Monitoring system for a work machine and monitoring procedures for a work machine

Abstract

A monitoring system for a working machine includes a measurement data acquisition unit configured to acquire measurement data of a ground surface on which a working machine is traveling; a state discrimination unit configured to distinguish a working state of the working machine; and a detection control unit configured to initiate a first process with respect to a rock fragment on the ground when the working state is distinguished as the first state, and to initiate a second process, different from the first process, when the working state is distinguished as the second state.

Description

Technical field

[0001] This disclosure relates to a monitoring system for a working machine and a monitoring procedure for a working machine. State of the art

[0002] A construction machine is operating on a construction site. There may be boulders on the ground at the site. If the machine drives over a boulder, this can interrupt its operation. Patent document 1 discloses a technology for issuing a warning to the cab of a wheel loader when a stone that could damage the tire requires attention. LITERATURE LIST Patent literature

[0003] Patent Document 1: JP 2021-080790 A BRIEF DESCRIPTION OF THE INVENTION Technical Problem

[0004] A warning is issued so that the operator of the construction equipment can recognize the presence of the rock. However, if the operator is already sufficiently aware of the rock's presence, issuing the warning is most likely unnecessary.

[0005] One purpose of the present disclosure is to reduce unnecessary processes in a working machine capable of detecting a rock fragment on a ground surface. Solution to the problem

[0006] According to the present disclosure, a monitoring system for a working machine is provided, comprising a measurement data acquisition unit configured to acquire measurement data of a ground surface on which a working machine travels; a state discrimination unit configured to distinguish a working state of the working machine; and a detection control unit configured to initiate a first process with respect to a rock fragment on the ground when the working state is distinguished as the first state, and to initiate a second process, different from the first process, when the working state is distinguished as the second state. ADVANTAGEOUS EFFECTS OF THE INVENTION

[0007] According to the present disclosure, it is possible to reduce unnecessary processes in a working machine that is capable of detecting a rock fragment on the ground surface. BRIEF DESCRIPTION OF THE DRAWINGS Fig. Figure 1 is a side view of a working machine according to one embodiment. Fig. Figure 2 is a top view of the machine according to the embodiment. Fig. Figure 3 is a front view of the machine according to the embodiment. Fig. Figure 4 is a diagram illustrating a cabin for a driver's cab according to one embodiment. Fig. Figure 5 is an enlarged front view of a section of the working machine according to the embodiment. Fig. Figure 6 is a diagram illustrating a drive system of the working machine according to the embodiment. Fig. Figure 7 is a diagram illustrating the operation of the working machine according to the embodiment. Fig. Figure 8 is a diagram illustrating the operation of the working machine according to the embodiment. Fig. Figure 9 is a side view illustrating a working machine performing loading operations according to the embodiment. Fig. Figure 10 is a top view illustrating the machine performing loading operations according to the embodiment. Fig. Figure 11 is a diagram illustrating an example of image data acquired by a left imaging device according to one embodiment. Fig. Figure 12 is a functional block diagram illustrating a monitoring system according to one embodiment. Fig. 13 is a diagram illustrating warning criteria according to one embodiment. Fig. Figure 14 is a diagram illustrating an adjustment of the measurement data according to the embodiment. Fig. Figure 15 is a diagram illustrating an adjustment of the number of pixels according to the embodiment. Fig. Figure 16 is a diagram illustrating a determination of the presence or absence of a rock fragment according to the embodiment. Fig. Figure 17 is a diagram illustrating an example of an output device according to the embodiment. Fig. Figure 18 is a flowchart showing a method for monitoring the soil according to one embodiment. Fig. Figure 19 is a block diagram illustrating a computer system according to the embodiment. DESCRIPTION OF EXECUTION FORMS

[0008] The following describes embodiments according to the present disclosure with reference to the drawings; however, the disclosure is not limited to these embodiments. The components of the embodiments described below can be combined in any way. In some cases, some components are not used. work machine

[0009] Fig. Figure 1 is a side view illustrating a working machine 1 according to one embodiment. Fig. Figure 2 is a top view illustrating the working machine 1 according to the embodiment. Fig. Figure 3 is a front view illustrating the working machine 1 according to the embodiment.

[0010] The work machine 1 is operated on a construction site. In this embodiment, the work machine 1 is a wheel loader, which is a type of articulated work machine. The work machine 1 performs work on a construction site. The work performed by the work machine 1 includes excavation work to create an excavation target and loading work to load the excavated material onto a loading target.

[0011] As in the Fig. 1, Fig. 2 and Fig. As illustrated in Figure 3, the working machine 1 includes a vehicle body 2, a driver's cab 3, a driving device 4, front fenders 7, support elements 8, housing 9, a working device 10, angle sensors 90 and a load sensor 93.

[0012] The vehicle body 2 includes a front vehicle body 2F and a rear vehicle body 2R. The front vehicle body 2F and the rear vehicle body 2R are connected via a joint mechanism 2A.

[0013] The cab 3 is supported by the vehicle body 2. A cabin is provided in the cab 3. A driver's seat is provided in the cabin. The work machine 1 is operated by a driver on board the cab 3.

[0014] The transport device 4 carries the vehicle body 2 and travels on the ground 200 at the construction site. The transport device 4 includes wheels 5 and tires 6. The tires 6 are mounted on the wheels 5. The wheels 5 include front wheels 5F, which are supported by the front vehicle body 2F, and rear wheels 5R, which are supported by the rear vehicle body 2R. The tires 6 include front tires 6F, which are mounted on the front wheels 5F, and rear tires 6R, which are mounted on the rear wheels 5R.

[0015] The front wheels 5F and the front tires 6F can rotate around a pivot axis FX. The rear wheels 5R and the rear tires 6R can rotate around a pivot axis RX.

[0016] In this embodiment, a direction parallel to the axis of rotation FX of the front wheels 5F is appropriately referred to as the vehicle width direction. A direction perpendicular to the ground surface of the front tires 6F, which are in contact with the ground 200, is appropriately referred to as the up-down direction. A direction perpendicular to both a vehicle width direction and an up-down direction is appropriately referred to as the front-back direction. When the vehicle body 2 of the working machine 1 travels in a straight line, the axis of rotation FX and the axis of rotation RX are parallel.

[0017] Furthermore, in the embodiment, a position or direction towards a center CL of the working machine 1 in the vehicle width direction of the working machine 1 is appropriately referred to as inwards in the vehicle width direction, and a position or direction further away from the center CL is appropriately referred to as outwards in the vehicle width direction.

[0018] In the vehicle width direction, one side of the center CL of the working machine 1 is on the left, and the side opposite the left side is on the right. In the front-to-back direction, a position or direction towards the working machine 10 with respect to a driver's seat of the cab 3 is at the front, and the side opposite the front is at the rear. In the up-and-down direction, a position or direction closer to a ground surface is the bottom of the front tires 6F, and the side opposite the bottom is at the top.

[0019] The rear vehicle body 2R is positioned behind the front vehicle body 2F. The front vehicle body 2F is bent to the left and right relative to the rear vehicle body 2R. The rear wheels 5R are positioned behind the front wheels 5F. The rear tires 6R are positioned behind the front tires 6F. The front wheels 5F and the front tires 6F are positioned on the left and right sides of the center CL of the working machine 1, in the direction of the vehicle width of the working machine 1. The rear wheels 5R and the rear tires 6R are positioned on the left and right sides of the center CL of the working machine 1, in the direction of the vehicle width of the working machine 1.

[0020] The tires 6 are rotating elements that rotate in contact with the ground 200. The working machine 1 travels on the ground 200 by rotating the tires 6 in contact with the ground 200. The front tires 6F are front rotating elements that rotate in contact with the ground 200. The rear tires 6R are rear rotating elements that are located behind the front tires 6F and rotate in contact with the ground 200.

[0021] The front fenders 7 prevent soil 200 kicked up from the ground from striking the vehicle body 2 and the cab 3 while the work machine 1 is in motion. Part of the front fenders 7 is positioned above the front tires 6F. Part of the front fenders 7 is positioned behind the front tires 6F. The front fenders 7 are located on the left and right sides of the work machine 1's center line CL, in the direction of the machine's width. The front fenders 7 include a front fender 7L located to the left of center line CL and a front fender 7R located to the right of center line CL. The left front fender 7L is attached to the left side of the front vehicle body 2F. The right front fender 7R is attached to the right side of the front vehicle body 2F.

[0022] The support elements 8 are rod-shaped. A lower end section of each support element 8 is fixed to the front of the vehicle body 2F. The support elements 8 are inclined upwards towards the front and outwards in the direction of the vehicle's width. The support elements 8 are arranged on the left and right sides of the center CL of the working machine 1 in the direction of the working machine's width. The support elements 8 include a support element 8L located to the left of the center CL and a support element 8R located to the right of the center CL. A lower end section of the left support element 8L is fixed to the left side of the front of the vehicle body 2F. The left support element 8L is inclined upwards towards the front and left side. A lower end section of the right support element 8R is fixed to the right side of the front of the vehicle body 2F.The right support element 8R is inclined upwards towards the front and right side.

