Control method of work machine, control program for work machine, control system for work machine, and work machine

Abstract

To provide a control method of a work machine, a control program for the work machine, a control system for the work machine, and the work machine, which can easily improve work efficiency.SOLUTION: A control method of a work machine 3 includes performing restriction processing of restricting motion of the work machine 3 when a detection result by a detection section 13 detecting an object to be detected in a monitoring area around the work machine 3 meets a specific condition and specific operation is performed on an operation device 35 of the work machine 3.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a work machine control method, a work machine control program, a work machine control system, and a work machine, which are used in a work machine having a function of detecting an object to be detected in a surrounding monitoring area. [Background technology]

[0002] As a related art, a work machine equipped with a control unit that determines whether or not there is a person around the work machine (shovel) is known (for example, see Patent Document 1). In the work machine according to the related art, when the work machine is in a workable state, if it detects a person around the work machine, it continues a work-disabled state in which the operator cannot operate the work machine. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-139393 A Summary of the Invention [Problem to be solved by the invention]

[0004] In the above-mentioned related technologies, the work machine continues to be in an inoperable state unconditionally as long as there are people around the work machine. Therefore, for example, when a work machine is used to work in an environment where workers are working around it, the work machine may frequently enter an inoperable state, which may reduce work efficiency.

[0005] An object of the present invention is to provide a work machine control method, a work machine control program, a work machine control system, and a work machine that can easily improve work efficiency. [Means for solving the problem]

[0006] A method for controlling a work machine according to one embodiment of the present invention includes executing a restriction process for restricting operation of the work machine when a detection result of a detection unit that detects an object to be detected in a monitoring area surrounding the work machine satisfies a specific condition and a specific operation is performed on an operating device of the work machine.

[0007] A work machine control program according to one aspect of the present invention is a program for causing one or more processors to execute the work machine control method.

[0008] A work machine control system according to one aspect of the present invention includes a restriction processing unit that restricts operation of the work machine when a detection result from a detection unit that detects a detection object in a monitoring area around the work machine satisfies a specific condition and a specific operation is performed on an operating device of the work machine.

[0009] A work machine according to one aspect of the present invention includes the work machine control system and a machine body. Effect of the Invention

[0010] According to the present invention, it is possible to provide a work machine control method, a work machine control program, a work machine control system, and a work machine that can easily improve work efficiency. [Brief description of the drawings]

[0011] [Figure 1] FIG. 1 is a schematic perspective view showing the overall configuration of a work machine according to a first embodiment. [Diagram 2] FIG. 2 is a schematic diagram showing a hydraulic circuit and the like of the work machine according to the first embodiment. [Diagram 3] FIG. 3 is a schematic plan view showing a monitoring area set around the work machine according to the first embodiment, as viewed from above. [Figure 4] FIG. 4 is a schematic external view of a display device on which a display screen is displayed by the work machine control system according to the first embodiment. [Diagram 5]FIG. 5 is a schematic diagram for explaining an example of an operation of detecting an object to be detected by the work machine control system according to the first embodiment. [Figure 6] FIG. 6 is a schematic diagram for explaining an example of an operation of detecting an object to be detected by the work machine control system according to the first embodiment. [Figure 7] FIG. 7 is a flowchart showing an example of the operation of the work machine control system according to the first embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings. The following embodiment is an example of the present invention, and is not intended to limit the technical scope of the present invention.

[0013] (Embodiment 1) [1] Overall structure As shown in Fig. 1, the work machine 3 according to this embodiment is equipped with a traveling section 31, a rotating section 32, and a working section 33 on a body 30. The work machine 3 is further equipped with a work machine control system 1 (hereinafter also simply referred to as the "control system 1") as shown in Fig. 2. In addition, the body 30 is further equipped with a display device 2, an operating device 35, etc.

[0014] The term "working machine" in this disclosure means a machine for various works, and examples thereof include working vehicles such as backhoes (including hydraulic excavators, mini excavators, etc.), wheel loaders, and carriers. The working machine 3 is equipped with a working unit 33 configured to be able to perform at least one work including lifting work. The working machine 3 is not limited to a "vehicle" and may be, for example, a work vessel, a work flying object such as a drone or a multicopter, etc. Furthermore, the working machine 3 is not limited to a construction machine (construction machinery), and may be, for example, an agricultural machine (farm machinery) such as a rice transplanter, a tractor, or a combine harvester. In this embodiment, unless otherwise specified, an example will be described in which the working machine 3 is a backhoe with a lifting function (with a crane function) and can perform excavation work, land leveling work, trench digging work, loading work, etc. as work in addition to lifting work.

