determines the category of the object and predicts the moving direction of the object; and based on the category and moving direction of the object, deletes from the environment map information about the object detected by the object detection device and determined to have moved outside the detection range of the object detection device.

[0012] Effects of the Invention

[0013] According to the present invention, information on an object outside the detection range can be appropriately processed according to the cause of the object. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a perspective view schematically showing the appearance of a hydraulic excavator as an example of the working machine according to the first embodiment.

[0015] Figure 2 It is a side view schematically showing the appearance of a hydraulic excavator.

[0016] Figure 3 This is a functional block diagram schematically showing a part of the processing functions of a control device mounted on a hydraulic excavator.

[0017] Figure 4 This is a flowchart showing the processing contents of the object information deletion processing in the control device.

[0018] Figure 5 This is a diagram showing an example of an environment map.

[0019] Figure 6 is a schematic representation of Figure 5 The illustrated environment map corresponds to a top view of the surroundings of the vehicle body.

[0020] Figure 7 It is a diagram showing the movable range of a hydraulic excavator as a working machine.

[0021] Figure 8 This figure explains the generation of an environment map and the method of determining whether to delete obstacle information when the vehicle body is turned.

[0022] Figure 9 This figure explains a method for determining whether to delete obstacle information when a moving object moves into a blind spot while the vehicle body is stopped.

[0023] Figure 10 This figure explains a method for determining whether to delete obstacle information when a moving object moves into a blind spot while the vehicle body is stopped.

[0024] Figure 11 This is a functional block diagram schematically showing a part of the processing functions of a control device mounted on a hydraulic excavator according to a second embodiment.

[0025] Figure 12 It is a plan view schematically showing the detection range of the environmental obstacle detection device.

[0026] Figure 13 It is a diagram showing the movable range of a wheel loader which is a working machine according to the third embodiment. DETAILED DESCRIPTION

[0027] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. Furthermore, in the embodiments of the present invention, a hydraulic excavator having a front working mechanism (working device) is exemplified as a working machine for description, but the present invention is also applicable to other working machines having working devices, such as wheel loaders and cranes.

[0028] <First embodiment>

[0029] Reference Figures 1 to 10 A first embodiment of the present invention will be described.

[0030] Figure 1 1 is a perspective view schematically showing the appearance of a hydraulic excavator as an example of a working machine according to the present embodiment. Figure 2 is a side view. In addition, Figure 3 This is a functional block diagram schematically showing a part of the processing functions of a control device mounted on a hydraulic excavator.

[0031] exist Figure 1 and Figure 2 In the embodiment, the hydraulic excavator 100 includes: a multi-articulated front working mechanism 24, which is composed of a plurality of driven components (a boom 8, an arm 9, and a bucket (working tool) 10) that are each rotatable in the vertical direction; an upper slewing body 22 and a lower traveling body 20 that constitute a vehicle body; the upper slewing body 22 is rotatable relative to the lower traveling body 20 via a slewing mechanism 21. The slewing mechanism 21 includes a slewing motor 23 and a vehicle body slewing angle detection device 27. The upper slewing body 22 is driven to slew relative to the lower traveling body 20 by the slewing motor 23, and the vehicle body slewing angle detection device 27 detects the slewing angle relative to the lower traveling body 20.

[0032] The base end of the boom 8 of the front working mechanism 24 is supported vertically and rotatably at the front of the upper slewing body 22. One end of the arm 9 is supported vertically and rotatably at an end (front end) of the boom 8 different from the base end. The bucket 10 is supported vertically and rotatably at the other end of the arm 9. The boom 8, arm 9, bucket 10, upper slewing body 22, and lower travel body 20 are driven by hydraulic actuators, namely, the boom cylinder 5, arm cylinder 6, bucket cylinder 7, slewing motor 23, and left and right travel motors 3 (only one travel motor is shown).

