System and method for controlling a work machine

Abstract

The control system (500) of the working machine (1) having a lower traveling body (2) and an upper rotating body (3) capable of rotating relative to the lower traveling body (2) includes: a detection device (200) installed on the upper rotating body (3) for detecting objects present around the working machine (1); and a controller (300) for controlling the movements of the lower traveling body (2) and the upper rotating body (3). The controller (300) controls the movement of the lower traveling body (2) based on the position of the object detected by the detection device (200) and the stopping area of ​​the lower traveling body, and controls the movement of the upper rotating body (3) based on the position of the object detected by the detection device (200) and the area of ​​the upper rotating body that is different from the stopping area of ​​the lower traveling body. The stopping area of ​​the lower traveling body is set in a coordinate system based on the upper rotating body (3).

Description

Technical Field

[0001] This disclosure relates to systems and methods for controlling operating machinery. Background Technology

[0002] In the technical field related to work machinery, there are known work machines, such as those disclosed in patent documents, which are equipped with safety devices that detect obstacles in the vicinity of the work machine.

[0003] Prior art literature

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2020-007867 Summary of the Invention

[0006] In Patent Document 1, an upper side coordinate system based on the upper rotating body and a lower side coordinate system based on the lower traveling body are used to transform one coordinate system into the other. Therefore, the computational processing load for coordinate transformation is large.

[0007] Methods for solving problems

[0008] The first aspect of this disclosure is a system for controlling a work machine having a traveling body and a rotating body capable of rotating relative to the traveling body. The system includes a detection device mounted on the rotating body that detects objects present around the work machine, and a controller that controls the movements of the traveling body and the rotating body of the work machine. The controller controls the movement of the traveling body based on the position of the object detected by the detection device and a first predetermined area. The controller controls the movement of the rotating body based on the position of the object detected by the detection device and a second predetermined area different from the first predetermined area. The first predetermined area is set in a coordinate system with the rotating body as a reference.

[0009] The second aspect of this disclosure is a method for controlling a working machine having a traveling body and a rotating body capable of rotating relative to the traveling body. This method includes the following processes: In a first process, an object existing around the working machine is detected by a detection device installed on the rotating body. In a second process, a controller that controls the movement of the traveling body and the rotating body of the working machine controls the movement of the traveling body based on the position of the object detected by the detection device and a first predetermined area, and controls the movement of the rotating body based on the position of the object detected by the detection device and a second predetermined area different from the first predetermined area. The first predetermined area is set in a coordinate system with the rotating body as a reference.

[0010] Invention Effects

[0011] According to this disclosure, the computational processing load can be reduced and the operating machinery can be appropriately controlled. Attached Figure Description

[0012] Figure 1 This is a perspective view showing the working machinery of the embodiment.

[0013] Figure 2 This is a block diagram illustrating the device structure of the operating machinery according to the embodiment.

[0014] Figure 3 This is a functional block diagram illustrating the control system of the implementation method.

[0015] Figure 4 This is a schematic diagram showing the upper rotating body of the embodiment.

[0016] Figure 5 This is a schematic diagram showing an example of the upper rotating body region and the lower traveling body region.

[0017] Figure 6 This shows the state in which the upper rotating body has rotated. Figure 5 A schematic diagram of the upper rotating body region and the lower traveling body region shown.

[0018] Figure 7 This is a flowchart illustrating the control method of an implementation.

[0019] Figure 8 This is a block diagram illustrating a computer system according to an implementation method.

[0020] Figure 9 This is a schematic diagram showing another example of the upper rotating body region and the lower traveling body region.

[0021] Figure 10 This is a schematic diagram showing another example of the upper rotating body region and the lower traveling body region.

[0022] Figure 11 This shows the state in which the upper rotating body has rotated. Figure 10 A schematic diagram of the upper rotating body region and the lower traveling body region shown.

[0023] Figure 12 This is a schematic diagram showing another example of the upper rotating body region and the lower traveling body region.

[0024] Figure 13 This is a schematic diagram showing another example of the upper rotating body region and the lower traveling body region.

[0025] Figure 14 This is a schematic diagram showing another example of the upper rotating body region and the lower traveling body region. Detailed Implementation

[0026] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings, but the present disclosure is not limited thereto. The constituent elements of the embodiments described below can be appropriately combined. In addition, sometimes some constituent elements are not used.

[0027] [Operating Machinery]

[0028] Figure 1 This is a perspective view showing the working machinery of the embodiment. Figure 2 This is a block diagram illustrating the device structure of the work machine according to an embodiment. In this embodiment, the work machine 1 is a hydraulic excavator. In the following description, the work machine 1 will be appropriately referred to as a hydraulic excavator 1. The hydraulic excavator 1 includes a lower traveling body 2 and an upper rotating body 3 capable of rotating relative to the lower traveling body 2. In this embodiment, the hydraulic excavator 1 includes a lower traveling body 2, an upper rotating body 3 supported for rotating relative to the lower traveling body 2, and a working device 4 supported on the upper rotating body 3.

[0029] The lower traveling body 2 has a pair of tracks. The lower traveling body 2 has... Figure 2 The right travel motor 15R and the left travel motor 15L are shown. The lower traveling body 2 drives the tracks to rotate, thereby moving the hydraulic excavator 1.

[0030] The upper slewing body 3 is capable of rotating relative to the lower traveling body 2 about the slewing axis RX. The hydraulic excavator 1 is equipped with a slewing motor 16 for rotating the upper slewing body 3. The upper slewing body 3 rotates by the rotational force of the slewing motor 16. The upper slewing body 3 has a cab 6 for the operator of the hydraulic excavator 1 to sit in. A driver's seat 9 for the operator is arranged in the cab 6. The cab 6 is located at the front of the upper slewing body 3. The cab 6 is located to the left of the working device 4.