[0015] Also, in this embodiment, for convenience of explanation, the vertical direction when the work machine 3 is in a usable state is defined as the up-down direction D1. Furthermore, when the swivel unit 32 is in a non-swivel state, the front-rear direction D2 and the left-right direction D3 are defined based on the direction as seen by the user (operator) riding on the work machine 3 (the driving unit 321) of the work machine 3. In other words, each direction used in this embodiment is a direction defined based on the body 30 of the work machine 3, and the direction in which the body 30 moves when the work machine 3 moves forward is "forward", and the direction in which the body 30 moves when the work machine 3 moves backward is "rear". Similarly, the direction in which the front end of the body 30 moves when the work machine 3 turns right is "rightward", and the direction in which the front end of the body 30 moves when the work machine 3 turns left is "leftward". However, these directions are not intended to limit the use direction of the work machine 3 (direction during use).

[0016] The work machine 3 is equipped with an engine that serves as a power source. In the work machine 3, for example, a hydraulic pump 41 (see FIG. 2) is driven by the engine, and hydraulic oil is supplied from the hydraulic pump 41 to hydraulic actuators (including a hydraulic motor 43 and a hydraulic cylinder 44, etc.) of each part of the machine body 30, thereby driving the machine body 30. In addition, the work machine 3 is controlled, for example, by a user (operator) riding on the driving section 321 of the machine body 30 operating operation levers 351, 352 (see FIG. 2) of the operation device 35.

[0017] In this embodiment, since it is assumed that the work machine 3 is a riding type backhoe as described above, the working unit 33 is driven according to the operation of a user (operator) riding in the driving unit 321 to perform work such as excavation work. The driving unit 321 on which the user rides is provided on the rotating unit 32.

[0018] The traveling unit 31 has a traveling function and is configured to be able to travel (including turn) on the ground. The traveling unit 31 has, for example, a pair of left and right crawlers 311 and a blade 312. The traveling unit 31 further has a hydraulic motor 43 (hydraulic actuator) for driving the crawlers 311 and the like.

[0019] The swivel unit 32 is located above the travel unit 31, and is configured to be rotatable around a rotation axis along the vertical direction with respect to the travel unit 31. The swivel unit 32 has a hydraulic motor (hydraulic actuator) for rotation, etc. In addition to a driving unit 321, an engine, a hydraulic pump 41, etc. are mounted on the swivel unit 32. Furthermore, a boom bracket 322 to which the working unit 33 is attached is provided at the front end of the swivel unit 32.

[0020] The working unit 33 is configured to be able to perform work including lifting work. The working unit 33 is supported by a boom bracket 322 of the swivel unit 32 and performs work. The working unit 33 has a bucket 331, a boom 332, an arm 333, and the like. The working unit 33 further has a hydraulic actuator (including a hydraulic cylinder 44, a hydraulic motor, and the like) for driving each part.

[0021] The bucket 331 is a type of attachment (working tool) that is attached to the body 30 of the work machine 3, and is any tool selected from multiple types of attachments depending on the content of the work. As an example, the bucket 331 is removably attached to the body 30, and is replaced depending on the content of the work. In addition to the bucket 331, attachments for the work machine 3 include various tools such as a breaker, an auger, a crusher, a fork, a fork claw, a steel frame cutter, an asphalt cutter, a grass cutter, a ripper, a mulcher, a tilt rotator, and a tamper. The working unit 33 performs work by driving the bucket 331 with power from a drive device.

[0022] The boom 332 is rotatably supported by the boom bracket 322 of the swivel section 32. Specifically, the boom 332 is supported by the boom bracket 322 so as to be rotatable about a rotation axis along the horizontal direction. The boom 332 has a shape that extends upward from a base end supported by the boom bracket 322. The arm 333 is connected to the tip of the boom 332. The arm 333 is supported relative to the boom 332 so as to be rotatable about a rotation axis along the horizontal direction. A bucket 331 is attached to the tip of the arm 333.