[0033] Here, the intersection of the rotation center axis 25 of the upper rotating body 22 and the lower surface of the upper rotating body 22 is set as the origin to set the vehicle body coordinate system, which has a z-axis with the upper side set as positive along the rotation center axis 25, an x-axis with the front side set as positive in the front-to-back direction perpendicular to the z-axis from the origin, and a y-axis with the right direction set as positive in the left-right direction perpendicular to the z-axis and the x-axis from the origin.

[0034] A cab 2 for the operator is mounted on the left side in front of the upper revolving body 22. Furthermore, a control device 44 for controlling the overall operation of the hydraulic excavator 100 is disposed on the upper revolving body 22. Operating levers (operating devices) 2a and 2b are provided in the cab 2 to output operating signals for operating the hydraulic actuators 5 to 7 and 23. Although not shown, the operating levers 2a and 2b can be tilted forward, backward, left, and right, respectively, and include a detection device (not shown) that electrically detects the tilting amount of the lever, i.e., the lever operation amount, which serves as an operating signal. The lever operation amount detected by the detection device is output to the control device 44 (described later) via electrical wiring. That is, the operation of the hydraulic actuators 5 to 7 and 23 is allocated to the front-back direction or the left-right direction of the operating levers 2a and 2b, respectively.

[0035] The operation of the boom cylinder 5, arm cylinder 6, bucket cylinder 7, swing motor 23, and left and right travel motors 3 is controlled by controlling the direction and flow rate of hydraulic oil supplied to each hydraulic actuator 3, 5 to 7, and 23 from a hydraulic pump system driven by a prime mover such as an engine or electric motor (not shown) using control valves and the like. The control valves are controlled by a control device 44 based on operating signals from the operating levers 2a and 2b, thereby controlling the operation of each hydraulic actuator 5 to 7, and 23.

[0036] At the base of the boom 8, the connection between the boom 8 and the arm 9, and the connection between the arm 9 and the bucket 10, posture sensors 34A, 34B, and 34C are respectively installed. The posture sensors 34A, 34B, and 34C are mechanical angle sensors such as potentiometers. Figure 2As shown, the posture sensor 34A measures the angle β1 formed between the longitudinal direction of the boom 8 (the straight line connecting the rotation centers at both ends) and the xy plane, and transmits the angle to the control device 44. Furthermore, the posture sensor 34B measures the angle β2 formed between the longitudinal direction of the boom 8 (the straight line connecting the rotation centers at both ends) and the longitudinal direction of the arm 9 (the straight line connecting the rotation centers at both ends), and transmits the angle to the control device 44. Furthermore, the posture sensor 34C measures the angle β3 formed between the longitudinal direction of the arm 9 (the straight line connecting the rotation centers at both ends) and the longitudinal direction of the bucket 10 (the straight line connecting the rotation center and the claw tip), and transmits the angle to the control device 44. Here, the vehicle body rotation angle detection device 27 and the posture sensors 34A to 34C constitute a posture information detection device 35 that detects posture information of the upper rotating body 22 and the front working mechanism 24.

[0037] In addition, in this embodiment, the swing center 38 of the front working machine 24 (the connection part between the boom 8 and the upper rotating body 22) is illustrated as being arranged at a position different from the rotation center axis 25, but it can also be arranged in a manner that the rotation center axis 25 and the swing center 38 intersect.

[0038] In addition, while this embodiment illustrates the use of an angle sensor or the like as the posture information detection device 35, an inertial measurement unit (IMU) may also be used as the vehicle body rotation angle detection device 27 and the posture sensors 34A to 34C. Alternatively, a configuration may be employed in which a stroke sensor is provided for each of the boom cylinder 5, arm cylinder 6, and bucket cylinder 7, and the relative orientation (posture information) of the respective connection portions of the upper swing body 22, boom 8, arm 9, and bucket 10 is calculated based on the stroke change, and the respective angles are determined based on the result.

