Control systems for operating machinery

Abstract

A control system for a working machine includes: a monitoring device that detects the position and movement of a person in a monitoring area set around the working machine; and a controller that generates a control signal for limiting the movement of the hydraulic excavator based on the positional relationship between the detected person and the hydraulic excavator detected by the monitoring device, and controls the hydraulic excavator based on the control signal. The controller determines whether the detected person is a cooperative worker or a non-cooperative worker based on the movement of the detected person, and changes the permissible speed of the working machine when limiting the movement of the working machine based on the determination result or based on the determination result and the movement of the working machine.

Description

Technical Field

[0001] The present invention relates to a control system for a working machine that controls the operation of the working machine based on a detection result of a monitoring device that monitors the periphery of the working machine. Background Art

[0002] For hydraulic excavators and other working machines, the purpose is to ensure the safety of people (surrounding workers) wearing helmets working around the working machines, and there is technology that warns the operator or stops the operation of the working machine when a person or obstacle is detected. Regarding the latter, the control that prevents the working machine from coming into contact with a person is sometimes called contact prevention control.

[0003] For example, Patent Document 1 discloses a monitoring system having a camera installed on a working machine to capture images of the surroundings, wherein people and protective equipment are identified and specified in the images captured by the camera, and the approach distance to the specified person or protective equipment (such as a safety helmet) is calculated. If the approach distance is less than a first distance, a warning is output; if it is less than a second distance that is smaller than the first distance, a warning is output and the operation of the working machine is stopped.

[0004] In addition, Patent Document 1 discloses that the first distance and the second distance are extended when the working machine is rotating or tilted. Patent Document 1 also discloses that the first distance and the second distance are changed based on the state of a person identified by image recognition, and that the first distance and the second distance are extended when, for example, the direction and movement of a person are identified by image recognition and it is determined that the person is approaching the working machine.

[0005] Prior art literature

[0006] Patent Literature

[0007] Patent Document 1: Japanese Patent Application Publication No. 2019-157497 Summary of the invention

[0008] Surrounding workers can be classified into collaborative workers who perform collaborative work with the working machine and non-collaborative workers who do not perform collaborative work with the working machine. Collaborative work refers to work performed by the working machine and the surrounding workers for the same purpose. For example, a work (installation work) in which a surrounding worker makes fine adjustments to the position of an installation object while instructing a hydraulic excavator (operator) is a collaborative work. Collaborative workers, depending on the nature of their work, have more scenes of working close to the working machine than non-collaborative workers.

[0009] The technology of Patent Document 1 uniformly activates the movement restriction (contact prevention control) of the working machine for people wearing protective equipment such as a helmet, without distinguishing people into collaborative workers and non-collaborative workers. Therefore, for example, if the distance (second distance) for starting the movement restriction (contact prevention control) of the working machine is set based on the non-collaborative worker, the possible movement range of the collaborative worker will be limited to the same as that of the non-collaborative worker. That is, in Patent Document 1, it is difficult for the collaborative worker to approach the working machine, and there is a risk of reduced efficiency of collaborative work. On the contrary, if the setting is based on the collaborative worker, the movement range of the non-collaborative worker will be allowed to be the same as that of the collaborative worker, and the risk of non-collaborative workers contacting the working machine will increase. In addition, although Patent Document 1 discloses that the alarm area and the stop area defined by the first distance and the second distance are expanded compared to normal times, it does not disclose the point of narrowing them.

[0010] An object of the present invention is to provide a control system for a working machine that can suppress a decrease in efficiency of a cooperative work with the working machine performed by the cooperative worker even when surrounding workers include the cooperative worker.

[0011] The present application includes multiple methods for solving the above-mentioned problems. For example, a control system of a working machine includes: a monitoring device, which detects the position of a person within a specified area set around the working machine; and a control device, which generates a control signal for limiting the movement of the working machine based on the positional relationship between the person detected by the monitoring device, i.e., the detected person, and the working machine, and controls the working machine based on the control signal. The control system of the working machine is characterized in that the monitoring device also detects the movement of the detected person, and the control device is configured to: use information related to the movement of the detected person detected by the monitoring device to determine whether the detected person is a collaborative worker or a non-collaborative worker, and change the allowable speed of the working machine when limiting the movement of the working machine based on whether the detected person is a collaborative worker or a non-collaborative worker, or based on whether the detected person is a collaborative worker or a non-collaborative worker and the movement of the working machine.

[0012] Effects of the Invention

[0013] According to the present invention, even when the surrounding workers include a cooperative worker, it is possible to suppress a decrease in the efficiency of the cooperative work with the working machine performed by the cooperative worker. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a block diagram of a hydraulic excavator according to an embodiment of the present invention.

[0015] Figure 2 Yes and will Figure 1 A diagram showing a controller of a hydraulic excavator together with a hydraulic drive device.

[0016] Figure 3 This is a diagram showing the configuration of a control system according to the first embodiment.

[0017] Figure 4 It is a diagram showing an example of a monitoring area.

[0018] Figure 5 It is a diagram showing an example of a monitoring area.

[0019] Figure 6 This is a diagram showing a correlation diagram between the lever operation amount and the actuator speed.

[0020] Figure 7 This is a diagram showing an example of a monitoring area, a deceleration area, and a stop area.

[0021] Figure 8 This is a diagram showing an example of a monitoring area, a deceleration area, and a stop area.

[0022] Fig. 9 This is a diagram showing a graph defining the relationship between the distance from the hydraulic excavator and the allowable speed of the actuator.

[0023] Fig.10 A flowchart showing implementation mode 1.

[0024] Fig.11 A flowchart showing implementation mode 1.

[0025] Fig.12 This is a diagram showing a coordinate system of a hydraulic excavator.

[0026] Fig.13 This is a diagram showing the configuration of a control system according to the second embodiment.

[0027] Fig.14 This is a diagram showing an example of a monitoring area, a deceleration area, and a stop area.

[0028] Fig.15 A flowchart showing implementation mode 2.

[0029] Fig.16 A flowchart showing implementation mode 2. DETAILED DESCRIPTION

[0030] The following is an explanation of the embodiments of the present invention using the accompanying drawings. In addition, a hydraulic excavator having a bucket as a working tool (accessory) at the front end of the working machine is exemplified below as a working machine, but the present invention can also be applied to a working machine having an accessory other than a bucket. In addition, as long as the machine has a multi-jointed working machine composed of a plurality of connecting rod parts (accessories, booms, dipper arms, etc.) connected to a rotatable structure, it can also be applied to working machines other than hydraulic excavators.

[0031] In the following description, when there are multiple identical components, lowercase Roman letters may be added to the end of the reference numerals, but the lowercase Roman letters may be omitted to collectively represent the multiple components. For example, when there are three identical pumps 190a, 190b, and 190c, these are sometimes collectively represented as pump 190.

[0032] <Implementation method 1>

[0033] Figure 1 is a structural diagram of a hydraulic excavator according to a first embodiment of the present invention. Figure 2 This is a diagram showing a controller (control device) 40 of a hydraulic excavator according to an embodiment of the present invention together with a hydraulic drive device.

[0034] Figure 1 In the figure, the hydraulic excavator 1 is composed of a multi-articulated front working machine 1A and a vehicle body (machine body) 1B. The vehicle body (machine body) 1B is composed of a lower traveling body 11 and an upper rotating body 12. The lower traveling body 11 is driven by left and right traveling hydraulic motors 3a and 3b, and the upper rotating body 12 is installed on the lower traveling body 11 and driven by a rotating hydraulic motor 4 and can rotate in the left and right directions.

[0035] The front working machine 1A is composed of a plurality of front parts (a boom 8, an arm 9, and a bucket 10) that are each rotatable in the vertical direction, and is mounted on an upper rotating body 12. The base end of the boom 8 is rotatably supported at the front of the upper rotating body 12 via a boom pin. The arm 9 is rotatably connected to the front end of the boom 8 via an arm pin, and the bucket 10 is rotatably connected to the front end of the arm 9 via a bucket pin. The boom 8 is driven by a boom hydraulic cylinder 5, the arm 9 is driven by an arm hydraulic cylinder 6, and the bucket 10 is driven by a bucket hydraulic cylinder 7.

[0036] In the cab provided in the upper rotating body 12, there are provided a right travel lever 23a for operating the right travel hydraulic motor 3a (lower traveling body 11), a left travel lever 23b for operating the left travel hydraulic motor 3b (lower traveling body 11), an operating right lever 22a for operating the boom hydraulic cylinder 5 (boom 8) and the bucket hydraulic cylinder 7 (bucket 10), and an operating left lever 22b for operating the arm hydraulic cylinder 6 (arm 9) and the rotating hydraulic motor 4 (upper rotating body 12). Hereinafter, these are sometimes collectively referred to as operating levers 22, 23 or operating devices 22, 23.

[0037] The engine 18, which is a prime mover mounted on the upper rotating body 12, drives the hydraulic pump 2 and the pilot pump 13 (see Figure 2 ). The hydraulic pump 2 is a variable displacement pump, and the pilot pump 13 is a fixed displacement pump.