[0023] The housings 9 are each fixed to the upper end sections of the support elements 8. The housings 9 are supported by the front vehicle body 2F via the support elements 8. In the front-to-rear direction, the housings 9 are arranged between the articulation mechanism 2A and the front end section of the front vehicle body 2F. In the up-and-down direction, the housings 9 are arranged between the upper end section of the cab 3 and the upper end section of the front vehicle body 2F. The housings 9 are arranged on the left and right sides of the center CL of the working machine 1 in the width direction of the working machine 1. The housings 9 enclose a housing 9L located to the left of the center CL and a housing 9R located to the right of the center CL. The left housing 9L is fixed to the upper end section of the left support element 8L. The right housing 9R is fixed to the upper end section of the right support element 8R.The left housing 9L is located above the left front fender 7L. The right housing 9R is located above the right front fender 7R.

[0024] The working device 10 is capable of excavating a target. The working device 10 is operated during excavation and loading operations. The working device 10 is connected to the front of the vehicle body 2F. At least one section of the working device 10 is positioned in front of the front wheels 5F. The working device 10 includes a boom 11, a bucket 12, an angle lever 15, and a bucket connection 16.

[0025] The booms 11 are rotatably connected to the front vehicle body 2F. The booms 11 connect the front vehicle body 2F and the bucket 12. The booms 11 are driven by a motive force generated by the boom cylinders 13. The boom cylinders 13 drive the booms 11. The boom cylinders 13 are hydraulic cylinders. One end section of the boom cylinders 13 is connected to the front vehicle body 2F. The other end section of the boom cylinders 13 is connected to the booms 11. The boom cylinders 13 are arranged on the left and right sides of the center CL of the working machine 1, respectively, in the width direction of the working machine 1.

[0026] The bucket 12 lifts the excavation target. The bucket 12 is rotatably connected to one end of the boom 11. The bucket 12 is positioned in front of the front wheels 5F. The bucket 12 is driven by a motive force generated by the bucket cylinder 14. The bucket cylinder 14 drives the bucket 12. The bucket cylinder 14 is a hydraulic cylinder. A central section of the bell crank 15 is rotatably connected to the boom 11. One end section of the bucket cylinder 14 is connected to the front of the vehicle body 2F. The other end section of the bucket cylinder 14 is connected to an end section of the bell crank 15. The other end section of the bell crank 15 is connected to the bucket 12 via the bucket linkage 16. One bucket cylinder 14 is positioned centrally in the width direction of the vehicle.

[0027] The blade 12 includes a blade body 17, blade teeth 18 and a tooth space protector 19.

[0028] The bucket body 17 receives the excavated material. The bucket body 17 includes a lower plate section 17A, an upper plate section 17B, a left plate section 17C, and a right plate section 17D. The lower plate section 17A, the upper plate section 17B, the left plate section 17C, and the right plate section 17D form a receiving chamber in which the excavated material is placed. A tip of the lower plate section 17A and a tip of the upper plate section 17B each extend in the direction of the vehicle's width. The tips of the left plate section 17C and the right plate section 17D extend upwards and downwards, respectively, in the front-to-back direction. A tip of the lower plate section 17A, a tip of the upper plate section 17B, a tip of the left plate section 17C and a tip of the right plate section 17D define an opening section 12M of the blade 12.The excavated material can enter the receiving space of the bucket 12 through the opening section 12M.

[0029] As in the Fig. 2 and Fig. As illustrated in Figure 3, the ends 12E on both sides of the shovel body 17 are arranged outwards from the tires 6 in the vehicle width direction. The distance between the left end 12E and the right end 12E in the vehicle width direction is greater than the distance between the left side surface of the left tire 6 and the right side surface of the right tire 6 in the vehicle width direction.

[0030] The blade teeth 18 form a cutting edge of the blade 12. The blade teeth 18 are detachably attached to the blade body 17. The blade teeth 18 are attached to the tip of the lower plate section 17A. A plurality of blade teeth 18 are attached to the blade body 17. The plurality of blade teeth 18 are arranged at intervals in the direction of the vehicle width. In this embodiment, eight blade teeth 18 are arranged at intervals in the direction of the vehicle width.

[0031] The inter-tooth protector 19 protects the tip of the lower plate section 17A. The inter-tooth protector 19 is detachably attached to the blade body 17. The inter-tooth protector 19 is positioned between a pair of adjacent blade teeth 18. The inter-tooth protector 19 is attached to the tip of the lower plate section 17A. A plurality of inter-tooth protectors 19 are attached to the blade body 17. The plurality of inter-tooth protectors 19 are spaced apart in the direction of the vehicle's width. In this embodiment, seven inter-tooth protectors 19 are spaced apart in the direction of the vehicle's width.

[0032] The angle sensors 90 are position sensors that detect the position of the implement 10. The position of the implement 10 includes an angle of the implement 10. The angle sensors 90 are provided on the implement 10. The angle sensors 90 include a boom angle sensor 91, which detects an angle of the boom 11, and a bucket angle sensor 92, which detects an angle of the bucket 12. The boom angle sensor 91 detects the angle of the boom 11 with respect to a reference axis of a vehicle body coordinate system, which is defined, for example, in the front vehicle body 2F. The bucket angle sensor 92 detects the angle of the bucket 12 with respect to the boom 11. An example of an angle sensor 90 is a potentiometer. The position sensor, which detects the position of the working device 10, can be a stroke sensor that detects a stroke of the hydraulic cylinders (boom cylinder 13, bucket cylinder 14).The position sensor, which detects the position of the working device 10, can be an inertial measurement unit (IMU) that detects acceleration and angular velocity.

[0033] The load sensor 93 detects a load on the working device 10. The load sensor 93 can detect whether there is excavated material in the bucket 12. The load sensor 93 can detect the weight of the excavated material in the bucket 12. An example of the load sensor 93 is a pressure sensor that detects the pressure of the hydraulic oil in a bottom chamber of the boom cylinders 13. cabin

[0034] Fig. Figure 4 is a diagram illustrating a cabin for the driver's cab 3 according to the embodiment. Fig. Figure 4 is a diagram illustrating a schematic view from the perspective of a driver sitting in the driver's seat of the cabin.

[0035] The cab contains a drive control device 20, a control panel 21, a monitor device 22, a rear-view monitor device 23, an output device 24, and an input device 25. The drive control device 20 is operated by the driver. The drive control device 20 includes an accelerator pedal 20A and a pair of brake pedals 20B. Although not shown, the drive control device 20 also includes a steering lever, a gearshift lever, a forward and reverse lever, and a work lever. The accelerator pedal 20A is operated to increase the travel speed of the working machine 1. The brake pedal 20B is operated to decrease the travel speed of the working machine 1 or to stop the working machine 1. The steering lever is operated to turn the working machine 1. The gearshift lever is operated to change the speed level of the working machine 1.The forward and reverse lever is operated to switch the direction of travel of the work machine 1 between forward and reverse. The work lever is operated to operate the work device 10. The monitor device 22 displays data relating to a variety of functions of the work machine 1. The rear-view monitor device 23 displays an image of the rear of the vehicle body 2 of the work machine 1, captured by a camera (not shown) provided at the rear of the work machine 1.

[0036] Output device 24 provides output data to the driver. The output data includes a warning. Output device 24 includes a display device 24A and a sound generation device 24B.

[0037] The display device 24A provides the driver with display data as output data. Examples of the display device 24A include a flat screen such as a liquid crystal display (LCD) or an organic electroluminescent display (OLED).

[0038] The sound generation device 24B provides audio data to the driver as output data. Examples of the sound generation device 24B include a buzzer or a loudspeaker.

[0039] The input device 25 generates input data when operated by the driver. Examples of the input device 25 include a button or a keyboard. The input device 25 can, for example, include a touch panel.

[0040] A windshield is provided in front of the cabin. The windshield is attached to a column 27 of the cabin. In this embodiment, the output device 24 is supported by the column 27. The output device 24 can be a tablet terminal or the like. The monitor device 22, the rear-view monitor device 23, and the output device 24 can be partially or fully integrated. Measuring device

[0041] Fig. Figure 5 is an enlarged front view of a section of the working machine 1 according to the embodiment. As shown in the Fig. 3 and Fig. As illustrated in Figure 5, the working machine includes 1 headlight 28, flashing lights 29 and measuring devices 32.

[0042] The headlights 28 emit illuminating light forward to illuminate an area in front of the front of the vehicle body 2F. The headlights 28 are each housed in housings 9. They are arranged on the left and right sides of the center CL of the work machine 1, in the width direction of the work machine 1. The headlights 28 include a headlight 28L located to the left of center CL and a headlight 28R located to the right of center CL. The left headlight 28L is housed in the left housing 9L. The right headlight 28R is housed in the right housing 9R.