[0039] The upper revolving body 22 is equipped with multiple (e.g., four) on-board obstacle detection devices 26 for detecting objects around the vehicle body (upper revolving body 22, lower traveling body 20). The location and number of the on-board obstacle detection devices 26 are not particularly limited to the examples in this embodiment, as long as they can ensure a full field of view around the vehicle body (i.e., a 360-degree field of view around the hydraulic excavator 100). In this embodiment, four on-board obstacle detection devices 26 are installed above the cab 2, on the left side, on the right front, and on the right rear of the upper revolving body 22, respectively, to provide a 360-degree field of view around the vehicle body. The on-board obstacle detection devices 26 are, for example, sensors using LiDAR (Laser Imaging Detection and Ranging) technology, which detect objects around the hydraulic excavator 100 and transmit the object's coordinate data to the control device 44.

[0040] Figure 2 The front working machine length R shown is the distance R from the rotation center axis 25 to the front end of the front working machine 24. The lengths of the boom 8, the arm 9 and the bucket 10 are set to L1, L2, and L3 respectively. The angle β1 formed by the xy plane and the longitudinal direction of the boom 8 is measured by the posture sensor 34A. The angle β2 formed by the boom 8 and the arm 9 and the angle β3 formed by the arm 9 and the bucket 10 are measured by the posture sensors 34B and 34C respectively. The height Z0 from the xy plane to the swing center 38 is calculated in advance. In addition, the distance L0 from the rotation center axis 25 to the swing center 38 is also calculated in advance. The angle β2a formed by the xy plane and the long side direction of the arm 9 can be calculated based on the angle β1 and the angle β2. The angle β3b formed by the xy plane and the longitudinal direction of the bucket 10 can be calculated based on the angles β1, β2, and β3. That is, the front working machine length R can be calculated by the following (Formula 1).

[0041] R=L0+L1cosβ1+L2cosβ2a+L3cosβ3b…(Formula 1)

[0042] exist Figure 3 In FIG, the control device 44 includes a map generating unit 51 , a map recording unit 52 , a path determining unit 53 , a category determining unit 54 , a moving direction determining unit 55 , a detection information recording unit 56 , a motion direction calculating unit 57 , and an obstacle deleting unit 58 .

[0043] The map generation unit 51 generates an environment map containing information about objects around the vehicle body based on the position information of objects (obstacles) detected by the vehicle-mounted obstacle detection device 26, and transmits the generated environment map to the map recording unit 52. In this embodiment, obstacles are objects around the vehicle body other than the ground, such as mobile objects such as other working machines or workers, objects such as buildings and rocks of a certain size or larger, and fixed objects such as signs.

[0044] The category determination unit 54 determines the category of the obstacle detected by the vehicle-mounted obstacle detection device 26 and transmits the determination result to the obstacle deletion unit 58. The category determination unit 54 uses, for example, pattern matching technology such as image recognition to compare the image obtained by the vehicle-mounted obstacle detection device 26 with images of objects whose categories have been selected in advance. The category of the object with the most similar category is determined as the category of the obstacle detected by the vehicle-mounted obstacle detection device 26.

[0045] The movement direction determination unit 55 determines whether the movement direction is a blind spot (described later) based on the position information and detected direction of the object detected by the vehicle-mounted obstacle detection device 26 and the predicted movement direction and movement speed of the object (obstacle), and transmits the determination result to the obstacle removal unit 58. In determining the movement direction in the movement direction determination unit 55, for example, the movement distance, movement speed, and direction (movement direction) are calculated based on the difference between the position of the object detected at time (t-1) and the position of the same object detected at time (t).

[0046] The detection information recording unit 56 records the position, detection time, and detection direction of the obstacle detected by the vehicle-mounted obstacle detection device 26 , as well as the position of the vehicle-mounted obstacle detection device 26 that detected the obstacle, and sends this information to the obstacle deleting unit 58 .

[0047] The motion direction calculation unit 57 calculates the motion direction of the front work implement 24 (bucket (work tool) 10) and the vehicle body (upper swing body 22, lower travel body 20) based on the front work implement length R and the swing angle information calculated by the posture information detection device 35, and transmits the calculation result to the obstacle removal unit 58. In the motion direction calculation by the motion direction calculation unit 57, the motion direction of the front work implement 24 and the vehicle body is calculated based on, for example, the difference between the information one step before and the current information within the unit processing time of the control device 44.