[0031] The working device 4 includes a boom 4A connected to the upper rotating body 3, a stick 4B connected to the boom 4A, and a bucket 4C connected to the stick 4B. The hydraulic excavator 1 is equipped with hydraulic cylinders 5 for driving the working device 4. The hydraulic cylinders 5 include a boom cylinder 5A for driving the boom 4A, a stick cylinder 5B for driving the stick 4B, and a bucket cylinder 5C for driving the bucket 4C.

[0032] The boom 4A is supported on the upper slewing body 3 in a manner that allows it to rotate around the boom rotation axis AX. The stick 4 is supported on the boom 4A in a manner that allows it to rotate around the stick rotation axis BX. The bucket 4C is supported on the stick 4B in a manner that allows it to rotate around the bucket rotation axis CX.

[0033] The boom rotation axis AX, stick rotation axis BX, and bucket rotation axis CX are parallel. The boom rotation axis AX, stick rotation axis BX, and bucket rotation axis CX are orthogonal to the axis parallel to the swing axis RX. In the following description, the direction parallel to the swing axis RX is appropriately referred to as the up-down direction; the direction parallel to the boom rotation axis AX, stick rotation axis BX, and bucket rotation axis CX is appropriately referred to as the left-right direction; and the direction orthogonal to both the boom rotation axis AX, stick rotation axis BX, bucket rotation axis CX, and swing axis RX is appropriately referred to as the front-back direction. With the operator seated in the driver's seat 9 as the reference, the direction in which the working device 4 is located is forward, and the opposite direction is rearward. With the operator seated in the driver's seat 9 as the reference, the left-right direction is right, and the opposite direction is left. The direction away from the ground contact point of the lower traveling body 2 is upward, and the opposite direction is downward.

[0034] like Figure 2 As shown, the hydraulic excavator 1 has a power source 17, a hydraulic pump 18, a control valve 19, an operating device 10, a detection device 200, and a controller 300.

[0035] Power source 17 generates power to drive the hydraulic excavator 1. Power source 17 is, for example, an internal combustion engine. A hydraulic pump 18 is mechanically connected to the drive shaft of power source 17. Driven by power source 17, hydraulic pump 18 is driven. Hydraulic pump 18 drives these hydraulic devices as a source of working oil supply to the hydraulic drive system. It should be noted that control valve 19 is a flow direction control valve, which moves a spool valve (not shown) corresponding to the operating direction of each operating lever of operating device 10, restricting the flow direction of working oil to each hydraulic actuator. Working oil corresponding to the operating amount of each operating lever is supplied to hydraulic actuators such as boom cylinder 5A, stick cylinder 5B, bucket cylinder 5C, right travel motor 15R or left travel motor 15L, and swing motor 16.

[0036] The hydraulic excavator 1 includes an operating device 10 disposed in the cab 6. The operating device 10 is operated for at least a portion of the work of the hydraulic excavator 1. The operating device 10 is operated by an operator. The work of the hydraulic excavator 1 includes at least one of the operation of the lower traveling body 2, the operation of the upper slewing body 3, and the operation of the working device 4. The operating device 10 outputs an operation signal indicating the operation amount of the hydraulic excavator 1 to the controller 300.

[0037] The operating device 10 includes a left operating lever 11 and a right operating lever 12 operated for the operation of the upper rotating body 3 and the working device 4, a left travel lever 13 and a right travel lever 14 operated for the operation of the lower traveling body 2, and a left foot pedal and a right foot pedal not shown.

[0038] The left operating lever 11 is located to the left of the operator's seat 9. Operating the left operating lever 11 forward and backward causes the boom 4B to unload or dig. Operating the left operating lever 11 left and right causes the upper slewing body 3 to rotate left or right. The right operating lever 12 is located to the right of the operator's seat 9. Operating the right operating lever 12 left and right causes the bucket 4C to dig or unload. Operating the right operating lever 12 forward and backward causes the boom 4A to lower or raise.

[0039] The left travel lever 13 and the right travel lever 14 are positioned in front of the driver's seat 9. The left travel lever 13 is positioned to the left of the right travel lever 14. By operating the left travel lever 13 in a forward or backward direction, the left track of the lower traveling body 2 moves forward or backward. By operating the right travel lever 14 in a forward or backward direction, the right track of the lower traveling body 2 moves forward or backward.

[0040] The left and right foot pedals are located in front of the driver's seat 9. The left foot pedal is located to the left of the right foot pedal. The left foot pedal is linked to the left drive lever 13. The right foot pedal is linked to the right drive lever 14. The lower driving body 2 can also be moved forward or backward by operating the left and right foot pedals.

[0041] [Control System]

[0042] Figure 3 This is a functional block diagram illustrating the control system 400 of the embodiment. The hydraulic excavator 1 includes the control system 400. The control system 400 controls the movement of the upper rotating body 3 based on the position of an object detected around the hydraulic excavator 1 and an upper rotating body region A1 defined in a coordinate system based on the upper rotating body 3. The control system 400 controls the movement of the lower traveling body 2 based on the position of an object detected around the hydraulic excavator 1 and a lower traveling body region defined in a coordinate system based on the upper rotating body 3. The control system 400 includes a detection device 200 and a controller 300.

[0043] [Detection device]

[0044] Figure 4 This diagram schematically illustrates the upper rotating body of the embodiment. The hydraulic excavator 1 includes a detection device 200. The detection device 200 is a device for monitoring the periphery of the hydraulic excavator 1. The detection device 200 detects people and moving objects (hereinafter referred to as "objects") in the vicinity of the hydraulic excavator 1. The detection device 200 detects objects present in the vicinity of the hydraulic excavator 1. In this embodiment, the detection device 200 is disposed on the upper rotating body 3. In this embodiment, the detection device 200 detects the position of the objects in a coordinate system based on the upper rotating body 3.