[0038] like Figure 2 As shown, in this embodiment, the operating levers 22 and 23 are electric levers. The controller 40 detects the operation amount of the operating devices 22 and 23 generated by the operator through the operator operation amount detection device (operation amount sensor) 53a, 53b, 53c, 53d, 53e, 53f, and outputs the current command corresponding to the detected operation amount to the corresponding electromagnetic proportional valve 47a, 47b, 47c, 47d, 47e, 47f, 47g, 47h, 47i, 47j, 47k, 47l. Each electromagnetic proportional valve 47 is provided in the pilot line 16 connecting the pilot pump 13 and the flow control valve 15, and when a command is issued by the controller 40, the pilot pressure corresponding to the command is output to the flow control valve 15.

[0039] The flow control valve 15 is configured to supply the hydraulic oil from the pump 2 to the swing hydraulic motor 4, the arm hydraulic cylinder 6, the boom hydraulic cylinder 5, the bucket hydraulic cylinder 7, the right travel hydraulic motor 3a, and the left travel hydraulic motor 3b, respectively. Hereinafter, they are sometimes collectively referred to as the electromagnetic proportional valves 47a-1. In addition, the electromagnetic proportional valves 47a-b supply hydraulic oil to the swing hydraulic motor 4, the electromagnetic proportional valves 47c-d supply hydraulic oil to the arm hydraulic cylinder 6, the electromagnetic proportional valves 47e-f supply hydraulic oil to the boom hydraulic cylinder 5, the electromagnetic proportional valves 47g-h supply hydraulic oil to the bucket hydraulic cylinder 7, the electromagnetic proportional valves 47i-j supply hydraulic oil to the right travel hydraulic motor 3a, and the electromagnetic proportional valves 47k-1 supply hydraulic oil to the left travel hydraulic motor 3b, and the pilot pressure is supplied to the flow control valve 15.

[0040] In the pilot line 16, a locking valve 20 connected to the controller 40 is provided between the pilot pump 13 and the electromagnetic proportional valve 47a-1. A position detector of a door lock rod (not shown) in the cab is connected to the controller 40. When the position detector detects that the door lock rod is in the locked position, the controller 40 locks the locking valve 20 and cuts off the supply of hydraulic oil (pilot pressure) to the electromagnetic proportional valve 47a-1. When the position detector detects that the door lock rod is in the unlocked position, the controller 40 unlocks the locking valve 20 and supplies hydraulic oil to the electromagnetic proportional valve 47a-1.

[0041] The hydraulic oil discharged from the hydraulic pump 2 is supplied to the right travel hydraulic motor 3a, the left travel hydraulic motor 3b, the swing hydraulic motor 4, the boom hydraulic cylinder 5, the arm hydraulic cylinder 6, and the bucket hydraulic cylinder 7 via the flow control valve 15 driven by the pilot pressure. The boom hydraulic cylinder 5, the arm hydraulic cylinder 6, and the bucket hydraulic cylinder 7 are extended and retracted by the supplied hydraulic oil, thereby rotating the boom 8, the arm 9, and the bucket 10, respectively, so that the position and posture of the bucket 10 are changed. In addition, the swing hydraulic motor 4 is rotated by the supplied hydraulic oil, thereby rotating the upper swing body 12 relative to the lower travel body 11. And, the right travel hydraulic motor 3a and the left travel hydraulic motor 3b are rotated by the supplied hydraulic oil, thereby traveling the lower travel body 11. Hereinafter, the travel hydraulic motor 3, the swing hydraulic motor 4, the boom hydraulic cylinder 5, the arm hydraulic cylinder 6, and the bucket hydraulic cylinder 7 are sometimes collectively referred to as hydraulic actuators 3-7.

[0042] Figure 3 1 is a block diagram of a control system provided for a hydraulic excavator according to the present embodiment. The control system performs contact prevention control, which prevents the hydraulic excavator 1 from contacting a person by slowing down or stopping the movement of the hydraulic excavator 1 (the front working machine 1A, the upper rotating body 12, and the lower traveling body 11). The control system shown in the figure includes: a controller 40; a predetermined area (referred to as a monitoring area 71 (refer to FIG. 1 ) set around the hydraulic excavator 1; and a control system 41 for controlling the hydraulic excavator 1. Figure 4 )); a surrounding worker detection device 52 for detecting information for determining whether a person (sometimes referred to as a "detected person") around the hydraulic excavator detected by the monitoring device 51 is a surrounding worker or an unrelated person; an operation amount sensor 53 for detecting the amount of operation of the operating devices 22 and 23 by the operator by means of a rotary encoder and a potentiometer; a notification device 55 for notifying the operator of the state of contact prevention control, etc.; and an electromagnetic proportional valve 47 (47a-47l) for outputting a pilot pressure that controls the flow control valve 15.

[0043] (Monitoring device 51)

[0044] The monitoring device 51 can detect people in the monitoring area 71. The monitoring area 71 refers to Figure 4 As shown, a predetermined area around the hydraulic excavator 1 is formed. However, Figure 4 The shape of the monitoring area 71 shown is only an example, and any shape such as a circle centered on the rotation center of the hydraulic excavator 1 may be used. In addition, the monitoring device 51 can calculate the position of the person existing in the monitoring area 71, and the positional relationship between the person existing in the monitoring area 71 and the hydraulic excavator 1 (for example, detecting the distance between the person and the hydraulic excavator 1), and can detect the "action" of the person existing in the monitoring area 71. The "action" includes, for example, the line of sight of the person existing in the monitoring area 71, and the active movement of the person existing in the monitoring area 71 (for example, gestures made during work). As the monitoring device 51, for example, a camera and LiDAR (Light Detection and Ranging) can be used. The monitoring device 51 can also be set on the front working machine 1A and the upper rotating body 12 (that is, it can be mounted on the hydraulic excavator 1), such as Figure 5 As shown, a plurality of monitoring devices 51 may be arranged in the surrounding environment of the hydraulic excavator 1 .

[0045] (Surrounding worker detection device 52)

[0046] The surrounding worker detection device 52 is a device for detecting information that classifies (judgments) the type of a person (detected person) present in the monitoring area 71 as a surrounding worker working near the hydraulic excavator 1 or other persons, i.e., an unrelated person. As the surrounding worker detection device 52, for example, a radio wave receiver (e.g., a reader) that allows a small wireless device (e.g., an RF tag and an IC tag) to be carried by all surrounding workers working on site and receives a radio wave signal sent from the wireless device, and a camera that captures a person (detected person) present in the monitoring area 71 can be used. In addition, this technology can utilize a known technology, for example, the following technology is disclosed in Japanese Patent Publication No. 2013-151830: the worker wears a helmet as a mark, and the hydraulic excavator recognizes the mark, thereby displaying an image that specifies the worker to the operator of the hydraulic excavator.

[0047] (Controller 40)

[0048] The controller 40 has a processing unit (e.g., a CPU) for executing various programs, and a storage unit (e.g., a semiconductor memory such as a ROM, RAM, and flash memory, and a magnetic storage unit such as a hard disk drive) for storing various data represented by the programs. The controller 40 generates a control signal for limiting the movement of the hydraulic excavator 1 based on the positional relationship between the detected person detected by the monitoring device 51 and the surrounding worker detection device 52 and the hydraulic excavator 1, and controls the hydraulic excavator 1 based on the control signal. In particular, the controller 40 of the present embodiment changes the permissible speed of the hydraulic excavator 1 when limiting the movement of the hydraulic excavator 1 based on the type of the detected person (non-cooperative worker, cooperative worker, unrelated person) determined by the monitoring device 51 and the movement of the hydraulic excavator 1 (in the present embodiment, the input operation to the operating device).

[0049] (Processing Executed by Controller 40)

[0050] The controller 40 functions as a cooperative work determination unit 61, an operator operation speed estimation unit 62, and an action restriction unit 64 by causing the processing device to execute a program stored in a storage device in the controller 40. The processing executed by the controller 40 will be described in detail below.

[0051] (Surrounding Worker Determination Unit 60)

[0052] The surrounding worker judgment unit 60 classifies (judges) the type of a person (detected person) present in the monitoring area 71 as a surrounding worker working near the hydraulic excavator 1 or other persons, i.e., an unrelated person, based on the information detected by the surrounding worker detection device 52. When a radio wave receiver (e.g., a reader) that receives radio wave signals transmitted from RF tags and IC tags carried by all surrounding workers working on site is used as the surrounding worker detection device 52, the surrounding worker judgment unit 60 judges whether the person is a surrounding worker based on the radio wave signal. In addition, when a camera that captures a person (detected person) present in the monitoring area 71 is used as the surrounding worker detection device 52, the surrounding worker judgment unit 60 judges whether the person is a surrounding worker based on the image feature quantity (appearance feature quantity) of the person's clothing captured by the camera.

[0053] When a camera is used as the surrounding worker detection device 52, the camera can also be used as the monitoring device 51. In addition, when a reader is used as the surrounding worker detection device 52, in order to detect people including irrelevant persons, calculate the distance to the person, and detect the movement of the person, it is necessary to separately provide a monitoring device 51. In addition, when the surrounding worker detection device 52 is used as a person detector like the monitoring device 51 (however, it becomes detection only for surrounding workers), the monitoring area 71 becomes the communication possible distance of the reader.