[0048] The map recording unit 52 records the environment map generated by the map generating unit 51. In addition, the obstacle information for which a deletion request has been received from the obstacle deleting unit 58 is deleted from the environment map.

[0049] The obstacle deletion unit 58 determines obstacle information to be deleted from the environment map based on information obtained from the type determination unit 54 , movement direction determination unit 55 , detection information recording unit 56 , and motion direction calculation unit 57 , and sends a deletion request for the obstacle information to the map recording unit 52 .

[0050] The path determination unit 53 refers to the environment map recorded in the map recording unit 52 , corrects the path input by the operator by operating the operating levers 2 a and 2 b , or calculates the movement path to the target position, and outputs operation commands to the actuators 5 to 7 and 23 .

[0051] In the present embodiment constructed as described above, the control device 44 calculates the movement direction of the vehicle body and the front work machine 24 based on the posture information detected by the posture information detection device 35, determines the type of the object based on the detection result of the object detected by the on-board obstacle detection device 26, and predicts the movement direction of the object. Based on the movement direction of the vehicle body and the front work machine 24 and the type and movement direction of the object, the control device 44 performs object information deletion processing to immediately delete from the environment map the information related to the object detected by the on-board obstacle detection device 26 and the object that has moved outside the detection range of the on-board obstacle detection device 26.

[0052] Figure 4 1 is a flowchart showing the content of the object information deletion process in the control device. In addition, the process described below is performed for each obstacle.

[0053] exist Figure 4 In step S110 , the control device 44 determines whether an obstacle is detected by the vehicle-mounted obstacle detection device 26 . If the determination result is “No”, that is, if no obstacle is detected, the process ends.

[0054] If the result of the determination in step S110 is "yes," that is, if an obstacle has been detected by the vehicle-mounted obstacle detection device 26, the map generation unit 51 generates an environment map (step S120) and stores the generated environment map in the map storage unit 52 (step S130). Furthermore, information on obstacles included in the environment map newly generated by the map generation unit 51 is stored and recorded in the environment map stored in the map storage unit 52.

[0055] Figure 5 is a diagram showing an example of an environmental map. Figure 6 is a schematic representation of Figure 5 The environment map shown corresponds to a top view of the situation around the vehicle body.

[0056] like Figure 5 As shown in FIG, the environment map is generated based on the coordinates, shape, and reliability of the obstacle 37 obtained by the vehicle-mounted obstacle detection device 26. Figure 6 As shown, information about obstacles 37 detected within the detection range 26A to 26D of the vehicle-mounted obstacle detection device 26 is recorded in the environment map. In this embodiment, the area outside the detection range 26A to 26D of the vehicle-mounted obstacle detection device 26, i.e., the area where it cannot detect, is referred to as a blind spot.

[0057] For example, the environment map records the presence probability of obstacle 37 at each grid point, based on a 10 cm x 10 cm grid around the vehicle body. The presence probability of obstacle 37 recorded in the environment map is determined by the reliability of the information detected by the onboard obstacle detection device 26 and its shape. Specifically, the presence probability of obstacle 37 is highest at its center (e.g., presence probability = 100%), and gradually decreases in radial directions away from the center, reaching a state of non-existence at a certain distance (e.g., presence probability = 0%).

[0058] The environmental map can also be used, for example, in a contact prevention function for preventing contact with an obstacle, or a movement path planning function for calculating a movement path to a target position while avoiding an obstacle. That is, for example, the path determination unit 53 estimates a position where an obstacle is likely to exist based on the probability of existence of obstacles in the environmental map, determines a path with the lowest probability of existence of an obstacle from the current position to the target position for the bucket 10, and outputs an instruction signal to the actuators 23, 5, 6, and 7 in such a way that the bucket 10 moves along the path. In addition, the environmental map can also be used to display information to the operator during manual and semi-automatic driving, and to perform collision mitigation processing based on the probability of existence of an obstacle 37. In addition, in Figure 5 For convenience, a shadow is used to represent the existence probability of obstacle 37 in the environment map, but for example, in the case of prompting the operator, the existence probability can also be represented by a color scheme where the darker the color, the higher the existence probability, and the lighter the color, the lower the existence probability.