[0045] In this embodiment, the detection device 200 has multiple cameras 20 (21, 22, 23, 24). The multiple cameras 20 are arranged on the upper rotating body 3. The cameras 20 acquire images of the object being photographed. Figure 4 As shown, multiple cameras 20 are arranged around the hydraulic excavator 1. In this embodiment, the cameras 20 include a rear camera 21 arranged at the rear of the upper rotating body 3, a right rear camera 22 and a right front camera 23 arranged at the right side of the upper rotating body 3, and a left rear camera 24 arranged at the left side of the upper rotating body 3.

[0046] The rear camera 21 captures the area behind the upper rotating body 3. The right rear camera 22 captures the area behind the right side of the upper rotating body 3. The right front camera 23 captures the area in front of the right side of the upper rotating body 3. The left rear camera 24 captures the area behind the left side of the upper rotating body 3. Each of the multiple cameras 20 (21, 22, 23, 24) has an optical system and an image sensor. The image sensor includes a CCD (Couple Charged Device) image sensor or a CMOS (Complementary Metal Oxide Semiconductor) image sensor.

[0047] It should be noted that the left rear camera 24 captures the area to the left and left rear of the upper rotating body 3, but it can also capture either side. Similarly, the right rear camera 22 captures the area to the right and right rear of the upper rotating body 3, but it can also capture either side. Similarly, the right front camera 23 captures the area to the right front and right of the upper rotating body 3, but it can also capture either side. In addition, camera 20 captures the left rear, rear, right rear, and right front of the upper rotating body 3, but it is not limited to these. For example, the number of cameras 20 can also be [not specified]. Figure 4 The examples shown are different. For example, the shooting range of camera 20 can also be... Figure 4 The examples shown are different. Furthermore, in this embodiment, cameras are not included to capture images of the front and left front of the cab 6, but this is not a limitation. A camera 20 may also be included to acquire image data showing the situation in front of and to the left front of the cab 6. The detection device 200 outputs the detected data to the controller 300.

[0048] [Controller]

[0049] The hydraulic excavator 1 includes a controller 300. The controller 300 is a device for controlling the hydraulic excavator 1. The controller 300 controls the movement of the lower traveling body 2 and the upper slewing body 3 of the hydraulic excavator 1. In this embodiment, the controller 300 is located in the cab 6.

[0050] The controller 300 controls the movement of the lower traveling body 2 based on the position of the object detected around the hydraulic excavator 1 and the lower traveling body area (described later). The controller 300 controls the movement of the upper rotating body 3 based on the position of the object detected around the hydraulic excavator 1 and the upper rotating body area A1 (described later). More specifically, the controller 300 controls the movement of the lower traveling body 2 based on the position of the object detected by the detection device 200 and the lower traveling body stop area A2 and deceleration area A3 set in a coordinate system based on the upper rotating body 3. The controller 300 controls the rotation of the upper rotating body 3 based on the position of the object detected by the detection device 200 and the upper rotating body area A1 set in a coordinate system based on the upper rotating body 3.

[0051] When the controller 300 determines that the position of the object in the coordinate system with the upper rotating body 3 as the reference, as detected by the detection device 200, exists in the lower traveling body stopping area A2 or the lower traveling body deceleration area A3, it performs control to limit the speed of the lower traveling body 2.

[0052] When the controller 300 determines that the position of an object in the coordinate system based on the upper rotating body 3, as detected by the detection device 200, exists within the lower traveling body stopping area A2, it controls the lower traveling body 2 to stop. When the controller 300 determines that the position of an object in the coordinate system based on the upper rotating body 3, as detected by the detection device 200, exists within the lower traveling body deceleration area A3, it controls the lower traveling body 2 to decelerate.

[0053] The controller 300 has a storage unit 32 including volatile memory such as RAM (Random Access Memory) and non-volatile memory such as ROM (Read Only Memory), and an arithmetic processing unit 33 including a processor such as CPU (Central Processing Unit).

[0054] The arithmetic processing unit 33 includes a data acquisition unit 331, a detection unit 332, a position determination unit 333, a judgment unit 334, an operation signal acquisition unit 335, a control unit 336, and an output unit 337 by executing a control program.

[0055] The data acquisition unit 331 acquires detection data from the detection device 200. In this embodiment, the data acquisition unit 331 acquires image data showing the situation behind the hydraulic excavator 1 from the rear camera 21. The data acquisition unit 331 acquires image data showing the situation to the right rear of the hydraulic excavator 1 from the right rear camera 22. The data acquisition unit 331 acquires image data showing the situation to the right front of the hydraulic excavator 1 from the right front camera 23. The data acquisition unit 331 acquires image data showing the situation to the left rear of the hydraulic excavator 1 from the left rear camera 24.

[0056] The detection unit 332 detects objects, including people and moving bodies, existing around the hydraulic excavator 1 based on the detection data acquired by the data acquisition unit 331. In this embodiment, the detection unit 332 detects objects in the image data acquired by the data acquisition unit 331 by performing image processing. The image processing includes extracting feature quantities of the objects from the image data. The detection unit 332 compares the feature quantities extracted from the image data with the feature quantities stored in the feature quantity storage unit 321 to detect objects existing around the hydraulic excavator 1.

[0057] The position determination unit 333 determines the position of the object detected by the detection device 200. The position determination unit 333 determines the position of the detected object relative to the upper rotating body 3. More specifically, the position determination unit 333 determines the position of the object shown in a coordinate system based on the upper rotating body 3.