[0043] The indicator lights 29, by illuminating or flashing, indicate the direction of rotation of the machine 1. The indicator lights 29 are each housed in housings 9. The indicator lights 29 are arranged to the left and right of the center CL of the machine 1 in the direction of the machine's width. The indicator lights 29 include an indicator light 29L located to the left of the center CL and an indicator light 29R located to the right of the center CL. The left indicator light 29L is housed in the left housing 9L. The right indicator light 29R is housed in the right housing 9R. In the direction of the machine's width, the indicator lights 29 are arranged outwards from the headlights 28.

[0044] The measuring devices 32 measure a predefined object. The object measured by the measuring devices 32 includes the ground surface 200 on which the driving device 4 travels. The measuring devices 32 measure the ground surface 200 on which the working machine 1 travels. The measuring devices 32 acquire the measurement data of the ground surface 200. In this embodiment, each of the measuring devices 32 is an imaging device that images the ground surface 200. The measurement data of the ground surface 200 includes image data of the ground surface 200. In the following description, the measuring devices 32 are appropriately referred to as imaging devices 32.

[0045] Each of the imaging devices 32 includes an optical system and an image sensor onto which light passing through the optical system falls. Examples of the image sensor include a couple-charged device image sensor (CCD image sensor) or a complementary metal-oxide-semiconductor image sensor (CMOS image sensor).

[0046] The imaging devices 32 are each arranged in the housings 9. In the width direction of the work machine 1, the imaging devices 32 are arranged outwards from the headlights 28.

[0047] The imaging devices 32 are arranged on the left and right sides of the center CL of the machine 1, respectively, in the vehicle width direction. The imaging devices 32 are located in the left housing 9 and the right housing 9, respectively. The imaging devices 32 include an imaging device 32L located to the left of the center CL and an imaging device 32R located to the right of the center CL. drive system

[0048] Fig. Figure 6 is a diagram illustrating a drive system 40 of the working machine 1 according to the embodiment. The drive system 40 includes an engine 41, a fuel injection device 42, a power take-off (PTO) shaft 43, a transmission 44, a front axle 45F, a rear axle 45R, a hydraulic pump 46, a control valve 47, and a drive control unit 48.

[0049] Engine 41, for example, is a diesel engine. The fuel injection device 42 injects fuel into the cylinders of engine 41. The driving force of engine 41 is adjusted by regulating the amount of fuel injected into engine 41 by the fuel injection device 42.

[0050] The power take-off shaft 43 distributes the drive power of the engine 41 to the gearbox 44 and the hydraulic pump 46. The drive power of the engine 41 is transmitted via the power take-off shaft 43 to the gearbox 44 and the hydraulic pump 46 respectively.

[0051] The gearbox 44 includes an input shaft, to which the drive force of the engine 41 is transmitted, and an output shaft, which changes the rotational speed of the drive force transmitted to the input shaft and outputs it. The input shaft of the gearbox 44 is connected to the power take-off (PTO) shaft 43. The output shaft of the gearbox 44 is connected to the front axle 45F and the rear axle 45R. The drive force of the engine 41 is transmitted via the PTO shaft 43 and the gearbox 44 to the front axle 45F and the rear axle 45R.

[0052] The gearbox 44 switches the direction of travel of the working machine 1 between forward and reverse. The gearbox 44 includes a forward gear 44F and a reverse gear 44R. When the forward gear 44F is engaged, the direction of travel of the working machine 1 is set to forward. When the reverse gear 44R is engaged, the direction of travel of the working machine 1 is set to reverse.

[0053] The front axle 45F transmits the drive force transmitted by the gearbox 44 to the front wheels 5F. The front wheels 5F rotate based on the drive force transmitted by the front axle 45F.

[0054] The rear axle 45R transmits the drive force transmitted by the gearbox 44 to the rear wheels 5R. The rear wheels 5R rotate based on the drive force transmitted by the rear axle 45R.

[0055] When forward gear 44F is engaged, the machine 1 is brought into a state in which it can move forward. When the accelerator pedal 20A is pressed with forward gear 44F engaged, the driving force of the engine 41 is transmitted via the transmission 44 to the front axle 45F and the rear axle 45R respectively, and the machine 1 moves forward. However, even when forward gear 44F is engaged, the machine 1 will not move forward if the brake pedal 20B is pressed.

[0056] When reverse gear 44R is engaged, the machine 1 is brought into a state in which it can move backwards. In a state where reverse gear 44R is engaged, the accelerator pedal 20A is depressed, and the driving force of the engine 41 is transmitted via the transmission 44 to the front axle 45F and the rear axle 45, the machine 1 is caused to move backwards. However, even if reverse gear 44R is engaged, the machine 1 will not move backwards if the brake pedal 20B is depressed.

[0057] Hydraulic pump 46 delivers the hydraulic oil. Hydraulic pump 46 is a variable displacement hydraulic pump. Hydraulic pump 46 is driven by the drive force of motor 41. The hydraulic oil delivered by hydraulic pump 46 is supplied via hydraulic valve 47 to at least one of the boom cylinders 13 and the bucket cylinder 14.

[0058] The control valve 47 regulates the flow rate and direction of the hydraulic oil supplied to each of the boom cylinders 13 and the bucket cylinder 14. The working tool 10 is operated by the hydraulic oil supplied by the hydraulic pump 46 via the control valve 47.

[0059] The drive control unit 48 controls the working machine 1 based on the actuation signal issued by the drive control device 20. The drive control unit 48 includes a computer system. Operation of the work equipment

[0060] Fig. Figure 7 is a diagram illustrating the operation of the working device 10 according to one embodiment. In this embodiment, the working device 10 is a front loader attachment in which the opening section 12M of the bucket 12 points forward during excavation work.

[0061] The boom cylinders 13 extend and retract, causing the booms 11 to perform a lifting or lowering operation.

[0062] The lifting process of the booms 11 refers to a process in which the booms 11 rotate so that one tip of the booms 11 moves away from the ground 200. The boom cylinders 13 extend and cause the booms 11 to perform the lifting process.

[0063] The lowering process of the booms 11 refers to a process in which the booms 11 rotate so that their tips approach the ground 200. The boom cylinders 13 retract, causing the booms 11 to perform the lowering process.

[0064] The bucket cylinder 14 extends and retracts, causing the bucket 12 to perform a tipping or unloading operation.

[0065] The tilting operation of the bucket 12 refers to a process in which the bucket 12 rotates so that its tip moves away from the ground 200 in a state where the opening section 12M of the bucket 12 points upwards. The bell crank 15 rotates such that an upper end section of the bell crank 15 moves forward and a lower end section of the bell crank 15 moves backwards as the bucket cylinder 14 extends. As the lower end section of the bell crank 15 moves backwards, the bucket 12 is pulled backwards by the bucket linkage 16, thus performing the tilting operation. While the bucket 12 is performing the tilting operation, the excavation target is scooped up by the bucket 12, and the excavated material is scooped up by the bucket 12.

[0066] The unloading operation of the bucket 12 refers to a process in which the bucket 12 rotates so that its tip approaches the ground 200, with the opening section 12M of the bucket 12 pointing downwards. As the bucket cylinder 14 retracts, the bell crank 15 rotates such that its upper end section moves backwards and its lower end section moves forwards. As the lower end section moves forwards, the bucket 12 is pushed forwards by the bucket linkage 16, thus performing the unloading operation. During the unloading operation, the excavated material contained within the bucket 12 is discharged. Operation of the work machine

[0067] Fig. Figure 8 is a diagram illustrating the operation of the work machine 1 according to the embodiment. The work machine 1 performs excavation and loading work at the construction site.

[0068] The excavation work consists of work to remove the excavation target. Examples of the excavation target include soil or a rocky hill. Soil is a hill containing earth and sand located on the ground 200. A rocky hill is a hill containing rocks or stones located on the ground 200. In this embodiment, the excavation target is soil 210. The excavated material is a portion of the soil 210 that is excavated and picked up by the bucket 12.

[0069] Loading operations are operations in which the excavated material is loaded onto a loading destination. Examples of loading destinations include a transport vehicle, a hopper, or a belt conveyor. In this embodiment, the loading destination is a tipping skip 230 of a dump truck 220, which is a type of transport vehicle.

[0070] The operator operates the work machine 1 to perform cyclical work, in which a series of work modes are repeated. The cyclical work includes a variety of interrelated work modes. The cyclical work includes the movement of the drive unit 4 and the operation of the work device 10.

[0071] In this embodiment, the cycle operation includes six operating modes. Specifically, the series of operating modes of the working machine 1 includes a forward mode without load, an excavation mode, a reverse mode under load, a forward mode under load, a loading mode, and a reverse mode without load.

[0072] The sequence of operating modes is fixed. After the forward mode without load is executed, the excavation mode is executed. After the excavation mode is executed, the reverse mode under load is executed. After the reverse mode under load is executed, the forward mode under load is executed. After the forward mode under load is executed, the loading mode is executed. After the loading mode is executed, the reverse mode without load is executed.