[0059] return Figure 4 When the processing of step S130 is completed, it is then determined whether the obstacle 37 is within the movable range (step S140). If the determination result is "no", that is, if the obstacle 37 is detected outside the movable range, a deletion instruction is sent to the map recording unit 52, so that the information related to the obstacle 37 (existence probability) is immediately deleted from the environment map (step S141), and the processing is terminated.

[0060] Figure 7 It is a diagram showing the movable range of a hydraulic excavator as a working machine.

[0061] exist Figure 7In the figure, the movable range 24A of the front working device 24 of the hydraulic excavator 100 is the range that the front working device 24 can reach when the upper swing body 22 rotates 360 degrees, with the front working device length R at its longest position. Furthermore, the movable range 20A of the lower traveling body 20 is the range that the vehicle body can reach during travel of the hydraulic excavator 100, for example, within T seconds. The combined movable ranges 20A and 24A are referred to as the movable range 100A of the hydraulic excavator 100.

[0062] return Figure 4 If the judgment result in step S140 is "yes", determine whether the obstacle moves to the blind spot due to the movement of the vehicle body (step S150). If the judgment result in step S150 is "no", the information (existence probability) of the obstacle 37 is maintained in the environmental map (step S161) and the processing is ended.

[0063] If the result of the determination in step S150 is "yes", it is determined whether the obstacle is a moving object (step S160). If the result of the determination in step S160 is "no", the information (existence probability) of the obstacle 37 is stored in the environment map (step S161), and the process ends.

[0064] If the result of step S160 is "yes," the process proceeds to step S170 to determine whether the obstacle (moving object) is moving. If the result of step S170 is "yes," the obstacle's probability of existence is held for n / a seconds (step S180), and then the probability of existence is deleted (i.e., reduced to 0) over m / b seconds (step S190), terminating the process. If the result of step S170 is "no," the process proceeds to step S151.

[0065] Here, the above-mentioned processing is further described in detail.

[0066] Figure 8 This figure explains the generation of an environment map and the method of determining whether to delete obstacle information when the vehicle body is turned.

[0067] For example, in the case of obstacles ( Figure 6 Obstacles 37, Figure 8 If the vehicle body rotates while the vehicle (e.g., fixed object 39, moving object 40A, etc.) is not moving and an obstacle within the movable range 24A moves outside the detection range 26A to 26D of the vehicle-mounted obstacle detection device 26, the presence probability is retained regardless of the obstacle type. On the other hand, for obstacles outside the movable range 24A, the presence probability is immediately deleted regardless of the obstacle type.

[0068] Furthermore, if the vehicle stops at the destination for a fixed time, such as n seconds, without performing a turning maneuver, the presence probability is determined based on the obstacle type. For example, obstacles are categorized as mobile obstacles (mobile object 40A) and fixed obstacles (fixed object 39). Mobile object 40A primarily represents an operator or other equipment, while fixed object 39 represents a pillar, wall, cone, or the like.

[0069] The probability of fixed object 39 moving from its previously detected position is low even after n seconds have passed, so there is no need to delete the presence probability even if it is outside detection ranges 26A to 26D. On the other hand, the probability of moving object 40A moving from its previously detected position is high after n seconds. Maintaining the presence probability of moving object 40A, which has a high probability of moving from its detected position, may prevent efficient path planning. Therefore, the presence probability of moving object 40A is deleted after n seconds have passed. For example, n seconds is assumed to be at least the average time an operator operates hydraulic excavator 100 to perform excavation and loading operations.