[0058] The determination unit 334 determines whether the object detected by the detection device 200 exists in a specified area. More specifically, the determination unit 334 determines whether the object exists in the upper rotating body area A1, the lower traveling body stopping area A2, and the lower traveling body deceleration area A3, as described later. The determination unit 334 determines which area the object exists in: the inner side of the upper rotating body area A1, the inner side of the lower traveling body stopping area A2, or the outer side of the lower traveling body stopping area A2 and the inner side of the lower traveling body deceleration area A3. The determination unit 334 compares the position of the object determined by the position determination unit 333 with the positions of each area stored in the area storage unit 322 to determine whether the object exists inside the upper rotating body area A1. The determination unit 334 compares the position of the object determined by the position determination unit 333 with the positions of each area stored in the area storage unit 322 to determine whether the object exists inside the lower traveling body stopping area A2. The determination unit 334 compares the position of the object determined by the position determination unit 333 with the positions of each region stored in the region storage unit 322, and determines whether the object exists outside the lower vehicle stopping region A2 and inside the lower vehicle deceleration region A3.

[0059] The operation signal acquisition unit 335 acquires operation signals indicating the amount of operation of each lever of the operation device 10 operated by the operator.

[0060] The control unit 336 generates control commands for controlling the lower traveling body 2 and the upper slewing body 3 of the hydraulic excavator 1. More specifically, the control unit 336 generates control commands for controlling the lower traveling body 2 and the upper slewing body 3 based on the operating amount represented by the operating signal acquired by the operating signal acquisition unit 335. For example, in order to control the control valve 19 corresponding to the operating direction of each operating lever of the operating device 10, the control unit 336 generates control commands for controlling the flow of working oil to each hydraulic actuator. For example, the control unit 336 generates control commands for controlling the control valve 19 by supplying working oil corresponding to the operating amount of each operating lever to hydraulic actuators such as the boom cylinder 5A, stick cylinder 5B, bucket cylinder 5C, right travel motor 15R or left travel motor 15L, and slewing motor 16.

[0061] Based on the judgment result of the judgment unit 334, the control unit 336 generates control commands to restrict the movement of the lower traveling body 2 and the rotation of the upper slewing body 3. For example, if an object is present in the upper slewing body region A1, the control unit 336 generates control commands to restrict the rotation of the upper slewing body 3. For example, if the hydraulic excavator 1 is rotating when an object is present in the upper slewing body region A1, the control unit 336 generates control commands to restrict the rotation by making the rotation angular velocity below the upper limit angular velocity, regardless of the operation amount of the left working lever 11 and the right working lever 12. By restricting the rotation control commands, the working oil supplied to the slewing motor 16 is limited, and the rotation angular velocity of the upper slewing body 3 is limited to below the upper limit angular velocity.

[0062] After stopping the upper rotating body 3, the control unit 336 maintains the rotation stop state, for example, until it detects a release operation of the rotation stop control performed by the operator. After stopping the upper rotating body 3, the control unit 336 maintains the rotation angular velocity of the upper rotating body 3 at a state limited to below the upper limit angular velocity, for example, until it detects a release operation of the rotation stop control performed by the operator. For example, if the control unit 336 detects that an object is present in the upper rotating body region A1, it will not release the rotation stop state even if the object extends outward from the upper rotating body region A1, until a release operation is performed by the operator.

[0063] For example, when the object is in the lower traveling body stop area A2, the control unit 336 generates a control command to stop the lower traveling body 2. For example, if the hydraulic excavator 1 is in motion, regardless of the operation of the left travel lever 13 and the right travel lever 14, the control unit 336 generates a control command to limit the travel speed to below the stopping speed. By controlling the travel to stop, the supply of working oil to the right travel motor 15R or the left travel motor 15L is limited, and the travel speed of the lower traveling body 2 is limited to below the stopping speed, which is slower than the deceleration speed.

[0064] After stopping the lower vehicle 2, the control unit 336 maintains the stopped state, for example, until it detects a release operation of the stop control performed by the operator. After stopping the lower vehicle 2, the control unit 336 maintains the speed of the lower vehicle 2 at a level below the stopping speed, for example, until it detects a release operation of the stop control performed by the operator. For example, if the control unit 336 detects that an object exists in the lower vehicle stop area A2, it will not release the stop state even if the object extends outward from the lower vehicle stop area A2, until a release operation is performed by the operator.

[0065] For example, when the object is in the deceleration zone A3 of the lower traveling body, the control unit 336 generates a control command to decelerate the lower traveling body 2. For example, if the hydraulic excavator 1 is in motion, regardless of the operation of the left travel lever 13 and the right travel lever 14, the control unit 336 generates a control command to limit the travel speed to a deceleration rate or lower. By controlling the deceleration, the supply of working oil to the right travel motor 15R or the left travel motor 15L is limited, and the travel speed of the lower traveling body 2 is limited to a deceleration rate or lower than the stopping speed.

[0066] After decelerating the lower traveling body 2, the control unit 336 maintains the deceleration state, for example, until it detects a deceleration control release operation performed by the operator. After decelerating the lower traveling body 2, the control unit 336 maintains the traveling speed of the lower traveling body 2 at a state limited to below the deceleration speed, for example, until it detects a deceleration control release operation performed by the operator. For example, if the control unit 336 detects that an object exists in the lower traveling body deceleration zone A3, it will not release the deceleration state even if the object extends outward from the lower traveling body deceleration zone A3, until a release operation is performed by the operator.

[0067] The output unit 337 outputs the control commands generated by the control unit 336 to the control valve 19.

[0068] The storage unit 32 stores various data used in the processing of the arithmetic processing unit 33. In this embodiment, the storage unit 32 has a feature quantity storage unit 321 that stores feature quantities of an object. Feature quantities include the outline of the object, the color of the object, etc., and are information that determines the appearance of the object. In addition, in this embodiment, the storage unit 32 has a region storage unit 322 that stores a set area.

[0069] Figure 5 This is a schematic diagram showing an example of the upper rotating body region and the lower traveling body region. The region storage unit 322 stores information about the upper rotating body region A1 and the lower traveling body region.