[0023] The working unit 33 operates by receiving power from an engine as a power source. Specifically, a hydraulic pump 41 is driven by the engine, and hydraulic oil is supplied from the hydraulic pump 41 to hydraulic actuators (hydraulic cylinder 44, etc.) of the working unit 33, thereby operating each part of the working unit 33 (bucket 331, boom 332, and arm 333).

[0024] Particularly in this embodiment, the working unit 33 has a multi-joint structure in which the boom 332 and the arm 333 are configured to be rotatable individually. In other words, by each of the boom 332 and the arm 333 rotating about a rotation axis along the horizontal direction, the multi-joint working unit 33 including the boom 332 and the arm 333 can, for example, be extended or folded as a whole.

[0025] Similarly to the working unit 33, each of the traveling unit 31 and the swivel unit 32 receives power from an engine as a power source and operates. That is, the swivel unit 32 and the traveling unit 31 operate when hydraulic oil is supplied from the hydraulic pump 41 to the hydraulic motor 43 of the traveling unit 31 and the hydraulic motor of the swivel unit 32, etc.

[0026] As described above, the engine functions as a power source that supplies power to each part. Here, the engine is mounted on the slewing part 32 together with the hydraulic pump 41 and the like. In this embodiment, as an example, the engine is a diesel engine. The engine is driven by fuel (here, diesel) supplied from a fuel tank.

[0027] Here, the machine body 30 is equipped with various sensors (including cameras) for detecting a detection object Ob1 (see FIG. 3) in a monitoring area A1 (see FIG. 3) around the work machine 3, such as a camera that captures images of the periphery of the machine body 30. In this embodiment, as an example, as shown in FIG. 3, a plurality of cameras (three in this case) including a left camera 341, a right camera 342, and a rear camera 343 are mounted on the rotating section 32 of the machine body 30. The left camera 341, the right camera 342, and the rear camera 343 are connected to the control system 1, and images captured by each of them are output to the control system 1. FIG. 3 is a plan view of the work machine 3 as seen from above, and shows a schematic diagram of the monitoring area A1 set around the work machine 3, the detection object Ob1, and the machine body 30 of the work machine 3 (including the left camera 341, the right camera 342, and the rear camera 343).

[0028] The left camera 341, the right camera 342, and the rear camera 343 are installed facing left, right, and rear with respect to the driving unit 321 so as to capture images of the monitoring area A1, which is to the left, right, and rear as seen by the operator riding in the driving unit 321 of the swivel unit 32. That is, the monitoring area A1 includes a plurality of (three in this case) small areas A11, A12, and A13 as shown in FIG. 3, and the left camera 341 captures the small area A11 (left area) which is to the left as seen by the operator riding in the driving unit 321. Similarly, the right camera 342 captures the small area A12 (right area) which is to the right as seen by the operator riding in the driving unit 321, and the rear camera 343 captures the small area A13 (rear area) which is to the rear as seen by the operator riding in the driving unit 321. This makes it possible to cover the sides (left and right) and rear, which are likely to be blind spots for the operator, with the left camera 341, the right camera 342, and the rear camera 343.

[0029] 2 shows a schematic diagram of the hydraulic circuit and the electric circuit (electrical connection relationship) of the work machine 3 according to this embodiment. In FIG. 2, the solid lines indicate high-pressure oil passages (for hydraulic oil), the dotted lines indicate low-pressure oil passages (for pilot oil), and the dashed dotted arrows indicate paths of electric signals. Furthermore, the thick line (solid line) between the cutoff lever 350 and the cutoff switch 353 indicates the physical connection between the cutoff lever 350 and the cutoff switch 353.

[0030] As shown in Fig. 2, the work machine 3 is equipped with a pilot pump 42, a remote control valve 45, a control valve 46, a directional control valve (control valve) 47, a first limiting unit 48, and a second limiting unit 49, in addition to a hydraulic pump 41, a hydraulic motor 43, and a hydraulic cylinder 44. The work machine 3 is further equipped with a cut-off lever 350, a cut-off switch 353, a sound output unit 36, a disabling switch 37, a pressure sensor 38, and the like. Although Fig. 2 shows only the hydraulic motor 43 of the traveling unit 31, a similar hydraulic circuit is also configured for the hydraulic motor of the rotating unit 32. Furthermore, Fig. 2 shows only one hydraulic cylinder 44 for driving the boom 332, but a similar hydraulic circuit is also configured for the hydraulic cylinder 44 for driving the arm 333, the bucket 331, etc.