[0070] Furthermore, after n seconds have passed, the presence probability of the moving object 40A is gradually reduced, and the object is completely deleted after m seconds. The number of m seconds is determined based on the original presence probability of the moving object 40A and its distance from the vehicle body. For example, if the moving object 40A is located far from the vehicle body, such as outside the movable range 24A of the hydraulic excavator 100, the risk of contact with the vehicle body is low, and therefore the deletion speed is accelerated. On the other hand, if the moving object 40A is located near the vehicle body, such as within the movable range 24A of the hydraulic excavator 100, the risk of contact with the vehicle body is high, and therefore the deletion speed is slowed.

[0071] Furthermore, for example, a moving object 40A with a low probability of existence has a very low probability of existing at the detection position after n seconds, so the deletion speed is increased. On the other hand, for example, a moving object 40A with a high probability of existence has a possibility of existing near the detection position after n seconds, so the deletion speed is slowed down.

[0072] Furthermore, for example, if the same obstacle 37 is detected by different vehicle-mounted obstacle detection devices 26, the information with higher reliability is prioritized for deletion. Furthermore, if the reliability of the obstacle 37 information is low and it is difficult to determine the type of the obstacle 37, it is processed as a moving object 40A.

[0073] Figure 9 as well as Figure 10 This figure explains a method for determining whether to delete obstacle information when a moving object moves into a blind spot while the vehicle body is stopped.

[0074] exist Figure 9For example, when the moving object 40A moves to a blind spot in the gap of the detection range, the existence probability is kept for n seconds and gradually deleted as time passes. Figure 10 In the example, regarding the moving object 40A that has moved outside the movable range 24A of the hydraulic excavator 100 , the risk of collision with the vehicle is low, and therefore the existence probability of the obstacle 37 is immediately deleted.

[0075] In addition, the vehicle body is rotated (see Figure 7 ), and the moving object 40A moves itself and moves out of the detection range (refer to Figure 8 ), the movement direction of the vehicle body is calculated by the movement direction calculation unit 57, and the obstacle deletion unit 58 calculates the deletion speed of the existence probability based on the movement direction of the moving object 40A and the movement direction of the vehicle body obtained from the movement direction determination unit 55 and the movement direction calculation unit 57. For example, in a case where the moving object 40A moves in a direction outside the movable range 24A and moves toward a blind spot by a turning movement of the vehicle body before moving out of the detection range, it is determined that the moving object 40A is moving away from the vehicle body, and the existence probability is maintained for n / a seconds, and is deleted in m / b seconds. In addition, the variables a and b are adjustment values greater than 1, and change according to the position of the vehicle body and the last detected moving object 40A. The farther away from the vehicle body, the larger the value. In addition, for example, in a case where the moving object 40A moves in the direction of a blind spot and moves toward a blind spot by a turning movement of the vehicle body before moving out of the detection range, the existence probability is maintained for n seconds as described above, and is deleted after m seconds.

[0076] The effects of the present embodiment configured as described above will be described.

[0077] Conventional technology removes obstacle information from the environment map based on the time and number of times the obstacle was detected by the onboard obstacle detection unit, and the removal rate is adjusted. However, the reasons why obstacles fall outside the detection range are not always fully considered. If an obstacle falls outside the detection range due to entering a blind spot of the onboard obstacle detection unit, there is a concern that the vehicle body may come into contact with the obstacle. Furthermore, since the reason for the obstacle falling outside the detection range cannot be determined, it is believed that planning an avoidance route for the vehicle body's movement path that takes into account obstacles that fall outside the detection range becomes redundant.

[0078] In contrast, in the present embodiment, the movement direction of the vehicle body and the working device is calculated based on the posture information detected by the posture information detection device 35, the category of the object is determined based on the detection result of the object detected by the vehicle-mounted obstacle detection device 26, and the moving direction of the object is predicted. Based on the movement direction of the vehicle body and the working device and the category and moving direction of the object, information related to the object detected by the vehicle-mounted obstacle detection device 26 and moved outside the detection range of the vehicle-mounted obstacle detection device 26 is immediately deleted from the environmental map. Therefore, the information of the object outside the detection range can be appropriately processed according to the cause of the object, which can suppress the reduction in safety and achieve an improvement in working efficiency.