[0054] (Cooperation Determination Unit 61)

[0055] The collaborative work judgment unit 61 judges whether the surrounding worker determined by the surrounding worker judgment unit 60 as existing in the monitoring area 71 is a collaborative worker or a non-collaborative worker based on information (action information) indicating the action of the surrounding worker detected by the monitoring device 51. The action information of the surrounding worker includes, for example, data indicating the line of sight of the surrounding worker, the activity of the surrounding worker, the facial orientation of the surrounding worker, and the like. For example, in the case where the line of sight data of the surrounding worker is used as the action information from the monitoring device 51, when the line of sight of the surrounding worker is directed toward the hydraulic excavator 1, the collaborative work judgment unit 61 judges that the person detected in the monitoring area 71 is a collaborative worker. In more detail, assuming the body activities of the surrounding worker such as guiding the travel of the hydraulic excavator and indicating the parking position of the hydraulic excavator, the surrounding worker is judged to be a collaborative worker based on the line of sight of the surrounding worker, the activity of the surrounding worker, and the facial orientation of the surrounding worker. Specifically, the posture of the surrounding worker extending his arm and the movement of turning his arm, such as guiding the hydraulic excavator, belong to the activities of the surrounding worker, and the surrounding worker is judged as a cooperative worker based on the surrounding worker's line of sight toward the hydraulic excavator and the facial orientation of the surrounding worker when performing the activities. The surrounding worker may be judged as a cooperative worker on the condition that the surrounding worker is within a predetermined distance from the hydraulic excavator (more specifically, within a range where the operator on the hydraulic excavator can see the surrounding worker and within a range where the camera mounted on the hydraulic excavator can capture the surrounding worker) and performs the above-mentioned activities.

[0056] When the monitoring device 51 is a camera, the controller 40 (collaborative work judgment unit 61) detects the line of sight (action of the surrounding worker) of the surrounding worker (detected person) from the image captured by the monitoring device (camera) 51, and when the hydraulic excavator 1 is in front of the detected line of sight, the surrounding worker (detected person) who detects the line of sight can be judged as a collaborative worker (first processing). In addition, the controller 40 (collaborative work judgment unit 61) detects the activity (action of the surrounding worker) of the surrounding worker (detected person) from the image captured by the monitoring device (camera) 51, and when the detected activity includes a posture indicating collaborative work, the surrounding worker (detected person) who performs the activity can be judged as a collaborative worker (second processing). The controller 40 (collaborative work judgment unit 61) can judge whether the surrounding worker (detected person) is a collaborative worker or a non-collaborative worker by performing either the first processing or the second processing.

[0057] In the case where the monitoring device 51 is a LiDAR, the controller 40 (cooperative work judgment unit 61) detects the facial orientation (action of the surrounding worker) of the surrounding worker (detected person) by detecting the characteristic shape of the protective equipment (such as a helmet) fixed to the head of the surrounding worker through the monitoring device (LiDAR) 51, thereby being able to estimate the line of sight. In addition, when the hydraulic excavator 1 is present in front of the estimated line of sight, the surrounding worker (detected person) who detects the line of sight can be judged as a cooperative worker (first processing). In addition, when the controller 40 (cooperative work judgment unit 61) detects the activities (actions of the surrounding workers) of the surrounding workers (detected person) through the monitoring device (LiDAR) 51, and when the detected activities include a posture indicating cooperative work, the surrounding worker (detected person) who performs the activity can be judged as a cooperative worker (second processing). By performing either the first processing or the second processing, the controller 40 (cooperative work judgment unit 61) can determine whether the surrounding worker (detected person) is a cooperative worker or a non-cooperative worker.

[0058] However, the collaborative work judgment unit 61 judges the persons detected in the monitoring area 71 who are judged as not being surrounding workers by the surrounding worker judgment unit 60 as irrelevant persons. That is, the collaborative work judgment unit 61 classifies the persons detected in the monitoring area 71 (detected persons) into any one of the three categories of collaborative workers, irrelevant persons, and non-collaborative workers.

[0059] (Operator Operation Speed ​​Estimation Unit 62)

[0060] The operator operation speed estimation unit 62 allows the speed (actuator speed) of each actuator 3, 4, 5, 6, 7 generated by the operator's operation based on the operator's operation amount on the operating device 22, 23 detected by the operation amount sensor 53. For example, based on Figure 6 The speed of each actuator 3, 4, 5, 6, 7 specified by the operator's operation (also referred to as the required speed of the actuator 3, 4, 5, 6, 7 generated by the operator) is calculated by using the correlation diagram of the operator's lever operation amount (operation amount for the operating device 22, 23) and the actuator speed. Preferably, the correlation diagram of the operation amount and the speed is set for each actuator 3, 4, 5, 6, 7.

[0061] (Action Limiting Unit 64)

[0062] When a person is detected in the monitoring area 71, the motion limiting unit 64 generates a control signal for slowing down or stopping the actuators 3, 4, 5, 6, 7 that are in motion or want to start motion through operator operation based on the type of the person (detected person) (any of the three types of collaborative worker, non-collaborative worker, and unrelated person), the positional relationship between the person (detected person) and the hydraulic excavator 1, and the motion of the hydraulic excavator 1 (in this embodiment, the input operation to the operating devices 22 and 23).

[0063] like Figure 7 As shown, the monitoring area 71 is divided into three areas, namely, a stop area 73, a deceleration area 72, and a normal area 74, with the hydraulic excavator 1 as the center and toward the outside. When a person is detected in the stop area 73, the operation of the hydraulic excavator 1 (the operation of the actuators 3, 4, 5, 6, and 7) is stopped. When a person is detected in the deceleration area 72, the operation of the hydraulic excavator 1 (the operation of the actuators 3, 4, 5, 6, and 7) is restricted (decelerated). When a person is detected in the normal area 74, the operation of the hydraulic excavator 1 (the operation of the actuators 3, 4, 5, 6, and 7) is not restricted and follows the operator's operation.

[0064] The stop area 73 and the deceleration area 72 are separated by a stop area boundary line 731, and the deceleration area 72 and the normal area 74 are separated by a deceleration area boundary line 721. The stop area 73 is an area on the inner side (on the hydraulic excavator 1 side) of the stop area boundary line 731, the deceleration area 72 is an area on the inner side of the deceleration area boundary line 721 and on the outer side of the stop area boundary line 731, and the normal area 74 is an area on the outer side of the deceleration area boundary line 721 and on the inner side of the monitoring area 71.

[0065] The positions of the stop area boundary line 731 and the deceleration area boundary line 721 can be changed according to the type of detected person in the monitoring area 71 (cooperative worker, non-cooperative worker, irrelevant person). Figure 7 The positions of the stop area boundary line 731 and the deceleration area boundary line 721 on the Po-Pe line are described as an example. Point Po is a reference point set at the hydraulic excavator 1 (for example, the rotation center of the upper rotating body 12). Point Pe is the intersection of a straight line orthogonal to the stop area boundary line 731 and the deceleration area boundary line 721 drawn from point Po and the boundary of the monitoring area 71.

[0066] Fig. 9 The following is a graph (sometimes referred to as an allowable speed graph) that defines an example of the correspondence relationship between the distance from the hydraulic excavator 1 on the Po-Pe line and the allowable speeds of the actuators 3 , 4 , 5 , 6 , 7 . Fig. 9 The allowable speed graph depicted by a solid line is a graph selected when the detected persons include non-collaborative workers (sometimes referred to as an allowable speed graph for non-collaborative work (the first allowable speed graph and the first mathematical relationship)). In addition, the allowable speed graph depicted by a dotted line is a graph selected when the detected persons are only collaborative workers (sometimes referred to as an allowable speed graph for collaborative work (the second allowable speed graph and the second mathematical relationship)). As the maximum value V1 of the allowable speed in the figure, the maximum speed of each actuator 3, 4, 5, 6, 7 can be set. In addition, it is preferable to set the following values ​​for each actuator 3, 4, 5, 6, 7, respectively. Fig. 9 That kind of curve graph.

[0067] (Allowable speed curve for non-cooperative work (first allowable speed curve))

[0068] Fig. 9 In the permissible speed curve diagram for non-cooperative operation (first permissible speed curve diagram), when the distance from the hydraulic excavator 1 becomes less than dth1a, the permissible speed decreases monotonically from V1, and then when the distance becomes less than dth2a, the permissible speed becomes zero and the hydraulic excavator 1 stops. That is, dth1a in the diagram is the position of the deceleration area boundary line 721 during non-cooperative operation, and dth2a is the position of the stop area boundary line 731 during non-cooperative operation.

[0069] (Allowable speed curve diagram for collaborative work (second allowable speed curve diagram))

[0070] in addition, Fig. 9In the dotted line cooperative operation allowable speed curve diagram (second allowable speed curve diagram), when the distance from the hydraulic excavator 1 becomes less than dth1b (however, dth1b<dth1a), the allowable speed decreases monotonically from V1, and then, when the distance becomes less than dth2b (where dth2b<dth2a), the allowable speed becomes zero and the hydraulic excavator 1 stops. That is, dth1b in the figure is the position of the deceleration area boundary line 721 during cooperative operation, and dth2b is the position of the stop area boundary line 731 during cooperative operation.