[0070] The upper rotating body region A1 is the second defined region. Upper rotating body region A1 is the region that restricts the rotation of the upper rotating body 3 when an object is detected inside. Upper rotating body region A1 is defined in a coordinate system based on the upper rotating body 3. Upper rotating body region A1 rotates together with the upper rotating body 3 when it rotates. Upper rotating body region A1 is the region where the upper rotating body 3 stops without contacting the object when an object is detected inside.

[0071] The lower driving body region is the area that restricts the movement of the lower driving body 2 when an object is detected inside. The lower driving body region is defined in a coordinate system based on the upper rotating body 3. The lower driving body region rotates together with the upper rotating body 3 when the upper rotating body 3 rotates. The lower driving body region includes a lower driving body stopping region A2 and a lower driving body deceleration region A3.

[0072] The lower vehicle stopping area A2 is a first defined area. The lower vehicle stopping area A2 is the area where the lower vehicle 2 stops without contacting an object when an object is detected inside. At least a portion of the outer periphery of the lower vehicle stopping area A2 is an arc shape centered on the origin of a coordinate system based on the upper rotating body 3. The lower vehicle area is the area that does not contact the lower vehicle 2.

[0073] The lower vehicle deceleration zone A3 is the third designated zone. The lower vehicle deceleration zone A3 is the area required for the lower vehicle 2 to decelerate without contacting the object when an object is detected on the inside. The lower vehicle deceleration zone A3 is larger than and includes the lower vehicle stop zone A2. The lower vehicle deceleration zone A3 is larger than and includes the upper rotating body zone A1.

[0074] exist Figure 5In the example shown, the upper rotating body region A1 is, for example, a region enclosed by a straight section A11 located at a distance d11 from the front end of the upper rotating body 3, a straight section A12 located at a distance d12 from the left end of the upper rotating body 3, a straight section A13 located at a distance d13 from the right end of the upper rotating body 3, and an arc section A14 located at a distance d14 from the rear end of the upper rotating body 3. The arc section A14 is an arc centered on the rotation axis RX of the upper rotating body 3. The lower traveling body stopping region A2 is a region enclosed by a circle with a radius r1 centered on the rotation axis RX of the upper rotating body 3. The lower traveling body deceleration region A3 is, for example, a rectangular region. The lower traveling body deceleration region A3 is a region having a periphery that is separated from the upper rotating body region A1 and the lower traveling body stopping region A2 by a distance d15 or more. The lower vehicle deceleration zone A3 is, for example, the area enclosed by a straight section A31 located d15 in front of the lower vehicle stopping zone A2, a straight section A32 located d15 to the left of the upper rotating body zone A1, a straight section A33 located d15 to the right of the upper rotating body zone A1, and a straight section A34 located d15 behind the upper rotating body zone A1.

[0075] Figure 6 This shows the state in which the upper rotating body has rotated. Figure 5 A schematic diagram of the upper rotating body region and the lower traveling body region is shown. Figure 6 As shown, when the upper rotating body 3 has rotated, the upper rotating body region A1, the lower traveling body stopping region A2, and the lower traveling body deceleration region A3 rotate together with the upper rotating body 3.

[0076] [Control Methods]

[0077] Figure 7 This is a flowchart illustrating the control method of the embodiment. When the hydraulic excavator 1 is started, the detection device 200 and the controller 300 are activated.

[0078] The controller 300 acquires the detection data detected by the detection device 200 (step SP11). More specifically, the data acquisition unit 331 acquires image data of the surrounding area of ​​the hydraulic excavator 1 captured by the camera 20 of the detection device 200.

[0079] The controller 300 detects objects (step SP12). More specifically, the detection unit 332 detects objects, including people and moving bodies, existing around the hydraulic excavator 1 based on the detection data acquired by the data acquisition unit 331. In this embodiment, the detection unit 332 detects objects, including people and moving bodies, around the hydraulic excavator 1 based on the image data acquired by the data acquisition unit 331.

[0080] The controller 300 determines the position of the object (step SP13). More specifically, the position determination unit 333 determines the position of the object in the coordinate system based on the upper rotating body 3, as detected by the detection unit 332.

[0081] The controller 300 determines whether an object exists within the lower deceleration zone A3 (step SP14). More specifically, the determination unit 334 compares the position of the object determined by the position determination unit 333 with the position of the lower deceleration zone A3 stored in the area storage unit 322, and determines whether the position of the object is inside the lower deceleration zone A3. If the determination unit 334 determines that an object exists within the lower deceleration zone A3 (yes in step SP14), the process proceeds to step SP15. If the determination unit 334 does not determine that an object exists within the lower deceleration zone A3 (no in step SP14), the process proceeds to step SP16.

[0082] If the determination unit 334 determines that an object exists within the deceleration zone A3 of the lower traveling body (as determined in step SP14), the controller 300 generates a control command to decelerate the lower traveling body 2 (step SP15). More specifically, for example, if the hydraulic excavator 1 is in motion, the control unit 336 generates a control command to limit travel by making the travel speed below the deceleration speed, regardless of the amount of operation.

[0083] It should be noted that in step SP15, the control unit 336 may, for example, generate a control command to maintain the travel speed of the lower traveling body 2 at a state below the deceleration speed, until the deceleration control release operation performed by the operator is detected.

[0084] The controller 300 determines whether an object exists within the lower vehicle stop area A2 (step SP16). More specifically, the determination unit 334 compares the position of the object determined by the position determination unit 333 with the position of the lower vehicle stop area A2 stored in the area storage unit 322, and determines whether the position of the object is inside the lower vehicle stop area A2. If the determination unit 334 determines that an object exists within the lower vehicle stop area A2 (yes in step SP16), the process proceeds to step SP17. If the determination unit 334 does not determine that an object exists within the lower vehicle stop area A2 (no in step SP16), the process proceeds to step SP18.