[0079] <Second embodiment>

[0080] Reference Figure 11 and Figure 12 A second embodiment of the present invention will be described.

[0081] In the first embodiment, the case where the vehicle-mounted obstacle detection device 26 is used to detect an object (obstacle) is described. However, this embodiment shows a case where another obstacle detection device (environmental obstacle detection device 41) is also used to detect an object (obstacle).

[0082] Figure 11 : is a functional block diagram schematically showing a part of the processing functions of the control device mounted on the hydraulic excavator of this embodiment. Figure 12 1 is a top view schematically showing the detection range of the environmental obstacle detection device. In the figure, the same reference numerals are attached to the same components as those in the first embodiment, and the description thereof will be omitted.

[0083] like Figure 11 and Figure 12 As shown, a plurality of (for example, six) environmental obstacle detection devices 41 are arranged around the hydraulic excavator 100 to detect objects around the vehicle body (upper rotating body 22, lower traveling body 20). The environmental obstacle detection device 41 is mainly provided for the purpose of reducing blind spots within the movable range 24A of the hydraulic excavator 100. The installation position and number of the environmental obstacle detection devices 41 are not particularly limited to the example of this embodiment. The environmental obstacle detection device 41 is, for example, a sensor or camera using self-supporting LiDAR (Laser Imaging Detection and Ranging) technology with a tripod or the like, and detects objects around the hydraulic excavator 100 and sends the coordinate data to the control device 44.

[0084] In this embodiment, the environmental obstacle detection device 41 transmits the position, detection time, and detection direction of the detected obstacle 37 (moving object 40A) to the control device 44. The type determination unit 54, the movement direction determination unit 55, and the detection information recording unit 56 prioritize the highly reliable information about the obstacle 37 (moving object 40A) detected by the vehicle-mounted obstacle detection device 26 and the environmental obstacle detection device 41, respectively, for determination and recording.

[0085] The environmental obstacle detection device 41 is unaffected by the movement of the hydraulic excavator 100 and can therefore constantly monitor obstacles 37 (moving objects 40A) within the detection ranges 41A to 41F. This allows the position of obstacles 37 (moving objects 40A) to be detected over a wider range. For example, if the entire movable range 24A of the hydraulic excavator 100 can be detected by the vehicle-mounted obstacle detection device 26 and the environmental obstacle detection device 41, the obstacle deletion unit 58 immediately deletes all probability of the presence of obstacles 37 (moving objects 40A) outside the movable range 24A.

[0086] The other structures are the same as those of the first embodiment.

[0087] In the present embodiment configured as described above, the same effects as those of the first embodiment can be obtained.

[0088] <Third embodiment>

[0089] Reference Figure 13 A third embodiment of the present invention will be described.

[0090] In this embodiment, a case where a wheel-type working machine such as a wheel loader is used as the working machine is shown.

[0091] Figure 13 It is a diagram showing the movable range of a wheel loader as a working machine.

[0092] exist Figure 13 In the figure, the movable range 200A of the wheel loader 200 is a range in which the wheel loader 200 can move in the front-rear direction within T seconds in a state where the handle is turned left and right to the limit.

[0093] The other structures are the same as those of the first and second embodiments.

[0094] In the present embodiment configured as described above, the same effects as those of the first and second embodiments can be obtained.

[0095] <Notes>

[0096] Furthermore, the present invention is not limited to the embodiments described above, and includes various modifications and combinations within the scope of the present invention. Furthermore, the present invention is not limited to all the structures described in the embodiments, and includes structures in which portions of the structures are deleted. Furthermore, the various structures and functions described above may also be implemented by, for example, designing a part or all of them using an integrated circuit. Furthermore, the various structures and functions described above may also be implemented by software, such as by a processor interpreting and executing a program that implements each function.