[0073] The forward mode without load is a working mode in which the working machine 1 moves forward in a state where there is no excavated material in the bucket 12, in order to approach the excavation target. In the forward mode without load, the working machine 1 moves forward in a state where there is no excavated material in the bucket 12, in order to approach the ground 210, as indicated by arrow M1 in Fig. 8 is indicated.

[0074] The excavation mode is a working mode in which the bucket 12 of the working device 10 excavates the target area. Excavation work is carried out in this mode. When at least a section of the bucket 12 is engaged in the ground 210, the bucket 12 performs a tilting operation, excavating the ground 210 and retaining the excavated material within the bucket 12.

[0075] The reverse mode under load is a working mode in which the working machine 1 moves backwards away from the excavation target while holding the excavated material in the bucket 12. In the reverse mode under load, the working machine 1 moves backwards away from the ground 210 while holding the excavated material in the bucket 12, as indicated by arrow M2 in Fig. 8 is indicated.

[0076] The forward mode under load is a working mode in which the work machine 1 moves forward with the excavated material in the bucket 12 to approach the loading target. In the forward mode under load, the work machine 1 moves forward with the excavated material held in the bucket 12 while rotating towards the dump truck 220, as indicated by arrow M3 in Fig. 8. In a state in which the working machine 1 moves forward in the direction of the dump truck 220, the booms 11 perform the lifting operation so that the bucket 12 is positioned above the tipping body 230.

[0077] The loading mode is a working mode in which the excavated material held in the bucket 12 of the working device 10 is loaded onto the loading target. Loading operations are carried out in this mode. After the bucket 12 has been positioned over the tipper 230, the bucket 12 performs the unloading process, emptying the excavated material from the bucket 12 and loading it into the tipper 230.

[0078] The reverse mode without load is a working mode in which the work machine 1 moves backward to move away from the loading target when the excavated material is not held in the bucket 12. In a state where the excavated material is not held in the bucket 12, the work machine 1 moves backward while rotating to move away from the dump truck 220, as indicated by arrow M4 in Fig. 8 is indicated.

[0079] The working machine 1 repeats the cycle work, which includes the forward mode without load, the excavation mode, the reverse mode with load, the forward mode with load, the loading mode and the reverse mode without load, until the excavated material has been loaded into the tipper 230 with a target load. Measuring range

[0080] Fig. Figure 9 is a side view illustrating the working machine 1, which performs the loading operations, according to the embodiment. Fig. Figure 10 is a top view illustrating the working machine 1, which performs the loading operations, according to the embodiment.

[0081] As in the Fig. 9 and Fig. As illustrated in Figure 10, when loading excavated material into the tipper body 230 of the dump truck 220, the work machine 1 performs a lifting operation of the booms 11 so that the bucket 12 is positioned above the tipper body 230. After the booms 11 have been raised and the bucket 12 is positioned above the tipper body 230, the work machine 1 performs the unloading operation of the bucket 12. With the booms 11 raised, the bucket 12 performs the unloading operation so that the excavated material held in the bucket 12 is unloaded into the tipper body 230 of the dump truck 220. The unloading operation of the bucket 12 causes the excavated material held in the bucket 12 to be unloaded from the bucket 12 and loaded into the tipper body 230.

[0082] A measuring range Rb of the imaging devices 32 encompasses an imaging area of ​​the imaging device 32. The measuring range Rb is determined based on a viewing angle β, which specifies a viewing angle of the optical system of the imaging devices 32. The imaging devices 32 image at least the ground surface 200 in the direction of travel of the tires 6. In this embodiment, the imaging devices 32 image the ground surface 200 in front of the front tires 6F when the machine 1 is moving forward. The imaging devices 32 are each fixed to the housings 9 such that at least the ground surface 200 in front of the front tires 6F is within the measuring range Rb when the machine 1 is moving forward.In this embodiment, the imaging devices 32 are fixed to the housings 9 such that the front end section of the front tires 6F, the ground surface 200 in front of the front tires 6F, and the ground surface 200 on the outside of the front tires 6F are located within the measuring area Rb in the vehicle width direction. The ground surface 200 in front of the front tires 6F includes the ground surface 200 between a front end section of the front tires 6F and a rear end section of the bucket 12 in the front-to-back direction.

[0083] As in Fig. As illustrated in Figure 10, the left imaging device 32L, relative to the center CL, images the ground surface 200 in front of the front tire 6F on the left side of the center CL. The right imaging device 32R, relative to the center CL, images the ground surface 200 in front of the front tire 6F on the right side of the center CL.

[0084] In the Fig. In the illustrated example 10, the imaging device 32L, located to the left of center CL, is fixed to the left housing 9 such that the front end of the left front tire 6F, the ground 200 in front of the left front tire 6F, and the ground 200 to the left of the left front tire 6F are within the measuring area Rb. The imaging device 32R, located to the right of center CL, is fixed to the right housing 9 such that the front end of the right front tire 6F, the ground 200 in front of the right front tire 6F, and the ground 200 to the right of the right front tire 6F are within the measuring area Rb.

[0085] Fig. Figure 11 is a diagram illustrating an example of image data acquired by the left imaging device 32L according to the embodiment. As shown in Fig. As illustrated in Figure 11, the imaging device 32L images the ground 200 in front of the front tire 6F and the ground 200 to the left of the front tire 6F from above. This allows the imaging device 32L to image the ground 200 around the front tire 6F. For example, if the rock 240 is located on the ground 200 around the front tire 6F, the imaging device 32L can image the rock 240 on the ground 200. Monitoring system

[0086] Fig. Figure 12 is a functional block diagram illustrating a monitoring system 30 according to one embodiment. The working machine 1 incorporates the monitoring system 30. The monitoring system 30 monitors the ground 200 on which the working machine 1 travels.

[0087] The monitoring system 30 includes the imaging devices 32, the driving control device 20, the angle sensors 90, the load sensor 93, the output device 24, the input device 25, and the monitoring control unit 33. The imaging devices 32 include the imaging device 32L located to the left of center CL and the imaging device 32R located to the right of center CL.

[0088] The imaging devices 32, the drive control device 20, the angle sensors 90, the load sensor 93, the output device 24, and the input device 25 are each connected to the monitoring control unit 33. Image data acquired by the imaging devices 32 is fed into the monitoring control unit 33. Operating data from the drive control device 20 is fed into the monitoring control unit 33. Acquisition data from the angle sensor 90 is fed into the monitoring control unit 33. Acquisition data from the load sensor 93 is fed into the monitoring control unit 33. The input data generated by the input device 25 is fed into the monitoring control unit 33.

[0089] In this embodiment, the imaging devices 32 acquire the measurement data at a predetermined sampling rate (SPS: samples per second). The measurement data includes image data. The sampling rate includes a frame rate (FPS: frames per second). The imaging devices 32 acquire the image data at a predetermined frame rate. The imaging devices 32 acquire the image data at a predetermined frame rate, thus recording a video.

[0090] The monitoring control unit 33 uses the image data acquired by the imaging devices 32 to detect the presence or absence of the rock fragment 240 on the ground 200 on which the work machine 1 is traveling. If the monitoring control unit 33 detects the rock fragment 240 on the ground 200, it causes the output device 24 to issue a warning indicating the presence of the rock fragment 240 on the ground 200. The rock fragment 240 on the ground 200 includes the rock fragment 240 on the ground 200 in the direction of travel of the front tires 6F. The rock fragment 240 on the ground 200 in the direction of travel of the front tires 6F encloses the rock fragment 240 on the ground 200 in front of the front tires 6F when the working machine 1 moves forward.

[0091] The monitoring control unit 33 detects the presence or absence of rock fragment 240 in the area relating to Fig. The monitoring control unit 33 can detect the presence or absence of the rock fragment 240 during work other than the cycle work described in section 8.

[0092] The monitoring control unit 33 includes a measurement data acquisition unit 331, a vehicle body data acquisition unit 332, a state discrimination unit 333, a rock fragment detection unit 334, a warning criteria setting unit 335, a measurement data adjustment unit 336, a rock fragment determination unit 337, a warning control unit 338, a detection control unit 339 and a coefficient storage unit 340.

[0093] The measurement data acquisition unit 331 acquires the measurement data from the imaging devices 32. The measurement data acquisition unit 331 acquires the measurement data of the soil 200 measured by the imaging devices 32 from the imaging devices 32 at a predetermined sampling rate. The measurement data of the soil 200 includes image data of the soil 200 acquired by the imaging devices 32. The sampling rate includes a frame rate. The measurement data acquisition unit 331 acquires image data of the soil 200 from the imaging devices 32 at the predetermined frame rate. The measurement data acquisition unit 331 acquires the image data of the soil surface 200 in front of the front tires 6F.

[0094] The vehicle body data acquisition unit 332 acquires vehicle body data that specifies the operating state of the working machine 1. The operating state of the working machine 1 includes the state of the working tool 10 and the state of the drive mechanism 4. The state of the working tool 10 includes its position and the load on it. The state of the drive mechanism 4 includes its forward and reverse movement. The vehicle body data includes position data indicating the position of the working tool 10, load data indicating the load on the working tool 10, and forward and reverse movement data indicating the forward or reverse movement of the drive mechanism 4.