[0031] Hydraulic oil from a hydraulic pump 41 driven by the engine is supplied to a hydraulic motor 43 of the traveling unit 31, a hydraulic motor of the rotating unit 32, a hydraulic cylinder 44 of the working unit 33, etc. This drives hydraulic actuators such as the hydraulic motor 43 and the hydraulic cylinder 44.

[0032] Hydraulic actuators such as the hydraulic motor 43 and the hydraulic cylinder 44 are provided with a pilot-type directional control valve 47 capable of switching the direction and flow rate of hydraulic oil from the hydraulic pump 41. The directional control valve 47 is driven by the supply of pilot oil, which serves as an input command, from the pilot pump 42.

[0033] Here, for example, a remote control valve 45 is provided in a supply path of pilot oil to a directional control valve 47 corresponding to the hydraulic motor 43 of the traveling unit 31. The remote control valve 45 outputs a travel operation command for the traveling unit 31 in response to the operation of the operation device 35 (operation lever 351). The travel operation command instructs the traveling operation (forward or backward, etc.) of the traveling unit 31.

[0034] Similarly, a remote control valve 45 is provided in a supply path of pilot oil to a directional control valve corresponding to the hydraulic cylinder 44 of the working unit 33. This remote control valve 45 outputs a work operation command for the working unit 33 in response to the operation of the operating device 35 (operation lever 352). The work operation command instructs the deployment operation, retraction operation, etc. of the working unit 33. Furthermore, a remote control valve is also provided in a supply path of pilot oil to a directional control valve corresponding to the hydraulic motor of the revolving unit 32. This remote control valve outputs a swing operation command for the revolving unit 32 in response to the operation of the operating device 35 (operation lever). The swing operation command instructs the swing operation (left swing, right swing, etc.) of the revolving unit 32.

[0035] Further, a first limiting unit 48 is provided in the supply path of the pilot oil to each directional control valve 47. The first limiting unit 48 has a first control valve 481. Each of the first control valves 481 is composed of an electromagnetic control valve (electromagnetic valve), and is inserted in series between the remote control valve 45 and the pilot pump 42. Each of the first control valves 481 is connected to the control system 1 and operates in response to a control signal (supply current) from the control system 1 to adjust the flow rate of the pilot oil supplied from the pilot pump 42 to the remote control valve 45. In this embodiment, the first limiting unit 48 closes at least the first control valve 481 to block the flow path of the pilot oil supplied to the remote control valve 45, and can stop the supply of hydraulic oil from the hydraulic pump 41 to the hydraulic actuator (hydraulic motor 43, hydraulic cylinder 44, etc.) corresponding to the remote control valve 45. The hydraulic actuator to which the supply of hydraulic oil from the hydraulic pump 41 has stopped becomes inoperable, and the hydraulic actuator is forcibly stopped regardless of the operation of the operating device 35.

[0036] Such directional control valves 47, remote control valves 45 and first restriction units 48 are provided not only in the hydraulic motor 43 of the traveling unit 31 and the hydraulic cylinder 44 for driving the boom 332, but also in the hydraulic circuits of the hydraulic motor of the rotating unit 32 and the hydraulic cylinder 44 for driving the arm 333 or the bucket 331, etc. Therefore, it is possible to operate the traveling unit 31, the rotating unit 32 and the working unit 33 in response to the operation of the operating device 35, for example.

[0037] Furthermore, a control valve 46 serving as a cut-off valve is provided on the upstream side of the pilot oil as viewed from the first restriction unit 48 (first control valve 481). The control valve 46 is composed of an (electromagnetic) proportional control valve, and is inserted between the pilot pump 42 and the plurality of first control valves 481. The control valve 46 is connected to a power source via a cut-off switch 353, and operates according to a current supplied from the power source. Here, the control valve 46 cuts off the flow path of the pilot oil in an energized state, that is, in a state in which a current is supplied as a control signal, and opens the flow path of the pilot oil in a non-energized state, that is, in a state in which the current is cut off as a control signal. Therefore, when a supply current is supplied to the control valve 46, the hydraulic actuator (hydraulic cylinder 44, etc.) becomes inoperable, and the hydraulic actuator is forcibly stopped regardless of the operation of the operating device 35.