[0071] The permissible speed curve for cooperative work (second permissible speed curve) is defined in such a way that the permissible speed of the actuator (speed after speed limitation) becomes larger than that of the permissible speed curve for non-cooperative work (first permissible speed curve) by comparing the same value of the distance from the hydraulic excavator 1 (i.e., comparing under the same condition of the positional relationship between the detection person and the hydraulic excavator 1) in the interval where the distance from the hydraulic excavator 1 is less than dth1a. As a result, the degree of restriction on the movement of the hydraulic excavator 1 becomes smaller during cooperative work. That is, during cooperative work, the degree of restriction on the speed defined by the operator's operation becomes smaller, and the speed of the hydraulic excavator 1 is difficult to reduce. Therefore, even if a cooperative worker cooperates with the hydraulic excavator 1, it is difficult to restrict the movement of the hydraulic excavator 1 compared with the case where a non-cooperative worker works at the same distance.

[0072] When an unauthorized person is detected in the monitoring area 71, the permitted speed is always kept at zero regardless of the distance from the hydraulic excavator 1. Thus, when an unauthorized person is detected, the actuators 3, 4, 5, 6, and 7 are stopped.

[0073] Furthermore, when there are a plurality of detected persons in the monitoring area 71, it is preferable to determine the type of each detected person and perform control on the type for which the operation of the actuator is most restricted among the determined types.

[0074] The motion limiting unit 64 determines the method of decelerating or stopping the actuators 3, 4, 5, 6, and 7 based on the type of the detected person, the distance of the detected person from the hydraulic excavator 1, and Fig. 9The allowable speed of the actuator 3, 4, 5, 6, 7 is calculated based on the allowable speed curve diagram. And, in a case where the speed of the actuator 3, 4, 5, 6, 7 based on the operator's operation exceeds the allowable speed, the allowable speed is set to the control request speed of the actuator 3, 4, 5, 6, 7. And, the action limiting unit 64 generates a control signal of the electromagnetic proportional valve 47 so that the actuator 3, 4, 5, 6, 7 is operated at the control request speed, and outputs the generated control signal to the electromagnetic proportional valve 47. The electromagnetic proportional valve 47 is adjusted to follow the valve opening of the control signal, so that the pilot pressure specified by the valve opening acts on the corresponding flow control valve 15. As a result, the hydraulic pressure flowing into the corresponding actuator 3, 4, 5, 6, 7 is limited, and the actuator 3, 4, 5, 6, 7 is controlled according to the control request speed. Fig. 9 The curve graph is used to decelerate or stop.

[0075] (Control when a person is detected while the hydraulic excavator is stopped)

[0076] The following describes a control example of the controller 40 when a person is detected in the monitoring area 71 while the hydraulic excavator 1 is not being operated by an operator (non-operation state). (1) When the detected person is an "unrelated person", the hydraulic excavator 1 is maintained in the stopped state even if the operator subsequently operates the operating levers 22 and 23 to operate the hydraulic excavator 1. (2) When the detected person is a "non-cooperative operator", if at least one of the operation of the rotating body 12 (rotation operation) and the operation of the traveling body 11 (travel operation) is input, the stopped state is maintained. If only the front working machine 1A is operated (front operation), the hydraulic excavator 1 is controlled in accordance with the allowable speed curve diagram for non-cooperative operators ( Fig. 9 (3) When the detected person is a "collaborative worker", the stop state is maintained when the driving operation and other operations are performed in combination, and in other cases, the speed is controlled according to the allowed speed curve diagram of the collaborative worker ( Fig. 9 The dotted line) makes the actuator of the object move.

[0077] (Notification device 55)

[0078] The notification device 55 notifies the operator of information related to the state of the contact prevention control executed by the controller 40. For example, when the actual actuator speed is limited compared to the actuator speed based on the operator's operation due to the contact prevention control, this situation is notified. In addition, when a person is detected in the monitoring area 71, the presence of a person in the monitoring area 71 is notified. Moreover, when a person is detected in the deceleration area 72 and the stop area 73, this situation is notified. As specific methods of notification, there are display based on the monitor screen (display device), sound from the speaker (sound output device), and lighting or flashing of the warning light.

[0079] (Flowchart of Implementation Method 1)

[0080] use Fig.10 as well as Fig.11 The operation of the contact prevention control executed by the controller 40 of the present embodiment will be described.

[0081] In step S100, the controller 40 (cooperative operation determination unit 61) determines whether a person is detected (detects a person) in the monitoring area 71. If detected, the process proceeds to step S101, and if not detected, no special processing is performed.

[0082] In step S101, the controller 40 (cooperative work determination unit 61) determines whether the persons detected in step S100 (detected persons) include irrelevant persons. The classification of irrelevant persons is performed by the surrounding worker determination unit 60 described above. If irrelevant persons are not included, the process proceeds to step S102, and if irrelevant persons are included, the process proceeds to step S110.

[0083] In step S102, the controller 40 (operator operation speed estimation unit 62) determines whether an operation (lever operation) to the operating device 22, 23 is input based on the output of the operation amount sensor 53. If a lever operation is input, the process proceeds to step S103. If no lever operation is input, the process proceeds to step S112.

[0084] In step S103, the controller 40 (collaborative work judgment unit 61) judges whether the detected person in step S100 is only a collaborative worker. The judgment of whether the detected person is a collaborative worker or a non-collaborative worker is performed based on the action of the detected person detected by the monitoring device 51 as described above. In the case where the detected person is only a collaborative worker (the case where it is judged that only collaborative workers exist in the monitoring area 71), the process proceeds to step S104. On the other hand, in the case where the detected person includes non-collaborative workers (the case where it is judged that only surrounding workers exist in the monitoring area 71, and the monitoring area 71 includes non-collaborative workers), the process proceeds to step S107.

[0085] In step S104, the controller 40 (operator operation speed estimation unit 62) determines whether a travel operation is input. When no travel operation is input, in other words, when at least one of the operation of the front working machine 1A (front operation) and the rotation operation of the upper rotating body 12 is performed (with respect to the case where an operation other than the travel operation is input to the operating devices 22 and 23, more specifically, a single operation of the front operation, a single operation of the rotation operation, or a combined operation of the front operation and the rotation operation), the process proceeds to step S106. When at least the travel operation of the lower traveling body 11 is included, the process proceeds to step S105.

[0086] In step S105, the controller 40 (operator operation speed estimation unit 62) determines whether there is no operation other than the driving operation (i.e., the front operation and the rotation operation). If there is no operation other than the driving operation, that is, only the driving operation is input, the process proceeds to step S106. If there is an operation other than the driving operation, that is, the driving operation and other operations (at least one of the front operation and the rotation operation) are input in combination, the process proceeds to step S107.

[0087] In step S106, the controller 40 (action restriction unit 64) determines the speed of the detected person based on the distance between the detected person and the area boundary and the allowable speed curve for cooperative operation of the actuator with operation input (for example, Fig. 9 The second allowable speed curve diagram of the dotted line is used to calculate (determine) the allowable speed of the actuator with the operation input.

[0088] In step S107, the controller 40 (action restriction unit 64) determines the speed of the non-cooperative operation of the actuator with the operation input based on the distance between the detected person and the area boundary and the allowable speed curve map ( Fig. 9 The first allowable speed curve diagram (the solid line of the first allowable speed curve diagram) is used to calculate (determine) the allowable speed of the actuator having the operation input.

[0089] In step S108, when the actuator speed specified by the operator's operation exceeds the allowable speed calculated in step S106 or step S107, the controller 40 (action limiting unit 64) generates a control signal for the electromagnetic proportional valve 47 in such a way that the speed of the actuator becomes the allowable speed, and outputs the control signal to the electromagnetic proportional valve 47.

[0090] In step S109, the controller 40 notifies the operator via the notification device 55 that a surrounding worker is detected in the monitoring area 71. Fig. 9 When any one of the two allowable speed curves is limited, the operator is notified via the notification device 55 that the operation of the hydraulic excavator 1 is limited.

[0091] In step S110, since the detected persons include irrelevant persons, the controller 40 (motion limiting unit 64) sets the speeds of all actuators 3, 4, 5, 6, and 7 to zero to forcibly stop the motion of the hydraulic excavator 1. Specifically, a control signal is output to the electromagnetic proportional valve 47 so that the speeds of the actuators become zero.

[0092] In step S111 , the controller 40 notifies the operator via the notification device 55 that the operation of the hydraulic excavator 1 is stopped because an unrelated person is detected in the monitoring area 71 .

[0093] When the process proceeds from step S102 to step S112, it is determined that the hydraulic excavator 1 is stopped. In step S112, the controller 40 sets a stop processing flag and then proceeds to step S200. After step S200, the controller 40 uses Fig.11 illustrate.

[0094] In step S200, the controller 40 (cooperative work determination unit 61) determines whether the detected persons detected in the monitoring area 71 during the stop of the hydraulic excavator 1 are only cooperative workers. The determination of whether the detected person is a cooperative worker or a non-cooperative worker is performed based on the movement of the detected person detected by the monitoring device 51 as described above. If it is only cooperative workers, the process proceeds to step S201. If it is not only cooperative workers (that is, non-cooperative workers are included), the process proceeds to step S205.

[0095] In step S201, the controller 40 (operator operation speed estimation unit 62) determines whether there is an operation input (lever operation) to the operating device 22, 23 in the state where the stop processing mark (see step S112) is standing. If there is a lever operation, the process proceeds to step S202. If there is no lever operation, the process returns to step S200.