[0085] If the determination unit 334 determines that an object exists in the lower traveling body stopping area A2 (as determined in step SP16), the controller 300 generates a control command to stop the lower traveling body 2 (step SP17). More specifically, for example, if the hydraulic excavator 1 is in motion, the control unit 336 generates a control command to limit the travel speed to below the stopping speed, regardless of the amount of operation.

[0086] It should be noted that in step SP17, the control unit 336 may, for example, generate a control command to maintain the travel speed of the lower traveling body 2 at a state below the stopping speed until the release operation of the travel stop control performed by the operator is detected.

[0087] The controller 300 determines whether an object exists within the upper rotating body region A1 (step SP18). More specifically, the determination unit 334 compares the position of the object determined by the position determination unit 333 with the position of the upper rotating body region A1 stored in the region storage unit 322, and determines whether the position of the object is inside the upper rotating body region A1. If the determination unit 334 determines that an object exists within the upper rotating body region A1 (yes in step SP18), proceed to step SP19. If the determination unit 334 does not determine that an object exists within the upper rotating body region A1 (no in step SP18), proceed to step SP20.

[0088] If the determination unit 334 determines that an object exists in the upper rotating body region A1 (as determined in step SP18), the controller 300 generates a control command to restrict the rotation of the upper rotating body 3 (step SP19). More specifically, for example, if the hydraulic excavator 1 is rotating, the control unit 336 generates a control command to restrict the rotation by making the rotational angular velocity below the upper limit angular velocity, regardless of the amount of operation.

[0089] It should be noted that in step SP19, the control unit 336 may, for example, generate a control command to maintain the rotational angular velocity of the upper rotating body 3 at a state that is limited to below the upper limit angular velocity, until the release operation of the rotation stop control performed by the operator is detected.

[0090] The controller 300 outputs control commands (step SP20). More specifically, the output unit 337 outputs the control commands generated by the control unit 336 to the control valve 19. By outputting the control commands generated in step SP15 by the output unit 337, the travel speed of the lower traveling body 2 is limited to below the deceleration speed. Furthermore, by outputting the control commands generated in step SP17 by the output unit 337, the travel speed of the lower traveling body 2 is limited to below the stopping speed. Additionally, by outputting the control commands generated in step SP19 by the output unit 337, the rotational angular velocity of the upper rotating body 3 is limited to below the upper limit angular velocity.

[0091] The above-mentioned processing is always performed during the operation of the hydraulic excavator 1, thereby the controller 300 controls the hydraulic excavator 1.

[0092] [Computer Systems]

[0093] Figure 8 This is a block diagram illustrating a computer system according to an embodiment. The aforementioned processing unit 33 includes a computer system 1000. The computer system 1000 includes a processor 1001 such as a CPU (Central Processing Unit), a main memory 1002 including non-volatile memory such as ROM (Read Only Memory) and volatile memory such as RAM (Random Access Memory), a storage device 1003, and an interface 1004 including input / output circuitry. The functions of the aforementioned processing unit 33 are stored as a computer program in the storage device 1003. The processor 1001 reads the computer program from the storage device 1003, expands it in the main memory 1002, and executes the aforementioned processing according to the computer program. It should be noted that the computer program can also be distributed to the computer system 1000 via a network.

[0094] The computer program or computer system 1000 performs the following processing according to the above-described embodiment: as a first processing, the detection device 200 detects objects existing around the hydraulic excavator 1; as a second processing, the controller 300, which controls the movement of the lower traveling body 2 and the upper rotating body 3 of the hydraulic excavator 1, controls the movement of the lower traveling body 2 based on the position of the detected object and the lower traveling body area (i.e., the lower traveling body stop area A2 and the lower traveling body deceleration area A3) set in the coordinate system based on the upper rotating body 3, and controls the movement of the upper rotating body 3 based on the position of the detected object and the upper rotating body area A1.

[0095] In this way, the movement of the lower driving body 2 is controlled based on the detected position of the object and the lower driving body region set in the coordinate system with the upper rotating body 3 as the reference, namely the lower driving body stop region A2 and the lower driving body deceleration region A3, and the movement of the upper rotating body 3 is controlled based on the detected position of the object and the upper rotating body region A1.

[0096] [Effect]

[0097] As explained above, in this embodiment, the movement of the lower traveling body 2 can be controlled based on the lower traveling body region (i.e., the lower traveling body stop region A2 and the lower traveling body deceleration region A3) set in a coordinate system based on the upper rotating body 3, and the movement of the upper rotating body 3 can be controlled based on the detected position of the object and the upper rotating body region A1. In this embodiment, the control of the lower traveling body 2 and the upper rotating body 3 is determined in different regions. In this embodiment, the lower traveling body 2 and the upper rotating body 3 can be appropriately controlled separately.

[0098] In this embodiment, the lower traveling body region is defined in a coordinate system based on the upper rotating body 3. According to this embodiment, when determining the positional relationship between the lower traveling body region and the object, it is unnecessary to detect the rotation angle or perform coordinate transformations in the coordinate system. This embodiment reduces the computational processing load.

[0099] [Variation Example 1]

[0100] Figure 9 This is a schematic diagram showing another example of the upper rotating body region and the lower traveling body region. The upper rotating body region A1 and the lower traveling body stopping region A2 are... Figure 5 same. Figure 9 The lower deceleration zone A3 shown is where the vehicle will decelerate. Figure 5 The corners of the lower deceleration zone A3 shown are rounded. Figure 9The area ratio of the lower traveling body deceleration region A3 shown Figure 5 is smaller than the lower traveling body deceleration region A3 shown. By setting the lower traveling body deceleration region A3 to the above-described shape, it is possible to suppress a situation where the lower traveling body 2 is accidentally decelerated.