[0095] The position data of the implement 10 includes an angle of the implement 10. The angle of the implement 10 is detected by the angle sensors 90. The position data of the implement 10 includes the detection data from the angle sensors 90. The vehicle body data acquisition unit 332 detects the detection data from the angle sensors 90 as position data of the implement 10.

[0096] The load data of the work tool 10 includes the pressure of the hydraulic oil in the bottom chamber of the boom cylinders 13. The pressure of the hydraulic oil in the bottom chamber of the boom cylinders 13 is detected by the load sensor 93. The load data of the work tool 10 includes the detection data from the load sensor 93. The vehicle body data acquisition unit 332 detects the detection data from the load sensor 93 as load data of the work tool 10.

[0097] The forward and reverse movement of the drive device 4 is switched by a forward and reverse lever 20C of the drive control device 20. The forward and reverse movement data of the drive device 4 includes operating data of the forward and reverse lever 20C. The vehicle body data acquisition unit 332 acquires the operating data of the forward and reverse lever 20C as forward and reverse movement data of the drive device 4.

[0098] For example, if a rotation sensor is provided that detects the rotation of the wheels 5, the rotation sensor can detect the forward or reverse movement of the driving device 4 by recognizing a direction of rotation of the wheels 5. The vehicle body data acquisition unit 332 can acquire data from the rotation sensor as forward and reverse movement data of the driving device 4.

[0099] The vehicle body data acquisition unit 332 can acquire status data indicating the state of the drive system 40 as forward and reverse movement data of the driving device 4. The drive control unit 48 inputs the status data indicating the state of the drive system 40 into the monitoring control unit 33. The vehicle body data acquisition unit 332 determines the state of the drive system 40 based on the status data from the drive control unit 48. The state of the drive system 40 includes the operating state of the transmission 44. The transmission 44 switches the direction of travel of the working machine 1 between forward and reverse. The transmission 44 includes a forward gear 44F, which is used to move the working machine 1 forward, and a reverse gear 44R, which is used to move the working machine 1 backward.The vehicle body data acquisition unit 332 can acquire condition data that indicate the condition of the transmission 44 as forward and reverse movement data of the driving device 4.

[0100] The state differentiation unit 333 distinguishes the working state of the working machine 1 based on the vehicle body data acquired by the vehicle body data acquisition unit 332. Based on the position data of the working implement 10 acquired by the vehicle body data acquisition unit 332, the state differentiation unit 333 can distinguish whether the booms 11 are performing the lifting or lowering operation. Based on the position data of the working implement 10 acquired by the vehicle body data acquisition unit 332, the state differentiation unit 333 can distinguish whether the bucket 12 is performing the tipping or unloading operation. Based on the load data of the working implement 10 acquired by the vehicle body data acquisition unit 332, the state differentiation unit 333 can distinguish whether the working implement 10 is excavating the target.The state discrimination unit 333 can distinguish, based on the forward and reverse movement data of the driving device 4 acquired by the vehicle body data acquisition unit 332, whether the working machine 1 is moving forward or backward.

[0101] A working state of the working machine 1 includes a working mode of the working machine 1. The working mode of the working machine 1 specifies the working state of the working machine 1. The state differentiation unit 333 can distinguish, based on the position data of the working device 10, the load data of the working device 10, and the forward and reverse movement data of the drive device 4, whether the working mode of the working machine 1 is the forward mode without load, the excavation mode, the reverse mode under load, the forward mode under load, the loading mode, or the reverse mode without load.

[0102] The forward mode without load indicates an operating condition in which the machine 1 moves forward and the implement 10 does not excavate the soil 210. The excavation mode indicates an operating condition in which the machine 1 moves forward and the implement 10 excavates the soil 210. The reverse mode under load indicates an operating condition in which the machine 1 moves backward. The forward mode under load indicates an operating condition in which the machine 1 moves forward and the implement 10 does not excavate the soil 210. The loading mode indicates an operating condition in which the machine 1 moves forward and the implement 10 does not excavate the soil 210. The reverse mode without load indicates an operating condition in which the machine 1 moves backward.

[0103] The state differentiation unit 333 can distinguish, based on the position data of the working device 10, the load data of the working device 10 and the forward and reverse movement data of the driving device 4, whether the working state of the working machine 1 is a working state in which the working machine 1 moves forward and the working device 10 does not lift (a first state), a working state in which the working machine 1 moves forward and the working device 10 lifts (a second state), or a working state in which the working machine 1 moves backward (a third state).

[0104] The rock detection unit 334 detects the rock 240 based on the image data of the soil 200 acquired by the imaging devices 32. The rock detection unit 334 detects the rock 240 based on the image data of the soil 200 acquired by the measurement data acquisition unit 331, based on a predefined algorithm. An algorithm for detecting the rock 240 from the image data of the soil 200 includes an artificial intelligence (AI) algorithm. The AI ​​algorithm detects the rock 240 based on the image data of the soil 200 acquired by the imaging devices 32, based on a learning model generated by learning a set of features of the rock 240. The learning model is a learning model with a set of features of an object as input and the rock fragment 240 as output.

[0105] The warning criteria setting unit 335 defines a warning criterion for when a warning is issued by the output device 24.

[0106] Fig. Figure 13 is a diagram illustrating the warning criterion according to the embodiment. In the embodiment, the warning criterion includes a detection area 34 defined in at least one section of the ground image data 200, a first warning area 35 defined within the detection area 34, and a second warning area 36 defined within the first warning area 35.

[0107] Detection area 34 has a rectangular shape. A rock fragment 240 located within detection area 34 is detected. The rock fragment detection unit 334 detects the rock fragment 240 located within detection area 34.

[0108] The first warning area 35 is smaller than the detection area 34. The first warning area 35 has a rectangular shape. The first warning area 35 is defined within the detection area 34. At least one section of the first warning area 35 is defined on the ground 200 in front of the front tire 6F. The front end section of the first warning area 35 is defined rearward (on the side of the working machine 1) by a front end section of the detection area 34.

[0109] The second warning area 36 is smaller than the first warning area 35. The second warning area 36 has a rectangular shape. The second warning area 36 is defined within the first warning area 35. At least one section of the second warning area 36 is defined on the ground 200 in front of the front tires 6F. A front end section of the second warning area 36 is defined to the rear (on the side of the working machine 1) of the front end section of the first warning area 35.

[0110] The measurement data adjustment unit 336 adjusts at least part of the measurement data of the ground 200 based on the distance from the working machine 1. Since the rock fragment 240 is detected by the rock fragment detection unit 334, the measurement data adjustment unit 336 can calculate the distance from the working machine 1 to the rock fragment 240. The measurement data adjustment unit 336 adjusts at least part of the measurement data of the ground 200 based on the distance from the working machine 1 to the rock fragment 240.

[0111] Fig. Figure 14 is a diagram illustrating the adjustment of the measurement data according to the embodiment. As in Fig. As illustrated in Figure 14, the measurement data adaptation unit 336 divides the detection range 34 into a multitude of sub-ranges 50. In the Fig. In the illustrated example 14, the recognition area 34 is divided into nine sub-areas 50 in matrix form. The sub-areas 50 include a first sub-area 51, a second sub-area 52, a third sub-area 53, a fourth sub-area 54, a fifth sub-area 55, a sixth sub-area 56, a seventh sub-area 57, an eighth sub-area 58, and a ninth sub-area 59.

[0112] The distances between the working machine 1 and the plurality of respective sub-areas 50 are different. The distance from the working machine 1 to the sub-area 50 defined in an upper section of the detection area 34 (the first sub-area 51, the second sub-area 52, and the third sub-area 53) is greater, and the distance from the working machine 1 to the sub-area 50 defined in a lower section of the detection area 34 (the seventh sub-area 57, the eighth sub-area 58, and the ninth sub-area 59) is smaller. In the Fig. In the illustrated example 14, the distance between the working machine 1 and the first sub-area 51 is the longest. The distance between the working machine 1 and the ninth sub-area 59 is the shortest.

[0113] When the rock fragment 240 is detected in the detection area 34, the measurement data adjustment unit 336 adjusts a portion of the detection area 34 that includes the detected rock fragment 240, based on the distance between the working machine 1 and the rock fragment 240. The measurement data adjustment unit 336 performs a first adjustment on a portion of the measurement data that includes the rock fragment 240 if the distance between the working machine 1 and the rock fragment 240 is a first distance, and performs a second adjustment on a portion of the measurement data that includes the rock fragment 240 if the distance between the working machine 1 and the rock fragment 240 is a second distance.

[0114] In this embodiment, a coefficient related to the distance between the working machine 1 and the rock fragment 240 is predefined. The coefficient storage unit 340 stores a predefined coefficient based on the distance between the working machine 1 and the rock fragment 240. The measurement data adjustment unit 336 adjusts the section of the detection range 34 based on the coefficient stored in the coefficient storage unit 340.