[0096] In step S202, the controller 40 (operator operation speed estimation unit 62) determines whether a travel operation is input. When no travel operation is input, that is, when an operation other than the travel operation (at least one of the front operation and the rotation operation) is input, the process proceeds to step S204. On the other hand, when at least the travel operation is input, the process proceeds to step S203.

[0097] In step S203, the controller 40 (operator operation speed estimation unit 62) determines whether an operation other than driving is input. If no operation other than driving is input, that is, only driving operation is input, the process proceeds to step S204. If an operation other than driving is input, that is, driving operation and other operation (at least one of front operation and rotation operation) are input in combination, the process proceeds to step S206.

[0098] In step S204, the controller 40 (action restriction unit 64) determines the speed of the detected person based on the distance between the detected person and the area boundary and the allowable speed curve for cooperative operation of the actuator with operation input (for example, Fig. 9 The second allowable speed curve diagram of the dotted line is used to calculate (determine) the allowable speed of the actuator with the operation input.

[0099] In step S205, the controller 40 (operator operation speed estimation unit 62) determines whether a travel operation or a rotation operation is input to the operating device 22, 23. If a travel operation or a rotation operation is input (i.e., only a travel operation is input, only a rotation operation is input, a combined operation of a travel operation and a rotation operation is input, a combined operation of a travel operation and a front operation is input, a combined operation of a rotation operation and a front operation is input, or a combined operation of a travel operation, a rotation operation, and a front operation is input), the process proceeds to step S206. If no travel operation or a rotation operation is input, the process proceeds to step S208.

[0100] In step S206 , the controller 40 (operation restriction unit 64 ) outputs a control signal to the electromagnetic proportional valve 47 so that the speed of the actuator operated by the operator is kept at zero, thereby forcibly maintaining the hydraulic excavator 1 in the stopped state.

[0101] In step S207 , the controller 40 notifies the operator via the notification device 55 that the stopped state of the hydraulic excavator 1 is maintained.

[0102] In step S208, the controller 40 (operator operation speed estimation unit 62) determines whether a lever operation (front operation) to the front working machine 1A is input. If the front operation is input (that is, only the front operation is input), the process proceeds to step S209. If the front operation is not input (that is, there is no input to the operating devices 22, 23), the process returns to step S200.

[0103] In step S209, the controller 40 (motion limiting unit 64) calculates (determines) the allowable speed of the actuator with the operation input based on the distance between the detected person and the area boundary and the allowable speed curve diagram (first allowable speed curve diagram) for non-cooperative operation of the actuator with the operation input (at least one of the hydraulic cylinders 5, 6, 7).

[0104] In step S210, when the actuator speed specified by the operator's operation exceeds the allowable speed calculated in step S204 or step S209, the controller 40 (action limiting unit 64) generates a control signal for the electromagnetic proportional valve 47 in such a way that the speed of the actuator becomes the allowable speed, and outputs the control signal to the electromagnetic proportional valve 47.

[0105] In step S211 , the controller 40 notifies the operator via the notification device 55 that the actuator speed is reduced.

[0106] In step S212, the controller 40 removes the stop processing flag and returns to step S100.

[0107] (Effect)

[0108] In the control system of the hydraulic excavator 1 configured as described above, when only the cooperative worker exists in the deceleration area 72, the permissible speed of the hydraulic excavator 1 is set to be larger than when the non-cooperative worker exists in the deceleration area 72. In addition, the boundary line 721 between the normal area 74 and the deceleration area 72 during cooperative operation and the boundary line 731 between the deceleration area 72 and the stop area 73 are set closer to the hydraulic excavator 1 than during non-cooperative operation, and the deceleration area 72 and the stop area 73 during cooperative operation are smaller than during non-cooperative operation. As a result, the hydraulic excavator 1 is restrained from decelerating and stopping during cooperative operation compared to non-cooperative operation. Therefore, according to the present embodiment, the scene where the action of the hydraulic excavator 1 is restricted during cooperative operation with the hydraulic excavator 1 by the cooperative worker can be reduced, so that the efficiency of the cooperative operation can be suppressed from being reduced.

[0109] However, in the present embodiment, when the travel operation and the front operation or the rotation operation are combined, the hydraulic excavator 1 is controlled based on the permissible speed curve for non-cooperative operation even when there is only a cooperative worker in the deceleration area 72. When such an operation is input, the range in which the hydraulic excavator 1 can move in a short time becomes larger, and for example, even if there is a cooperative worker, the possibility of contact with the hydraulic excavator 1 increases. Therefore, by limiting the permissible speed, the possibility of contact between the cooperative worker and the hydraulic excavator 1 is reduced.

[0110] Furthermore, in the present embodiment, when an unrelated person who is not involved in the work exists in the monitoring area 71 , the operation of the hydraulic excavator 1 is forcibly stopped, so that it is possible to prevent the unrelated person from coming into contact with the hydraulic excavator 1 .

[0111] Furthermore, even when only the cooperative worker is detected in the deceleration area 72 while the hydraulic excavator 1 is stopped, if the travel operation is combined with the front operation or the swing operation, the action based on the operation is not started and the stopped state of the hydraulic excavator 1 is maintained. Thus, when the operator wants to start the hydraulic excavator 1 by combining the travel operation with the operation, the start of the hydraulic excavator 1 according to the combined operation is prohibited, so that the cooperative worker can be prevented from coming into contact with the hydraulic excavator 1.

[0112] Similarly, when a non-cooperative operator is detected in the deceleration area 72 while the hydraulic excavator 1 is stopped and a travel operation or a swing operation is input, the action based on the operation is not started and the stopped state of the hydraulic excavator 1 is maintained. Thus, when the operator attempts to start the hydraulic excavator 1 by the travel operation or the swing operation, the start of the hydraulic excavator 1 in accordance with the operation is prohibited, thereby preventing the non-cooperative operator or the cooperative operator from coming into contact with the hydraulic excavator 1.

[0113] In addition, when a non-cooperative worker is detected in the deceleration area 72 and only the front operation is input while the hydraulic excavator 1 is stopped, the hydraulic excavator 1 is controlled based on the permissible speed curve for non-cooperative work (step S209). That is, the movement of the front working machine 1A based on the front operation is permitted, thereby suppressing a decrease in working efficiency.

[0114] (other)

[0115] In addition, when only the cooperative worker is detected by the monitoring device 51, the deceleration area 72 and the stop area 73 in the monitoring area 71 may be reduced and the monitoring area 71 may be stopped. Figure 8 By reducing the deceleration area 72 and the stop area 73 in this way, the area where the hydraulic excavator 1 is restricted in its movement can be further reduced, thereby further suppressing a decrease in cooperative work efficiency.

[0116] In addition, when only the collaborative worker is detected by the monitoring device 51, the Figure 8 The deceleration area 72 and the stop area 73 are limited to when only the front operation is input. Therefore, when the cooperative worker is outside the deceleration area 72 and away from the action plane of the front working machine 1A, the action of the front working machine 1A is not restricted, thereby improving the working efficiency.

[0117] Furthermore, when the hydraulic excavator 1 is not operated by the operator (the hydraulic excavator 1 is stopped), the motion limiting unit 64 may maintain the motion of the hydraulic excavator 1 in the stopped state or decelerate the speed of the actuator compared to the speed specified by the operator's operation when a person is detected in the monitoring area 71. For example, when the detected person is an unrelated person or a non-cooperative operator, the hydraulic excavator 1 is maintained in the stopped state even if there is an operation input, and when the detected person is a cooperative operator, the motion of the hydraulic excavator 1 is decelerated. In addition, when the detected person is a non-cooperative operator and there is no non-cooperative operator on the extension line of the front working machine 1A, the front working machine 1A may not perform the stop holding to allow the speed motion.

[0118] also, Fig.10 , 11 In the flowchart, the permissible speed graph used when determining the permissible speed of the actuators 3, 4, 5, 6, 7 with operation input is selected based on two factors: the type of person detected (collaborative worker, non-collaborative worker, unrelated person) and the action of the hydraulic excavator 1 (specifically, the action inferred from the operation input to the operating devices 22, 23). However, the permissible speed graph used when determining the permissible speed of the actuators 3, 4, 5, 6, 7 with operation input may be selected based only on the type of person detected (collaborative worker, non-collaborative worker, unrelated person). In this case, the permissible speed graph used when determining the permissible speed of the actuators 3, 4, 5, 6, 7 with operation input is selected based on the type of person detected (collaborative worker, non-collaborative worker, unrelated person). Fig.10 Steps S104 and S105 are omitted. Fig.11 Steps S202 and S203 are omitted.

[0119] <Implementation method 2>

[0120] The main feature of this embodiment is that, based on the method described in the first embodiment, the velocity vector (estimated velocity vector, actual velocity vector) of the hydraulic excavator 1 is calculated, and the relationship between the direction of the velocity vector and the detected person is considered to select the allowable velocity curve. In addition, the description of the same parts as those in the first embodiment is sometimes appropriately omitted.

[0121] like Fig.12 As shown, the hydraulic excavator 1 in this embodiment has a boom angle sensor 30 mounted on the boom pin 8a, an arm angle sensor 31 mounted on the arm pin 9a, and a bucket angle sensor 32 mounted on the bucket link 14 in order to measure the rotation angles θbm, θam, and θbk of the boom 8, the arm 9, and the bucket 10. In addition, the angle sensors 30, 31, and 32 can be replaced by angle sensors (such as IMUs) that detect angles relative to a reference plane (such as a horizontal plane). Alternatively, they can be replaced by hydraulic cylinder stroke sensors that detect the strokes of each hydraulic cylinder 5, 6, and 7, and can also be configured to convert the obtained hydraulic cylinder strokes into angles.