[0101] [Modified Example 2]

[0102] Figure 10 is a schematic diagram showing another example of the upper rotating body region and the lower traveling body region. Figure 11 is a schematic diagram showing the Figure 10 upper rotating body region and the lower traveling body region in a state where the upper rotating body is rotated. The upper rotating body region A1 and the lower traveling body stop region A2 are the same as Figure 5 those shown. Figure 10 The lower traveling body deceleration region A3 shown is a region enclosed by the outer peripheral portion in a region radially expanded from the upper rotating body region A1 and the lower traveling body stop region A2 around the rotation axis RX of the upper rotating body 3. The lower traveling body deceleration region A3 is composed of a front portion A31 that is a part of a circle with a radius r2, a right corner portion A32 that is a part of a region obtained by expanding the upper rotating body region A1, a right side portion A33 that is a part of a circle with a radius r2, a rear portion A34 that is a part of a region obtained by expanding the upper rotating body region A1, a left side portion A35 that is a part of a circle with a radius r2, and a left corner portion A36 that is a part of a region obtained by expanding the upper rotating body region A1.

[0103] [Modified Example 3]

[0104] Figure 12 is a schematic diagram showing another example of the upper rotating body region and the lower traveling body region. The upper rotating body region A1 and the lower traveling body deceleration region A3 are the same as Figure 5 those shown. Figure 10 The lower traveling body stop region A2 shown is a region obtained by making the arc-shaped front portion A21 of the lower traveling body stop region A2 shown into a straight portion A21 located in front at a distance d11 from the front end portion of the upper rotating body 3. Figure 5

[0105] [Modified Example 4]

[0106] Figure 13 is a schematic diagram showing another example of the upper rotating body region and the lower traveling body region. The upper rotating body region A1 and the lower traveling body stop region A2 are the same as Figure 5 those shown. The lower traveling body deceleration region A3 is a region enclosed by a circle with a radius r2 (r1 < r2) centered on the rotation axis RX of the upper rotating body 3. ​

[0107] [Modified Example 5]

[0108] Figure 14 This is a schematic diagram showing another example of the upper rotating body area and the lower traveling body area. Figure 14 The shown hydraulic excavator 1 is a small-rotation-type hydraulic excavator (e.g., rear ultra-small rotation excavator, ultra-small rotation excavator, etc.) with a reduced turning radius compared to the Figure 5 shown hydraulic excavator 1. The upper rotating body area A1 is an area formed in the same manner as the Figure 5 shown upper rotating body area A1 corresponding to the size of the hydraulic excavator 1. The lower traveling body stop area A2 is an area surrounded by a circle with a radius r3 centered on the rotation axis RX of the upper rotating body 3. The lower traveling body deceleration area A3 is an area surrounded by a circle with a radius r4 (r3 < r4) centered on the rotation axis RX of the upper rotating body 3. In the Figure 14 shown example, the entire upper rotating body area A1 enters the inside of the lower traveling body stop area A2.

[0109] [Other Embodiments]

[0110] In the above-described embodiment, the detection device 200 is the camera 20 that photographs the periphery of the work machine 1, but it is not limited thereto. For example, the detection device 200 can also be a stereo camera, LIDAR (Laser Imaging Detection and Ranging) provided on the hydraulic excavator 1, and a radar device or an ultrasonic device can also be used to detect an object.

[0111] In addition, the manner in which the control system 400 of the above-described embodiment is provided on the hydraulic excavator 1 has been described, but it is not limited thereto. A part or all of the structure of the control system 400 can also be provided outside the hydraulic excavator 1. For example, the controller 300 can also be arranged in an operation room at a remote location to control the remotely operated hydraulic excavator 1.

[0112] In addition, the controller 300 of the above-described embodiment can also be composed of one or more controllers. For example, in other embodiments, there can also be: a first controller for obtaining detection data from the detection device 200 and detecting objects including people and moving bodies existing around the hydraulic excavator 1; and a second controller for determining the position of the object, judging the area where the object exists, and controlling the hydraulic excavator 1.

[0113] In the above-described embodiment, the controller 300 controls the lower vehicle 2 to stop when it determines that the position of an object in the coordinate system based on the upper rotating body 3, as detected by the detection device 200, exists within the lower vehicle stop area A2. However, this is not a limitation. For example, the controller 300 may also control the lower vehicle 2 to stop when it determines that the position of an object in the coordinate system based on the upper rotating body 3, as detected by the detection device 200, exists in either the lower vehicle stop area A2 or the upper rotating body area A1.

[0114] In Modification 2, the lower vehicle deceleration region A3 can also be defined as two regions: a first deceleration region that radially expands the upper rotating body region A1 towards the rotation axis RX of the upper rotating body 3, and a second deceleration region that radially expands the lower vehicle stop region A2 towards the rotation axis RX of the upper rotating body 3. In this case, if an object is detected in either the first deceleration region or the second deceleration region, the lower vehicle 2 can be decelerated.

[0115] In the above embodiment, the working machine 1 is a hydraulic excavator driven by hydraulic pressure, but it is not limited to this. The working machine 1 may also be an electric excavator that uses electricity from a battery or generator as a power source. In this case, the swing motor 16, the right travel motor 15R, and the left travel motor 15L may also be electric motors, and the controller 300 may also control the swing motor 16, the right travel motor 15R, and the left travel motor 15L.

[0116] In the above embodiments, the hydraulic excavator 1 can be a hydraulic excavator used in mines or other similar applications, or a hydraulic excavator used on construction sites. Furthermore, it can be applied to control systems for other types of machinery such as dump trucks and wheel loaders.