[0097] Description of Reference Signs

[0098] 2... Cab, 2a, 2b... Joystick (operating device), 3... Travel motor, 5... Boom hydraulic cylinder, 6... Arm hydraulic cylinder, 7... Bucket hydraulic cylinder, 8... Boom, 9... Arm, 10... Bucket, 20... Lower travel unit, 20A... Movable range, 21... Rotation mechanism, 22... Upper rotation unit, 23... Rotation motor, 24... Front work mechanism, 26... Vehicle-mounted obstacle detection device, 26A-26D... Detection range, 27... Vehicle rotation angle detection device, 34A-34C... Posture sensor, 35... Posture information detection device Position, 37…obstacle, 38…swing center, 39…fixed object, 40A…moving object, 41…environmental obstacle detection device, 41A~41F…detection range, 44…control device, 51…map generation unit, 52…map recording unit, 53…path determination unit, 54…category determination unit, 55…movement direction determination unit, 56…detection information recording unit, 57…motion direction calculation unit, 58…obstacle deletion unit, 100…hydraulic excavator, 100A…movable range, 200…wheel loader, 200A…movable range.

Claims

1. A working machine, characterized in that: The operating machine comprises: a vehicle body having a moving device; an operating device, which is arranged on the vehicle body; a plurality of actuators for actuating the moving device and the working device; an object detection device for detecting objects around the vehicle body; as well as a control device that generates an environment map including information about objects existing around the vehicle body based on information about objects detected by the object detection device, and operates the plurality of actuators based on the generated environment map; The information about the object included in the environment map includes the existence probability of the object at the detection position determined based on the reliability of the detection by the object detection device. The control device performs the following actions: Based on the detection result of the object detected by the object detection device, the category of the object is determined, and the moving direction of the object is predicted. When deleting information about an object detected by the object detection device and determined to have moved outside the detection range of the object detection device from the environment map based on the type and movement direction of the object, Information related to the following object is maintained for a predetermined constant time period, and then the existence probability is gradually reduced, wherein the object is an object that is detected by the object detection device and classified as a moving object within the movable range of the vehicle body and the working device, and is an object that has moved into the movable range of the working device due to the operation of the vehicle body and the working device and is outside the detection range of the object detection device, The lower the probability of the object existing when detected by the object detection device is, the shorter the retention time of the information related to the object is, and the faster the speed of reducing the probability of the object is. Information on the object that has moved outside the movable range of the working device and outside the detection range of the object detection device due to the operation of the vehicle body and the working device is immediately deleted.

2. The working machine according to claim 1, characterized in that: The working machine includes a posture information detection device that detects posture information related to the postures of the vehicle body and the working device. The control device performs the following actions: calculating the movement directions of the vehicle body and the working device based on the posture information detected by the posture information detection device; and Based on the movement directions of the vehicle body and the working device, information related to the object is deleted.

3. The working machine according to claim 2, characterized in that: The control device performs the following actions: calculating movable ranges of the vehicle body and the working device based on the posture information detected by the posture information detection device; and Among the information on the objects included in the environment map, information on objects outside the movable ranges of the vehicle body and the working device is deleted.

4. The working machine according to claim 1, wherein: Information on the object determined to have moved outside the detection range of the object detection device and the object existing outside the movable range of the vehicle body and the working device is deleted from the environment map.

5. The working machine according to claim 1, characterized in that: The control device maintains information related to the following object in the environmental map, which is an object that is detected by the object detection device within the movable range of the vehicle body and the working device and is judged to be an object that has moved outside the detection range of the object detection device through the movement of the vehicle body and the working device.

6. The working machine according to claim 1, wherein: The control device shortens the holding time of the information on the object and accelerates the speed of reducing the existence probability as the distance between the object detected by the object detection device and the vehicle body and the working device increases.

7. The working machine according to claim 1, characterized in that: The control device extends the retention time of the information on the object and slows down the rate of decrease of the existence probability as the moving speed of the object detected by the object detection device increases.

8. The working machine according to claim 1, wherein: The vehicle body is composed of a lower traveling body provided as the moving device and an upper rotating body provided so as to be rotatable relative to the lower traveling body. The working machine includes, as the working device, a multi-articulated front working mechanism that is mounted on the vehicle body and is composed of a plurality of front members that are rotatably connected.

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