[0122] Furthermore, a rotation angle sensor 19 capable of detecting a relative angle (rotation angle θsw) between the upper rotating structure 12 and the lower traveling structure 11 is mounted near the rotation centers of the upper rotating structure 12 and the lower traveling structure 11 .

[0123] The hydraulic excavator 1 can be positioned in Fig.12The excavator reference coordinate system is defined in the excavator reference coordinate system shown. The excavator reference coordinate system takes the point where the lower traveling body 11 contacts the ground in the rotation center axis of the upper rotating body 12 as the origin. The travel direction of the lower traveling body 11 when moving in a straight line is parallel to the action plane of the front working machine 1A, and the direction of the extension direction of the front working machine 1A is consistent with the direction of the movement when the lower traveling body 11 moves forward as the X-axis, which is fixed to the lower surface of the lower traveling body 11 (the ground contacting surface in contact with the ground). The rotation center of the upper rotating body 12 is set to the Z-axis, and the Y-axis is defined in such a way as to form a right-handed coordinate system with the above-mentioned X-axis and Z-axis. In addition, regarding the rotation angle θsw, the state in which the front working machine 1A is parallel to the X-axis is set to 0 degrees. The rotation angle of the boom 8 relative to the X-axis is defined as the boom angle θbm, the rotation angle of the arm 9 relative to the boom 8 is defined as the arm θam, the rotation angle of the claw tip of the bucket 10 relative to the arm 9 is defined as the bucket angle θbk, and the rotation angle of the upper rotating body 12 relative to the lower traveling body 11 is defined as the rotation angle θsw.

[0124] Fig.13 1 is a functional block diagram of the controller 40 in the present embodiment. The controller 40 in the present embodiment is connected to a posture detection device 54 composed of a rotation angle sensor 19 and angle sensors 30-32, and detection data of each angle sensor 19, 30-32 is input. In addition, the controller 40 functions as an excavator posture calculation unit 65 that calculates the posture of the hydraulic excavator 1 and a motion calculation unit 63 that calculates the motion of the hydraulic excavator 1 by executing a program.

[0125] (Excavator posture calculation unit 65)

[0126] The excavator posture calculation unit 65 calculates the rotation angle of the upper rotating body 12 in the excavator reference coordinate system based on the detection data of the rotation angle sensor 19. In addition, the posture of the front working device 1A in the excavator reference coordinate system is calculated based on the detection data of the boom angle sensor 30, the arm angle sensor 31, and the bucket angle sensor 32. By using these angle information and the dimensional information of each part of the hydraulic excavator 1 ( Fig.12 The posture and position of each front component (the boom 8, the arm 9, the bucket 10, and the upper rotating body 12) of the hydraulic excavator 1 in the excavator reference coordinate system can be calculated.

[0127] (Operator Operation Speed ​​Estimation Unit 62)

[0128] The operator operation speed estimation unit 62 calculates the estimated speed of the hydraulic actuators 3, 4, 5, 6, 7 based on the operator operation, using the operator operation amount of each operating device 22, 23 calculated from the detection data of the operation amount sensor 53 and the correlation map between the operation amount and the actuator speed stored in advance in the controller 40. In addition, the operator operation speed estimation unit 62 converts the calculated estimated speed of the hydraulic actuators 3, 4, 5, 6, 7 into the speed (angular velocity) of the front working machine 1A (each front member 8, 9, 10) using the posture information of the hydraulic excavator 1 calculated by the excavator posture calculation unit 65.

[0129] (Motion calculation unit 63)

[0130] The motion calculation unit 63 calculates the actual motion of the hydraulic excavator 1 based on the detection data of the posture detection device 54. For example, the motion calculation unit 63 calculates the velocity vector (actual velocity vector) actually generated in the front working machine 1A based on the time change of the angle calculated from the detection data of the angle sensors 30 to 32 (the time change of the posture of the hydraulic excavator 1 calculated by the excavator posture calculation unit 65). In addition, the motion calculation unit 63 can calculate the rotation direction and the travel direction of the hydraulic excavator 1 in the vehicle body coordinate system from the rotation angle of the hydraulic excavator 1 and the operation amount of the operating devices 23a and 23b. In addition, the motion calculation unit 63 can also calculate the velocity vector (estimated velocity vector) generated by the operator's operation on the front working machine 1A from the angular velocity of the front working machine 1A calculated by the operator's operation speed estimation unit 62.

[0131] (Cooperation Determination Unit 61)

[0132] The cooperative work determination unit 61 of the present embodiment determines whether cooperative work is being performed by considering not only the content of the operation input to the operating devices 22 and 23 but also the movement direction of the hydraulic excavator 1 based on the operation.

[0133] As the action of the hydraulic excavator 1 that is judged as being in cooperative work by the cooperative work judgment unit 61, for example, the velocity vector of each part of the hydraulic excavator generated by the operator operating the operating device 22 does not have a component toward the cooperative worker, and the operation amount of the travel lever 23 is less than the threshold value (that is, the speed of the lower travel body 11 is less than the threshold value). For example, the direction of the actual velocity vector and the estimated velocity vector calculated by the action calculation unit 63 does not have a component toward the cooperative worker, which can be used as a condition for judging that cooperative work is being performed. In addition, even if the velocity vector toward the cooperative worker is not generated in the front work machine 1A due to the rotation action of the front work machine 1A and the upper rotating body 12, it can be judged that there is no cooperative work when the travel operation is detected simultaneously with the operation of the work machine 1A and the upper rotating body 12.

[0134] (Action Limiting Unit 64)

[0135] The motion limiting unit 64 of this embodiment can change the positions of the stop area boundary line 731 and the deceleration area boundary line 721 according to the motion of the hydraulic excavator 1. In other words, the motion limiting unit 64 can change the shapes of the deceleration area 72 and the stop area 73 according to the motion of the hydraulic excavator 1. This allows, for example, the cooperative worker to work at a position closer to the hydraulic excavator 1. For example, Fig.14 As shown, when a velocity vector pointing leftward in the figure is generated in the front working machine 1A, the shapes of the deceleration area 72 and the stop area 73 are changed from Figure 7 The shape shown changes to Fig.14 Shape shown. Fig.14 In the shape of , the deceleration area 72 and the stop area 73 located in the direction opposite to the movement direction of the front working machine 1A are reduced.

[0136] (Flowchart of Embodiment 2)

[0137] use Fig.15 as well as Fig.16 The operation of the contact prevention control executed by the controller 40 of the present embodiment will be described.

[0138] Fig.15 In the embodiment, the same processing as in the first embodiment is performed with respect to steps S100, S101, S102, S103, S104, S108, S109, S110, and S111. In addition, if it is determined in step S102 that there is no operation input to the hydraulic excavator 1, Fig.16 The process proceeds to step S200.

[0139] First, when it is determined that only the cooperative worker exists in monitoring area 71 and an operation other than the driving operation is input to operating devices 22 and 23 , the process proceeds to step S300 .

[0140] In step S300, the controller 40 (motion calculation unit 63) calculates an estimated speed vector which is a speed vector generated by the operator's operation on the front working machine 1A.

[0141] In step S301, the controller 40 (motion calculation unit 63) calculates the actual velocity vector, which is the velocity vector actually generated for the front working machine 1A, based on the time change (angular velocity) of the posture of the front working machine 1A calculated by the excavator posture calculation unit 65. In addition, regarding the angular velocity of the front working machine 1A, IMUs may be installed on the boom 8, the arm 9, and the bucket 10, respectively, and the values ​​measured by the IMUs may be used.

[0142] In step S302, the controller 40 (cooperative work determination unit 61) determines whether the estimated speed vector (speed vector generated by the operator's operation on the front working machine 1A) calculated in step S300 and the actual speed vector (speed vector generated by the front working machine 1A calculated from the angular velocity of each part of the front working machine 1A) calculated in step S301 are both directed toward the cooperative worker. If both speed vectors are not directed toward the cooperative worker, the process proceeds to step S303. If at least one of the two speed vectors is directed toward the cooperative worker, the process proceeds to step S107.

[0143] In step S303 , the controller 40 (motion restriction unit 64 ) calculates the permitted actuator speed based on the distance between the detected person and the area boundary and the permitted speed graph for cooperative work.

[0144] Second, when it is determined that only the collaborative worker exists in monitoring area 71 and only the driving operation is input to operating devices 22 and 23, the process proceeds to step S304.

[0145] In step S304, the controller 40 (action calculation unit 63) calculates the driving direction (the direction in which the hydraulic excavator 1 moves forward through the driving operation) of the hydraulic excavator 1 (lower driving body 11) caused by the operator's driving operation based on the rotation angle θsw detected by the rotation angle sensor 19 and the operation amount detected by the operation amount sensors 53e and 53f.

[0146] In step S305, the controller 40 (cooperative work determination unit 61) determines whether the direction of travel of the hydraulic excavator 1 caused by the operator operation calculated in step S304 is toward the cooperative worker. If the direction of travel is toward the cooperative worker, the process proceeds to step S107. If not, the process proceeds to step S306.