[0117] Explanation of reference numerals in the attached figures:

[0118] 1…Hydraulic excavator (operating machinery); 2…Lower traveling body (traveling body); 3…Upper slewing body (slewing body); 4…Working device; 4A…Boom; 4B…Stick; 4C…Bucket; 5…Hydraulic cylinder; 5A…Boom cylinder; 5B…Stick cylinder; 5C…Bucket cylinder; 6…Cab; 9…Cab; 10…Operating device; 11…Left work lever; 12…Right work lever; 13…Left travel lever; 14…Right travel lever; 15R…Right travel motor; 15L…Left travel motor; 16…Slewing motor; 17…Power source; 18…Hydraulic pump; 19…Control valve; 20…Camera; 21…Rear camera; 22…Right rear camera; 23…Right front camera; 24…Left rear camera; 32…Storage unit; 33…Processing unit; 200 …Detection device; 300…Controller; 321…Feature quantity storage unit; 322…Area storage unit; 331…Data acquisition unit; 332…Detection unit; 333…Position determination unit; 334…Judgment unit; 335…Operation signal acquisition unit; 336…Control unit; 337…Output unit; 400…Control system; 1000…Computer system; 1001…Processor; 1002…Main memory; 1003…Storage; 1004…Interface; A1…Upper rotating body area (second set area); A2…Lower traveling body stopping area (first set area); A3…Lower traveling body deceleration area (third set area); AX…Boom rotation axis; BX…Stick rotation axis; CX…Bucket rotation axis; RX…Slewing axis.

Claims

1. A system for controlling a working machine, the working machine comprising a traveling body and a rotating body capable of rotating relative to the traveling body, wherein, The system for controlling the operating machinery includes: A detection device, installed on the rotating body, detects objects present around the working machinery; as well as The controller controls the movements of the traveling body and the rotating body of the operating machinery. The controller controls the movement of the moving body based on the position of the object detected by the detection device and a first set area. The controller controls the movement of the rotating body based on the position of the object detected by the detection device and a second set area that is different from the first set area. The first set area is fixedly set in a coordinate system with the rotating body as the reference, regardless of the rotation angle of the rotating body. The controller does not need to perform coordinate transformation to a coordinate system based on the driving body or detect the rotation angle of the rotating body. Instead, it controls the movement of the driving body by comparing the position of the object with the first set area.

2. The system according to claim 1, wherein, The detection device detects the position of the object in a coordinate system with the rotating body as the reference. When the controller determines that the position of the object detected by the detection device in the coordinate system with the rotating body as the reference exists within the first set area, it controls the speed of the moving body to be limited.

3. The system according to claim 2, wherein, The second defined region is defined in a coordinate system with the rotating body as the reference. When the controller determines that the position of the object detected by the detection device in the coordinate system with the rotating body as the reference exists within the second set area, it controls the rotation of the rotating body to be restricted.

4. The system according to any one of claims 1 to 3, wherein, The controller, based on the position of the object detected by the detection device and a third set area that is different from and larger than the first set area and the second set area, controls the vehicle to decelerate. The third set area is set in a coordinate system with the rotating body as the reference.

5. The system according to any one of claims 1 to 3, wherein, At least a portion of the shape of the outer periphery of the first defined region is an arc shape centered on the origin of a coordinate system based on the body of revolution.

6. The system according to claim 1, wherein, The detection device detects the position of the object in a coordinate system with the rotating body as the reference.

7. The system according to claim 1, wherein, The first defined region is a circular region centered on the origin of a coordinate system with the rotating body as the reference.

8. The system according to claim 1, wherein, The second defined area is the area enclosed by a straight section located in front of the front end of the rotating body, a straight section located to the left of the left end of the rotating body, a straight section located to the right of the right end of the rotating body, and an arc section located behind the rear end of the rotating body and centered on the rotation axis of the rotating body.

9. The system according to claim 1, wherein, The controller maintains a state that restricts the rotation of the rotating body after the object extends outward to the second set area, until a release operation is detected by the operator. Similarly, the controller maintains a state that restricts the movement of the traveling body after the object extends outward to the first set area, until a release operation is detected by the operator.

10. A method for controlling a working machine, the working machine comprising a traveling body and a rotating body capable of rotating relative to the traveling body, wherein, The method for controlling the operating machinery includes: Objects existing around the operating machinery are detected by a detection device installed on the rotating body; and The controller, which controls the movements of the traveling body and the rotating body of the operating machinery, controls the movement of the traveling body based on the position of the object detected by the detection device and a first set area, and controls the movement of the rotating body based on the position of the object detected by the detection device and a second set area different from the first set area. The first set area is fixed in a coordinate system with the rotating body as the reference, regardless of the rotation angle of the rotating body. Using the controller, there is no need to perform coordinate transformation to a coordinate system based on the driving body or to detect the rotation angle of the rotating body. The movement of the driving body is controlled by comparing the position of the object with the first set area.

11. A system for controlling a working machine, the working machine comprising a traveling body and a rotating body capable of rotating relative to the traveling body, wherein, The system for controlling the operating machinery includes: A detection device, installed on the rotating body, detects the position of objects surrounding the working machinery in a coordinate system with the rotating body as the reference. as well as The controller controls the movements of the traveling body and the rotating body of the operating machinery. The controller controls the movement of the moving body based on the position of the object in a coordinate system with the rotating body as the reference, as detected by the detection device, and a first set area. The controller controls the movement of the rotating body based on the position of the object in a coordinate system with the rotating body as the reference, the first set area, and the second set area, as detected by the detection device. The first and second defined regions are areas surrounding the rotating body, and are predetermined in a coordinate system with the rotating body as the reference. The first defined region is the area surrounding the entire circumference of the rotating body. The second defined area is the area enclosed by a straight section located in front of the front end of the rotating body, a straight section located to the left of the left end of the rotating body, a straight section located to the right of the right end of the rotating body, and an arc section located behind the rear end of the rotating body and centered on the rotation axis of the rotating body.

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