[0115] The coefficient can be entered into the coefficient storage unit 340 via the input device 25. The driver or a maintenance person can operate the input device 25 to enter the coefficient. The coefficient entered via the input device 25 can be stored in the coefficient storage unit 340.

[0116] As in Fig. As illustrated in Figure 14, in this embodiment a coefficient is defined for each of a plurality of sub-areas 50. The coefficient can be a real number greater than 1, can be 1, or can be a positive real number less than 1. In the embodiment shown in Fig. In the example illustrated in Figure 14, the value of the coefficient is larger for the sub-area 50 located further away from the working machine 1, and the value of the coefficient is smaller for the sub-area 50 located closer to the working machine 1. In the example in Fig. In the 14 illustrated example, the coefficient set for the first sub-area 51 is 1.4. The coefficient set for the second sub-area 52 is 1.3. The coefficient set for the third sub-area 53 is 1.3. The coefficient set for the fourth sub-area 54 is 1.2. The coefficient set for the fifth sub-area 55 is 1.0. The coefficient set for the sixth sub-area 56 is 1.0. The coefficient set for the seventh sub-area 57 is 1.0. The coefficient set for the eighth sub-area 58 is 1.0. The coefficient set for the ninth sub-area 59 is 1.0.

[0117] The in Fig. The 14 illustrated coefficients are merely examples. The value of the coefficient may be smaller for the sub-area 50 located further away from the working machine 1, and the value of the coefficient may be larger for the sub-area 50 located closer to the working machine 1.

[0118] In the embodiment, the measurement data adjustment unit 336 adjusts the number of pixels in the section of the detection area 34, which is defined in the image data of the ground 200, based on the coefficient.

[0119] Fig. Figure 15 is a diagram illustrating the adjustment of the number of pixels according to the embodiment. As shown in Fig. As illustrated in Figure 15, the image data includes a plurality of pixels 60. In this embodiment, the number of pixels 60 in the image data is appropriately referred to as the number of pixels. The number of pixels can be the number of pixels in the horizontal direction (10 in the Fig. 15 illustrated case) or the number of pixels in the vertical direction (10 in the one in Fig. (15 illustrated case) of the sub-area 50 in which the rock fragment 240 is detected, or the larger of the number of pixels in the horizontal direction and the number of pixels in the vertical direction. In the following examples, the number of pixels 60 in the image data is described as the number of pixels. When the rock fragment 240 is detected by the rock fragment detection unit 334 in a particular sub-area 50, the measurement data adjustment unit 336 multiplies the number of pixels in the sub-area 50 in which the rock fragment 240 is detected by a coefficient. The number of pixels in the sub-area 50 is adjusted by multiplying the number of pixels in the sub-area 50 by the coefficient.

[0120] If the coefficient is a real number greater than 1, the number of pixels in sub-area 50 after the adjustment is greater than the number of pixels in sub-area 50 before the adjustment. If the coefficient is 1, the number of pixels in sub-area 50 after the adjustment is equal to the number of pixels in sub-area 50 before the adjustment. If the coefficient is a positive real number less than 1, the number of pixels in sub-area 50 after the adjustment is less than the number of pixels in sub-area 50 before the adjustment.

[0121] For example, if, as in Fig. As illustrated in Figure 15, if the number of pixels in a sub-area is 100 and a coefficient of 1.4 is set for this sub-area, the measurement data adjustment unit 336 multiplies the number of pixels (100) by the coefficient 1.4. Accordingly, the number of pixels in sub-area 50 increases to 140. If the number of pixels in a sub-area 50 is 100 and the coefficient set for this sub-area 50 is 0.9, the number of pixels in sub-area 50 decreases to 90.

[0122] An increase in the number of pixels in sub-area 50 includes an increase in the number of pixels in the image of rock fragment 240. An increase in the number of pixels in the image of rock fragment 240 includes an increase in the image data volume of rock fragment 240. A decrease in the number of pixels in sub-area 50 includes a decrease in the number of pixels in the image of rock fragment 240. A decrease in the number of pixels in the image of rock fragment 240 includes a decrease in the image data volume of rock fragment 240.

[0123] The rock fragment identification unit 337 determines the presence or absence of rock fragment 240 on the ground 200 in the image data after adjustment in the measurement data adjustment unit 336. Rock fragment identification unit 337 determines the presence or absence of rock fragment 240 on the ground 200 based on a predefined identification criterion. If rock fragment 240, detected by rock fragment detection unit 334, meets the identification criterion, rock fragment identification unit 337 determines that rock fragment 240 is present. If rock fragment 240 is detected by rock fragment detection unit 334 but does not meet the identification criterion, rock fragment identification unit 337 determines that rock fragment 240 is not present.

[0124] Fig. Figure 16 is a diagram illustrating a determination of the presence or absence of rock fragment 240 according to the embodiment. The rock fragment determination unit 337 compares the number of pixels in the image of rock fragment 240, after the number of pixels has been adjusted by the measurement data adjustment unit 336, with a predetermined threshold Sh, which relates to the number of pixels. As shown in Fig. As illustrated in Figure 16, the rock fragment identification unit 337 determines that rock fragment 240 is present if the number of pixels in the image of rock fragment 240 exceeds the threshold Sh, and determines that rock fragment 240 is not present if the number of pixels in the image of rock fragment 240 is equal to or less than the threshold Sh. Even if the actual size of rock fragment 240 is the same, it can be determined whether rock fragment 240 is present or not, depending on the value of the coefficient.

[0125] In other words, even if rock fragment 240 is detected by rock fragment detection unit 334, but the identification criterion is not met (if the number of pixels of rock fragment 240 is equal to or less than the threshold Sh), rock fragment detection unit 337 determines that rock fragment 240 is not present. If rock fragment 240 is detected by rock fragment detection unit 334 and the identification criterion is met (if the number of pixels of rock fragment 240 exceeds the threshold Sh), rock fragment detection unit 337 determines that rock fragment 240 is present.

[0126] The warning control unit 338 causes the output device 24 to issue a warning based on the presence or absence of the rock fragment 240. The warning control unit 338 causes the output device 24 to issue a warning based on a determination result of the rock fragment determination unit 337.

[0127] Fig. Figure 17 is a diagram illustrating an example of the output device 24 according to the embodiment. The output device 24 includes a display device 24A that displays an image of the ground 200. The warning control unit 338 causes the output device 24 to issue the warning based on the determination of the presence or absence of the rock fragment 240 by the rock fragment detection unit 337 and a relationship between the rock fragment 240 and the warning criterion.

[0128] In this embodiment, issuing the warning includes displaying a warning image 80 that highlights the rock fragment 240 enclosed in the image of the ground 200. In this embodiment, the warning image 80 includes a frame image that is displayed in such a way that it surrounds the rock fragment 240.

[0129] If the rock fragment 240 is within the detection area 34 and outside the first warning area 35, the warning control unit 338 surrounds the rock fragment 240 with a first frame image 81. If the rock fragment 240 is within the first warning area 35 and outside the second warning area 36, ​​the warning control unit 338 surrounds the rock fragment 240 with a second frame image 82. If the rock fragment 240 is within the second warning area 36, ​​the warning control unit 338 surrounds the rock fragment 240 with a third frame image 83. The display formats of the first frame image 81, the second frame image 82, and the third frame image 83 are different. For example, the first frame image 81 is displayed in green, the second frame image 82 is displayed in yellow, and the third frame image 83 is displayed in red.By confirming the warning image 80, the driver can intuitively recognize the distance between the work machine 1 and the rock fragment 240.

[0130] The warning control unit 338 can cause the display device 24A to display a frame image showing an outer edge of the detection area 34, a frame image showing an outer edge of the first warning area 35, and a frame image showing an outer edge of the second warning area 36. The frame image showing the outer edge of the detection area 34 can be displayed in green, the frame image showing the outer edge of the first warning area 35 can be displayed in yellow, and the frame image showing the outer edge of the second warning area 36 can be displayed in red.

[0131] If the rock fragment 240 is located in the second warning area 36, ​​the warning control unit 338 in the embodiment causes the tone generating device 24B to generate a warning tone indicating that the rock fragment 240 is located on the ground 200 in front of the front tire 6F.

[0132] If the state discrimination unit 333 detects that the working state of the working machine 1 is the first state, the detection control unit 339 causes the warning control unit 338 to execute a first process with respect to the rock fragments 240 on the ground 200. If the state discrimination unit 333 detects that the working state of the working machine 1 is the second state, the detection control unit 339 causes the warning control unit 338 to execute a second process with respect to the rock fragments 240 on the ground 200. If the state discrimination unit 333 detects that the working state of the working machine 1 is the third state, the detection control unit 339 causes the warning control unit 338 to execute a third process with respect to the rock fragments 240 on the ground 200. The first process and the second process are different. The first process and the third process can be the same or different.

[0133] In this embodiment, the first state is an operating state in which the machine 1 moves forward and the implement 10 does not perform any excavation. The second state is an operating state in which the machine 1 moves forward and the implement 10 performs excavation. The third state is an operating state in which the machine 1 moves backward.