[0147] In step S306, the controller 40 (cooperative work determination unit 61) determines whether the amount of travel operation input to the operating device 23 is less than a threshold value. If it is less than the threshold value, the process proceeds to step S307. If it exceeds the threshold value, the process proceeds to step S107. Step S306 may be omitted.

[0148] In step S307 , the controller 40 (motion restriction unit 64 ) calculates the permitted actuator speed based on the distance between the detected person and the area boundary and the permitted speed graph for cooperative work.

[0149] Fig.16 In the step S200, step S201, S202, S203, S205, S206, S207, S208, S209, S210, S211 and Fig.11 It is common.

[0150] Thirdly, after it is determined that only the cooperative worker is present in the monitoring area 71 while the hydraulic excavator 1 is stopped, if an operation other than the traveling operation is input to the operating devices 22 and 23 , the process proceeds to step S400 .

[0151] In step S400, the controller 40 (motion calculation unit 63) calculates an estimated speed vector which is a speed vector generated by the operator's operation on the front working machine 1A.

[0152] In step S401, the controller 40 (cooperative work determination unit 61) determines whether the estimated speed vector (the speed vector generated by the operator's operation on the front working machine 1A) calculated in step S400 is directed toward the cooperative worker. If the estimated speed vector is not directed toward the cooperative worker, the process proceeds to step S402. If the speed vector is directed toward the cooperative worker, the process proceeds to step S209.

[0153] In step S402 , the controller 40 (motion restriction unit 64 ) calculates the permitted actuator speed based on the distance between the detected person and the area boundary and the permitted speed graph for cooperative work.

[0154] Fourthly, after it is determined that only surrounding workers exist in the monitoring area 71 while the hydraulic excavator 1 is stopped and that non-cooperative workers are included in the monitoring area 71 while the hydraulic excavator 1 is stopped, if only a travel operation is input to the operating devices 22 and 23, the process proceeds to step S403.

[0155] In step S403, the controller 40 (action calculation unit 63) calculates the travel direction (the direction in which the hydraulic excavator 1 moves forward through the travel operation) of the hydraulic excavator 1 (lower travel body 11) caused by the operator's travel operation based on the rotation angle θsw detected by the rotation angle sensor 19 and the operation amount detected by the operation amount sensors 53e and 53f.

[0156] In step S404, the controller 40 (cooperative work determination unit 61) determines whether the direction of travel of the hydraulic excavator 1 caused by the operator operation calculated in step S403 is toward the cooperative worker. If not, the process proceeds to step S405. If it is toward the cooperative worker, the process proceeds to step S209.

[0157] In step S405 , the controller 40 (motion restriction unit 64 ) calculates the permitted actuator speed based on the distance between the detected person and the area boundary and the permitted speed graph for cooperative work.

[0158] also, Fig.15 In the flowchart of FIG. 1 , although step S300 and step S301 are executed from the viewpoint of improving the calculation accuracy of the action of the front working machine 1A, the judgment of step S302 may be performed using only the velocity vector calculated in either step S300 or step S301. In addition, although the processing of step 306 is executed from the viewpoint of reducing the possibility of contact between the cooperative worker and the hydraulic excavator 1, step S306 may be omitted.

[0159] (Effect)

[0160] In this embodiment, the permissible speed curve is selected by considering not only the operation input to the operating devices 22 and 23 but also the movement direction (speed vector) of the hydraulic excavator 1, so that the speed limit can be made to reflect the actual movement of the hydraulic excavator 1. By considering the actual movement of the hydraulic excavator 1, the possibility of contact between the hydraulic excavator 1 and the cooperating worker can be further reduced. In addition, when it is determined from the movement of the hydraulic excavator 1 that the two parties will not come into contact, the speed limit is not made, so that the operator can move the hydraulic excavator 1 as he or she intends, thereby reducing the discomfort caused to the operator when working.

[0161] (other)

[0162] In addition, regarding the judgment of people based on the actions of surrounding workers, a wearable terminal that can obtain the vital information (number of steps, pulse, body temperature, etc.) of the holder can also be used. For example, a surrounding worker holds a wearable terminal that can communicate with a hydraulic excavator, and the vital information of the holder (surrounding worker) is obtained and sent through the terminal in sequence. And, when an abnormality is detected in the physical condition of the surrounding worker based on the sent vital information, for example, even if the surrounding worker's line of sight is toward the hydraulic excavator 1, it is classified as a non-collaborative worker or an unrelated person. Considering the vital information of the surrounding workers in this way can further reduce the possibility of contact between the surrounding workers and the hydraulic excavator.

[0163] In addition, in the above-mentioned embodiments, the monitoring device 51 and the surrounding worker detection device 52 are described as examples of a configuration in which the monitoring device 51 and the surrounding worker detection device 52 communicate with the controller 40 mounted on the hydraulic excavator 1, but a system using a server that generates control signals for a plurality of hydraulic excavators may be constructed. In other words, the control device that generates or transmits the control signal to be output to the electromagnetic proportional valve 47 does not need to be mounted on the hydraulic excavator 1, and may be located at a location away from the hydraulic excavator 1.

[0164] In the above-mentioned embodiments, the allowable speed is determined using two allowable speed graphs (the first and second allowable speed graphs) for one actuator, but the allowable speed may be determined using three or more allowable speed graphs for one actuator. In addition, the graphs defining the distance from the hydraulic excavator (boundary line), the allowable speed, and the mathematical relationship are not limited to the graphs. Fig. 9 The graph (correlation diagram) shown may utilize, for example, a correlation diagram that specifies the mathematical relationship between the two parties, various operations, functions, and the like.

[0165] In addition, each component of the controller 40 and the functions and execution processing of each component can be partially or entirely implemented by hardware (for example, logic for executing each function is designed by integrated circuits). In addition, the components of the controller 40 can also be a program (software) that is read and executed by a processing unit (for example, a CPU) to implement the functions of the components of the controller 40. The information of the program can be stored in, for example, a semiconductor memory (flash memory, SSD, etc.), a magnetic storage device (hard disk drive, etc.), and a storage medium (disk, optical disk, etc.).

[0166] In the description of each embodiment, the control lines and information lines are shown only as necessary for describing the embodiment, and are not limited to showing all the control lines and information lines of the product. In fact, it can be considered that almost all components are connected to each other.

[0167] Description of Reference Numerals

[0168] 1…Hydraulic excavator, 1A…Front working machine, 2…Hydraulic pump, 3…Travel hydraulic motor, 4…Swing hydraulic motor, 5…Boom hydraulic cylinder, 6…Arm hydraulic cylinder, 7…Bucket hydraulic cylinder, 8…Boom, 9…Arm, 10…Bucket, 11…Lower travel body, 12…Upper swing body, 19…Swing angle sensor, 22…Operating device, 23…Operating device, 30…Boom angle sensor, 31…Arm angle sensor, 32…Bucket angle sensor, 40…Controller (control device), 47…Electric Magnetic proportional valve, 51…monitoring device, 52…surrounding worker detection device, 53…operation amount sensor, 54…posture detection device, 55…notification device, 60…surrounding worker judgment unit, 61…cooperative work judgment unit, 62…operator operation speed estimation unit, 63…motion calculation unit, 64…motion restriction unit, 65…excavator posture calculation unit, 71…monitoring area, 72…deceleration area, 73…stop area, 74…normal area, 721…deceleration area boundary line, 731…stop area boundary line.

Claims

1. A control system for an operating machine, comprising: A monitoring device that detects the position of a person in a predetermined area set around the working machine; and A control device that generates a control signal for limiting the movement of the working machine based on the positional relationship between the person detected by the monitoring device, that is, the detected person, and the working machine, and controls the working machine based on the control signal, wherein the control system of the working machine is characterized in that: The monitoring device also detects the movement of the detected person. The control device is composed of: using information on the movement of the detected person detected by the monitoring device to determine whether the detected person is a collaborative worker or a non-collaborative worker, Based on whether the detected person is a collaborative worker or a non-collaborative worker, or based on whether the detected person is a collaborative worker or a non-collaborative worker and the movement of the working machine, the permissible speed of the working machine when limiting the movement of the working machine is changed, The permissible speed of the working machine is changed based on a plurality of mathematical relationships including a first mathematical relationship and a second mathematical relationship that respectively define the following correspondence relationships: the correspondence relationship between the positional relationship between the detected person and the working machine and the permissible speed of the working machine; The comparison is made under the condition that the positional relationship between the detected person and the working machine is the same, and the second mathematical relationship is defined in such a way that the allowable speed of the working machine becomes larger than the first mathematical relationship. The control device is composed of: In a case where it is determined that only the collaborative worker exists in the specified area, and in a case where any one of a single operation of a front operation, a single operation of a rotation operation, a combined operation of the front operation and the rotation operation, and a single operation of a travel operation is input to an operating device for operating the working machine, the permissible speed of the working machine is determined based on the second mathematical relationship, When it is determined that the non-cooperative worker is included in the predetermined area, determining the permissible speed of the working machine based on the first mathematical relationship; When it is determined that only the collaborative worker exists within the specified area, and when any one of a combined operation of a driving operation and a rotating operation, a combined operation of a driving operation and a front operation, and a combined operation of a driving operation, a rotating operation, and a front operation is input to the operating device, the allowable speed of the working machine is determined based on the first mathematical relationship.

2. A control system for an operating machine, comprising: A monitoring device that detects the position of a person in a predetermined area set around the working machine; and A control device that generates a control signal for limiting the movement of the working machine based on the positional relationship between the person detected by the monitoring device, that is, the detected person, and the working machine, and controls the working machine based on the control signal, wherein the control system of the working machine is characterized in that: The monitoring device also detects the movement of the detected person. The control device is composed of: using information on the movement of the detected person detected by the monitoring device to determine whether the detected person is a collaborative worker or a non-collaborative worker, Based on whether the detected person is a collaborative worker or a non-collaborative worker, or based on whether the detected person is a collaborative worker or a non-collaborative worker and the movement of the working machine, the permissible speed of the working machine when limiting the movement of the working machine is changed, The permissible speed of the working machine is changed based on a plurality of mathematical relationships including a first mathematical relationship and a second mathematical relationship that respectively define the following correspondence relationships: the correspondence relationship between the positional relationship between the detected person and the working machine and the permissible speed of the working machine; The comparison is made under the condition that the positional relationship between the detected person and the working machine is the same, and the second mathematical relationship is defined in such a way that the allowable speed of the working machine becomes larger than the first mathematical relationship. The control device is composed of: After it is determined that only the cooperative worker exists in the specified area during the stop of the working machine, when any one of a single operation of front operation, a single operation of rotation operation, a combined operation of front operation and rotation operation, and a single operation of travel operation is input to an operating device for operating the working machine, the permissible speed of the working machine is determined based on the second mathematical relationship, After it is determined that only the collaborative worker exists in the specified area during the stop of the working machine, the stopping of the working machine is maintained when any one of the operations of a combined operation of a driving operation and a rotating operation, a combined operation of a driving operation and a front operation, and a combined operation of a driving operation, a rotating operation, and a front operation is input to the operating device.

3. A control system for an operating machine, comprising: A monitoring device that detects the position of a person in a predetermined area set around the working machine; and A control device that generates a control signal for limiting the movement of the working machine based on the positional relationship between the person detected by the monitoring device, that is, the detected person, and the working machine, and controls the working machine based on the control signal, wherein the control system of the working machine is characterized in that: The monitoring device also detects the movement of the detected person. The control device is composed of: using information on the movement of the detected person detected by the monitoring device to determine whether the detected person is a collaborative worker or a non-collaborative worker, Based on whether the detected person is a collaborative worker or a non-collaborative worker, or based on whether the detected person is a collaborative worker or a non-collaborative worker and the movement of the working machine, the permissible speed of the working machine when limiting the movement of the working machine is changed, The permissible speed of the working machine is changed based on a plurality of mathematical relationships including a first mathematical relationship and a second mathematical relationship that respectively define the following correspondence relationships: the correspondence relationship between the positional relationship between the detected person and the working machine and the permissible speed of the working machine; The comparison is made under the condition that the positional relationship between the detected person and the working machine is the same, and the second mathematical relationship is defined in such a way that the allowable speed of the working machine becomes larger than the first mathematical relationship. After the control device determines that the non-cooperative worker is included in the specified area during the stop of the working machine, the control device maintains the stop of the working machine when any one of the following operations is input to the operating device used to operate the working machine: a single operation of driving operation, a single operation of rotating operation, a combined operation of driving operation and rotating operation, a combined operation of driving operation and front operation, a combined operation of rotating operation and front operation, and a combined operation of driving operation, rotating operation and front operation.

4. The control system for a working machine according to claim 3, It is characterized in that After the control device determines that the non-cooperative worker is included in the prescribed area while the working machine is stopped, when only a front operation is input to an operating device for operating the working machine, the control device determines the allowable speed of the working machine based on the first mathematical relationship.

5. A control system for an operating machine, comprising: A monitoring device that detects the position of a person in a predetermined area set around the working machine; and A control device that generates a control signal for limiting the movement of the working machine based on the positional relationship between the person detected by the monitoring device, that is, the detected person, and the working machine, and controls the working machine based on the control signal, wherein the control system of the working machine is characterized in that: The monitoring device also detects the movement of the detected person. The control device is composed of: using information on the movement of the detected person detected by the monitoring device to determine whether the detected person is a collaborative worker or a non-collaborative worker, Based on whether the detected person is a collaborative worker or a non-collaborative worker, or based on whether the detected person is a collaborative worker or a non-collaborative worker and the movement of the working machine, the permissible speed of the working machine when limiting the movement of the working machine is changed, The permissible speed of the working machine is changed based on a plurality of mathematical relationships including a first mathematical relationship and a second mathematical relationship that respectively define the following correspondence relationships: the correspondence relationship between the positional relationship between the detected person and the working machine and the permissible speed of the working machine; The comparison is made under the condition that the positional relationship between the detected person and the working machine is the same, and the second mathematical relationship is defined in such a way that the allowable speed of the working machine becomes larger than the first mathematical relationship. The control device is composed of: The speed vector of the working machine is calculated based on the detection values ​​of a plurality of sensors installed on the working machine. In a case where it is determined that only the collaborative worker exists in the specified area, and in a case where any one of a single operation of a front operation, a single operation of a rotation operation, and a combined operation of the front operation and the rotation operation is input to an operating device for operating the working machine, and in a case where the speed vector is not directed toward the collaborative worker, the permissible speed of the working machine is determined based on the second mathematical relationship, When it is determined that only the collaborative worker exists in the specified area, when only driving operation is input to the operating device, when the speed vector is not directed toward the collaborative worker, and when the operation amount of the driving operation is below a specified threshold, the allowable speed of the working machine is determined based on the second mathematical relationship.

6. A control system for an operating machine, comprising: A monitoring device that detects the position of a person in a predetermined area set around the working machine; and A control device that generates a control signal for limiting the movement of the working machine based on the positional relationship between the person detected by the monitoring device, that is, the detected person, and the working machine, and controls the working machine based on the control signal, wherein the control system of the working machine is characterized in that: The monitoring device also detects the movement of the detected person. The control device is composed of: using information on the movement of the detected person detected by the monitoring device to determine whether the detected person is a collaborative worker or a non-collaborative worker, Based on whether the detected person is a collaborative worker or a non-collaborative worker, or based on whether the detected person is a collaborative worker or a non-collaborative worker and the movement of the working machine, the permissible speed of the working machine when limiting the movement of the working machine is changed, The permissible speed of the working machine is changed based on a plurality of mathematical relationships including a first mathematical relationship and a second mathematical relationship that respectively define the following correspondence relationships: the correspondence relationship between the positional relationship between the detected person and the working machine and the permissible speed of the working machine; The comparison is made under the condition that the positional relationship between the detected person and the working machine is the same, and the second mathematical relationship is defined in such a way that the allowable speed of the working machine becomes larger than the first mathematical relationship. The control device is composed of: The speed vector of the working machine is calculated based on the detection values ​​of a plurality of sensors installed on the working machine. After it is determined that only the cooperative worker exists in the specified area during the stop of the working machine, when any one of a single operation of a front operation, a single operation of a rotation operation, and a combined operation of the front operation and the rotation operation is input to an operating device for operating the working machine, and when the speed vector is not directed toward the cooperative worker, the permissible speed of the working machine is determined based on the second mathematical relationship, When it is determined that only the collaborative worker exists in the specified area during the stop of the working machine, when only driving operation is input to the operating device, and when the speed vector is not directed toward the collaborative worker, the allowable speed of the working machine is determined based on the second mathematical relationship.

7. A control system for an operating machine, comprising: A monitoring device that detects the position of a person in a predetermined area set around the working machine; and A control device that generates a control signal for limiting the movement of the working machine based on the positional relationship between the person detected by the monitoring device, that is, the detected person, and the working machine, and controls the working machine based on the control signal, wherein the control system of the working machine is characterized in that: The monitoring device also detects the movement of the detected person. The control device is composed of: using information on the movement of the detected person detected by the monitoring device to determine whether the detected person is a collaborative worker or a non-collaborative worker, Based on whether the detected person is a collaborative worker or a non-collaborative worker, or based on whether the detected person is a collaborative worker or a non-collaborative worker and the movement of the working machine, the permissible speed of the working machine when limiting the movement of the working machine is changed, The permissible speed of the working machine is changed based on a plurality of mathematical relationships including a first mathematical relationship and a second mathematical relationship that respectively define the following correspondence relationships: the correspondence relationship between the positional relationship between the detected person and the working machine and the permissible speed of the working machine; The comparison is made under the condition that the positional relationship between the detected person and the working machine is the same, and the second mathematical relationship is defined in such a way that the allowable speed of the working machine becomes larger than the first mathematical relationship. The control device is composed of: The speed vector of the working machine is calculated based on the detection values ​​of a plurality of sensors installed on the working machine. After it is determined that only the cooperative worker exists in the specified area during the stop of the working machine, when any one of a single operation of a front operation, a single operation of a rotation operation, and a combined operation of the front operation and the rotation operation is input to an operating device for operating the working machine, and when the speed vector is directed toward the cooperative worker, the allowable speed of the working machine is determined based on the first mathematical relationship, When it is determined that only the collaborative worker exists in the specified area during the stop of the working machine, when only driving operation is input to the operating device, and when the speed vector is directed toward the collaborative worker, the allowable speed of the working machine is determined based on the first mathematical relationship.

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