[0134] In this embodiment, the first state is at least one of the operating modes, which include the forward mode without load, the forward mode under load, and the loading mode. The second state is the excavation mode. The third state is at least one of the operating modes, which includes the reverse mode under load and the reverse mode without load.

[0135] The first process is one in which the warning control unit 338 is caused to emit the warning tone when the rock detection unit 337 determines that rock 240 is present. That is, if the working machine 1 is operating in at least one of the forward modes: no load, forward under load, and loading, and it is determined that rock 240 is present in the second warning area 36, ​​the warning tone is emitted by the tone generation device 24B.

[0136] The second process is one in which the warning control unit 338 is not caused to emit the warning tone, even if the rock identification unit 337 determines that rock 240 is present. That is, even if the working machine 1 is operating in excavation mode and it is determined that rock 240 is present in the second warning area 36, ​​the warning tone is not emitted by the tone generation device 24B.

[0137] The third process is one in which the warning control unit 338 is not caused to emit the warning tone. That is, if the working machine 1 is operating in at least one of the reverse modes under load and the reverse mode without load, the warning tone is not emitted by the tone generating device 24B.

[0138] If the working machine 1 is operating in at least one of the forward mode without load, the forward mode under load and the loading mode and it is determined that the rock fragment 240 is present in the second warning area 36, ​​the warning tone is emitted by the tone generating device 24B so that the driver can recognize the presence of the rock fragment 240.

[0139] When the work machine 1 is operating in excavation mode, the bucket 12 penetrates the ground 210. While the bucket 12 is penetrating the ground 210, a large number of rock fragments 240 are present around the front tire 6F. Furthermore, the operator is sufficiently aware of the presence of these rock fragments 240 while the bucket 12 is penetrating the ground 210. This penetrating state is maintained for several seconds. If the warning tone continues to sound from the sound-generating device 24B during this period, the operator is likely to be disturbed. Furthermore, in a state where the bucket 12 penetrates the ground 210, the process of emitting the warning tone is most likely unnecessary, as the driver is sufficiently aware of the presence of the rock fragments 240.

[0140] Therefore, if the state discrimination unit 333 detects that the working machine 1 is operating in excavation mode, the detection control unit 339, in this embodiment, issues a warning tone stop command to the warning control unit 338, so that no warning tone is emitted during the period in which the excavation mode is executed. Even if, during the period in which work is being carried out in excavation mode, the presence of the rock fragment 240 is detected, the tone-generating device 24B does not emit a warning tone in order to prevent disturbing the operator.

[0141] If, on the other hand, the state discrimination unit 333 detects that the working machine 1 is operating in at least one of the forward mode without load, the forward mode under load and the loading mode, the detection control unit 339 issues a warning tone authorization command to the warning control unit 338, so that a warning tone is emitted when the presence of the rock fragment 240 is detected. Monitoring procedures

[0142] Fig. Figure 18 is a flowchart showing a method for monitoring the ground surface 200 according to the embodiment.

[0143] The measurement data acquisition unit 331 acquires the image data of the ground surface 200 from the imaging devices 32 (step S1).

[0144] The rock detection unit 334 detects rock 240 based on the image data acquired in step S1. The rock detection unit 334 detects rock 240 based on image data based on a predefined algorithm (step S2).

[0145] The measurement data adjustment unit 336 adjusts the number of pixels in the image of rock fragment 240 based on the distance between the machine 1 and the rock fragment 240. The measurement data adjustment unit 336 multiplies the number of pixels in the image of rock fragment 240 by a predefined coefficient based on the distance between the machine 1 and the rock fragment 240 (step S3).

[0146] The rock identification unit 337 determines whether rock fragment 240 is located in the second warning zone 36 after the number of pixels has been adjusted. Based on a predefined identification criterion, the rock identification unit 337 determines whether rock fragment 240 is located in the second warning zone 36. Based on the image of rock fragment 240, after adjusting the number of pixels and the predefined threshold Sh with respect to the number of pixels, the rock identification unit 337 determines whether rock fragment 240 is located in the second warning zone 36 (step S4).

[0147] The vehicle body data acquisition unit 332 acquires vehicle body data that indicates the condition of the working machine 1. In this embodiment, the vehicle body data acquisition unit 332 acquires the acquisition data of the angle sensors 90, the acquisition data of the load sensor 93 and the operating data of the forward and reverse lever 20C as vehicle body data (step S5).

[0148] The state discrimination unit 333 determines, based on the vehicle body data recorded in step S5, whether the working mode of the working machine 1 is the excavation mode (step S6).

[0149] If in step S4 it is determined that the rock fragment 240 is present (step S4: Yes), and in step S6 it is determined that the working mode is the excavation mode (step S6: Yes), the detection control unit 339 does not emit the warning tone (step S7).

[0150] If in step S4 it is determined that the rock fragment 240 is present (step S4: Yes) and in step S6 it is determined that the working mode is not the excavation mode (step S6: No), the state distinction unit 333 determines whether the working mode of the working machine 1 is the forward mode (step S8). The forward mode is at least one of the working modes that include the forward mode without load, the forward mode under load, and the excavation mode.

[0151] If in step S8 it is determined that the working mode of the working machine 1 is the forward mode (step S8: Yes), the warning control unit 338 causes the tone generating device 24B to emit the warning tone (step S9).

[0152] If step S8 determines that the operating mode is not forward mode (step S8: No), the warning control unit 338 does not emit the warning tone (step S10).

[0153] After a process with one of the steps S7, S9 and S10 has been executed, the rock particle detection unit 334 determines whether the monitoring process should be terminated or not (step S11).

[0154] If step S11 determines that the monitoring process will continue (step S11: No), the process returns to steps S1 and S5.

[0155] If step S11 determines that the monitoring process is ending (step S11: Yes), the monitoring process is terminated. computer system

[0156] Fig.Figure 19 is a block diagram illustrating a computer system 1000 according to one embodiment. Each of the monitoring control unit 33 and drive control unit 48 described above is included in the computer system 1000. The computer system 1000 includes a processor 1001, such as a central processing unit (CPU), main memory 1002, which includes non-volatile memory, such as read-only memory (ROM), and volatile memory, such as random-access memory (RAM), storage 1003, and an interface 1004, which includes an input / output circuit. The functions of the monitoring control unit 33 and drive control unit 48 described above are stored as a computer program in storage 1003. The processor 1001 reads the computer program from storage 1003, loads the computer program into main memory 1002, and performs the processing described above according to the program.The computer program can be distributed to computer system 1000 via a network.

[0157] According to the embodiment described above, the computer program or computer system 1000 can perform the following steps: acquiring measurement data of the ground surface 200 on which the working machine 1 travels, distinguishing the working state of the working machine 1, initiating the execution of a first process with respect to the rock fragment 240 on the ground surface 200 when the working state is distinguished as the first state, and initiating the execution of a second process that differs from the first process when the working state is distinguished as the second state. Effects

[0158] As described above, the monitoring system 30 for the working machine 1 comprises the measurement data acquisition unit 331, which acquires measurement data of the ground surface 200 on which the working machine 1 travels, the state discrimination unit 333, which distinguishes the working state of the working machine 1, and the recognition control unit 339, which causes the execution of the first process with respect to the rock fragment 240 on the ground surface 200 when the working state is distinguished as the first state, and which causes the execution of the second process, which differs from the first process, when the working state is distinguished as the second state.

[0159] According to the embodiment, when the working state of the machine 1 is the first state, the process for triggering the emission of the warning tone is executed as the first process. The warning tone is emitted so that the operator of the machine 1 can detect the presence of the rock 240. When the working state of the machine 1 is the second state, the second process executed is one in which the emission of the warning tone is not triggered. When the working state of the machine 1 is the second state, the process that triggers the emission of the warning tone is most likely an unnecessary process. According to the embodiment, the process of emitting the warning tone is stopped when the working state of the machine 1 is the second state, thus reducing unnecessary processes in the machine 1, which is capable of detecting the rock 240 on the ground surface 200. Other embodiment

[0160] In the embodiment described above, the first process can be a process in which the rock fragment detection unit 334 is caused to detect the rock fragments 240, and the second process can be a process in which the rock fragment detection unit 334 is not caused to detect the rock fragments 240. Furthermore, the third process can be a process in which the rock fragment detection unit 334 is not caused to detect the rock fragments 240.

[0161] This means that during the period in which work is performed in excavation mode, the detection control unit 339 issues a detection stop command to the rock detection unit 334, so that the detection of rock fragments 240 is not carried out. During the period in which work is performed in excavation mode, no detection of rock fragments 240 is performed, and therefore the tone generation device 24B does not emit the warning tone, regardless of whether rock fragment 240 is present. Furthermore, since the detection process in the rock detection unit 334 is stopped, the processing load on the monitoring control unit 33 is reduced.During a period of time in which the work is performed in at least one of the forward mode without load, the forward mode under load and the loading mode, the detection control unit 339 issues a detection execution command to the rock detection unit 334 so that the rock 240 is detected.

[0162] In the embodiment described above, the first process can be a process in which the rock fragment identification unit 337 is caused to determine whether the rock fragment 240 is present, and the second process can be a process in which the rock fragment identification unit 337 is not caused to determine whether the rock fragment 240 is present or not. Furthermore, the third process can be a process in which the rock fragment identification unit 337 is not caused to determine whether the rock fragment 240 is present or not.

[0163] This means that during the period in which work is performed in excavation mode, the detection control unit 339 issues a determination stop command to the rock identification unit 337, so that the presence or absence of rock 240 is not determined. During the period in which work is performed in excavation mode, the presence or absence of rock 240 is not determined, so that regardless of the presence or absence of rock 240, no warning tone is emitted by the tone generation device 24B. Furthermore, since the determination process in the rock identification unit 337 is stopped, the computational load on the monitoring control unit 33 is reduced.During the period in which the work is performed in at least one of the forward mode without load, the forward mode under load and the loading mode, the detection control unit 339 issues a determination execution command to the rock fragment determination unit 337 so that the presence or absence of the rock fragment 240 is determined.

[0164] In the embodiment described above, the state discrimination unit 333 distinguishes the working state of the working machine 1 based on the data acquired by the load sensor 93. The state discrimination unit 333 can distinguish the working state of the working machine 1 based on the measurement data acquired by the measurement data acquisition unit 331. The measurement data includes the image of the ground 200. The state discrimination unit 333 can distinguish the working state of the working machine 1 based on the image of the rock fragment 240 that is included in the image of the ground 200. As described above, in excavation mode, the bucket 12 penetrates the ground 210, and a large number of rock fragments 240 are present around the front tires 6F.If the number of rock fragments 240 detected by the rock fragment detection unit 334 is equal to or greater than a predetermined initial specified value, the state differentiation unit 333 can recognize that the machine 1 is in the excavation mode operating state. Furthermore, in a state where the bucket 12 is penetrating the ground 210, the machine 1 is prevented from moving forward by the ground 210. In excavation mode, the rock fragments 240 imaged by the imaging devices 32 do not change. That is, the imaging devices 32 continue to image the same rock fragments 240 in excavation mode. In excavation mode, the rock fragment detection unit 334 continues to detect the same rock fragments 240.If the number of rock fragments 240 that the rock fragment detection unit 334 continues to detect is equal to or greater than a predetermined second specified value, the state discrimination unit 333 can detect that the working machine 1 is in the working state of excavation mode.

[0165] In the embodiment described above, the drive control device 20 and the dispensing device 24 are arranged in the cab of the machine 1. The drive control device 20 and the dispensing device 24 can also be arranged outside the machine 1. The machine 1 can then be operated remotely.

[0166] In the embodiment described above, each of the measuring devices 32 is an imaging device. The measuring device 32 can be a laser device. The measuring device 32 can be a radar device. The laser device irradiates a measurement object with laser light to acquire measurement data of the measurement object. The radar device irradiates the measurement object with sound waves to acquire measurement data of the measurement object.

[0167] In the embodiment described above, the working machine 1 is a wheel loader. The working machine 1 can be another working machine, for example, a bulldozer or a hydraulic excavator. Both the bulldozer and the hydraulic excavator include a working attachment and a crawler track that rotates in contact with the ground 200. The crawler track is a rotating element that rotates in contact with the ground 200. The working machine moves while the crawler track rotates. Reference symbol list

[0168] 1 Working machine, 2 Vehicle body, 2A Articulation mechanism, 2F Front vehicle body, 2R Rear vehicle body, 3 Cab, 4 Driving device, 5 Wheel, 5F Front wheel, 5R Rear wheel, 6 Tire, 6F Front tire, 6R Rear tire, 7 Front fender, 7L Front fender, 7R Front fender, 8 Support element, 8L Support element, 8R Support element, 9 Housing, 9L Housing, 9R Housing, 10 Working device, 11 Boom, 12 Bucket, 12E End section, 12M Opening section, 13 Boom cylinder, 14 Bucket cylinder, 15 Angle lever, 16 Bucket connection, 17 Bucket body, 17A Lower plate section, 17B Upper plate section, 17C Left plate section, 17D Right plate section, 18 Bucket teeth, 19 Interdental space protector, 20 Driving control device, 20A Accelerator pedal, 20B Brake pedal, 20C Forward and reverse lever, 21 Control panel, 22 Monitor device, 23 Rear view monitor device, 24 Output device, 24A Display device, 24B Sound generation device,25 Input device, 27 Column, 28 Headlight, 28L Headlight, 28R Headlight, 29 Indicator light, 29L Indicator light, 29R Indicator light, 30 Monitoring system, 32 Imaging device (measuring device), 32L Imaging device, 32R Imaging device, 33 Monitoring control unit, 34 Detection area, 35 First warning area, 36 Second warning area, 40 Drive system, 41 Engine, 42 Fuel injection device, 43 Power take-off, 44 Transmission, 44F Forward gear, 44R Reverse gear, 45F Front axle, 45R Rear axle, 46 Hydraulic pump, 47 Control valve, 48 Drive control unit, 50 Sub-area, 51 First sub-area, 52 Second sub-area, 53 Third sub-area, 54 Fourth sub-area, 55 Fifth sub-area, 56 Sixth sub-area 57 Seventh sub-area, 58 Eighth sub-area, 59 Ninth sub-area, 60 Pixel, 80 Warning image, 81 First frame image, 82 Second frame image, 83 Third frame image, 90 Angle sensor, 91 Boom angle sensor, 92 Bucket angle sensor, 93 Load sensor, 200 Ground,210 Soil, 220 Dump truck, 230 Tipping skip, 240 Rock fragment, 331 Measurement data acquisition unit, 332 Vehicle body data acquisition unit, 333 State differentiation unit, 334 Rock fragment detection unit, 335 Warning criteria setting unit, 336 Measurement data adjustment unit, 337 Rock fragment determination unit, 338 Warning control unit, 339 Detection control unit, 340 Coefficient storage unit, 1000 Computer system, 1001 Processor, 1002 Main memory, 1003 Storage, 1004 Interface, CL Center, FX Rotary axis, Rb Measuring range, RX Rotary axis, β Viewing angle. QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] JP 2021-080790 A

[0003]

Claims

[1] Monitoring system for a working machine, comprising: a measurement data acquisition unit configured to acquire measurement data of a ground surface on which a work machine is traveling; a state discrimination unit configured to distinguish an operating state of the working machine; and a detection control unit configured to initiate a first process with respect to a rock fragment on the ground when the working state is distinguished as the first state, and to initiate a second process that differs from the first process when the working state is distinguished as the second state. [2] Monitoring system for a working machine according to claim 1, wherein the working machine includes a working device capable of excavating a target, the first state is a state in which the working machine moves forward and the working tool does not perform any excavation, and The second state is a state in which the working machine moves forward and the working tool performs the excavation. [3] Monitoring system for a working machine according to claim 2, comprising: a rock fragment detection unit configured to detect a rock fragment from the measurement data based on a predefined algorithm, the first process is a process in which the detection of a rock fragment is initiated, and The second process is one in which the detection of a rock fragment is not initiated. [4] Monitoring system for a working machine according to claim 2, comprising: a rock fragment identification unit configured to determine the presence or absence of a rock fragment on the ground surface based on a predetermined identification criterion, wherein the first process is a process in which the determination of the presence or absence of a rock fragment is initiated, and The second process is a process in which the determination of the presence or absence of a rock fragment is not initiated. [5] Monitoring system for a working machine according to claim 2, comprising: a warning control unit configured to cause a warning tone to be emitted from an output device, the first process is a process in which the warning tone is triggered when it is determined that a rock fragment is present, and The second process is one in which the warning tone is not triggered, even if it is determined that a rock fragment is present. [6] Monitoring system for a working machine according to claim 2, wherein the state differentiation unit distinguishes the working state based on a load of the working machine. [7] Monitoring system for a working machine according to claim 5, wherein the working machine includes a hydraulic cylinder that operates the working device, and The load on the work equipment creates pressure of hydraulic oil in the hydraulic cylinder. [8] Monitoring system for a working machine according to claim 2, the measurement data includes an image of the ground surface, and The state discrimination unit distinguishes the working state based on an image of a rock fragment that is included in the image of the ground surface. [9] Monitoring system for a working machine according to claim 2, wherein the detection control unit initiates a third process with respect to the rock fragment on the ground surface when the working state is distinguished as a third state, the third state is a state in which the working machine moves backwards, and The third process is a process in which the presence or absence of the rock fragment is not determined. [10] Monitoring system for a working machine according to claim 1, wherein the working machine has a rotating element, and The rotating element rotates in contact with the ground, causing the machine to move along the ground. [11] Monitoring procedures for a working machine, comprising: Recording measurement data of a ground surface on which a work machine is driving; Distinguishing between different operating states of the machine; Causing the execution of a first process with respect to a rock fragment on the ground, where the working state is distinguished as the first state; and To cause a second process to be executed that differs from the first process, if the working state is distinguished as the second state.

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