[0038] The cutoff switch 353 is linked to the cutoff lever 350. The cutoff lever 350 is disposed in the driving section 321 of the machine body 30, and receives an operation input by a user (operator). In the present embodiment, as an example, the cutoff lever 350 can be operated along the up-down direction D1. When the cutoff lever 350 is in the "up position" which is the upper end position of the movable range, the cutoff switch 353 is "on", and when the cutoff lever 350 is in the "down position" which is the lower end position of the movable range, the cutoff switch 353 is "off". The cutoff switch 353 is connected to the control system 1, and the on / off state of the cutoff switch 353 is monitored by the control system 1.

[0039] Therefore, when the cutoff lever 350 is in the "down position" and in an unlocked state, the control valve 46 is de-energized, and the hydraulic actuator (hydraulic cylinder 44, etc.) is driven by operation of the operation device 35. In contrast, when the cutoff lever 350 is in the "up position" and in a locked state, the control valve 46 is energized, and the hydraulic actuator is forcibly stopped without operation of the operation device 35. Therefore, to drive the hydraulic actuator (hydraulic motor 43, etc.), the user (operator) needs to operate the cutoff lever 350 to the "down position" (unlocked state).

[0040] Furthermore, since the traveling unit 31, the swivel unit 32, and the working unit 33 all operate when hydraulic oil is supplied from the hydraulic pump 41 to hydraulic actuators (hydraulic motor 43, hydraulic cylinder 44, etc.), when the cutoff lever 350 is in the "up position" (locked state), all of the traveling unit 31, the swivel unit 32, and the working unit 33 become inoperable. In other words, when the cutoff lever 350 is in the "up position", all of the traveling unit 31, the swivel unit 32, and the working unit 33 are forcibly placed in an inoperable state.

[0041] In short, when the cutoff switch 353 is on, it is in a "locked state" in which the operation of the work machine 3 is restricted (including prohibited), and when it is off, it is in an "unlocked state" in which the operation of the work machine 3 is not restricted. When the cutoff lever 350 is in the "raised position" and the cutoff switch 353 is in a locked state (on), the operation of the work machine 3 is forcibly restricted without the operation of the operating device 35. The cutoff lever 350 is a lever that is operated when locking the operation of the work machine 3 in this way, and is synonymous with a gate lock lever. In this embodiment, the first control valve 481 and the control valve 46 are both (electromagnetic) proportional control valves, but are not limited to this, and may be, for example, an opening / closing valve that is capable of switching between opening and closing a flow path.

[0042] Furthermore, the flow rate of hydraulic oil supplied from the hydraulic pump 41 is not fixed, but can be changed (varied) by appropriate means. The work machine 3 according to this embodiment is equipped with a second restriction unit 49, and the flow rate of hydraulic oil can be adjusted by the second restriction unit 49. As an example, in this embodiment, the hydraulic pump 41 is a variable displacement pump that can change the amount of hydraulic oil discharged per one rotation of the drive shaft.

[0043] The second restriction unit 49 has a control signal input port 491 and an electromagnetic proportional valve 492. The control signal input port 491 is a port to which a control signal for adjusting the discharge amount (flow rate) of the hydraulic oil of the hydraulic pump 41 consisting of a variable displacement pump is input. Specifically, pilot oil serving as a control signal is supplied from the pilot pump 42 to the control signal input port 491, and the discharge amount of the hydraulic oil of the hydraulic pump 41 changes according to the supply amount (pilot pressure) of the pilot oil. The electromagnetic proportional valve 492 is an electromagnetic proportional control valve provided on a supply path of the pilot oil to the control signal input port 491, and adjusts the pilot pressure input to the control signal input port 491. The electromagnetic proportional valve 492 is electrically connected to the control system 1, and adjusts the pilot pressure input to the control signal input port 491 according to a control signal (supply current) from the control system 1, thereby changing the discharge amount of the hydraulic oil of the hydraulic pump 41.

[0044] In this way, the second limiting unit 49 can adjust the flow rate of the hydraulic oil discharged from the hydraulic pump 41 by controlling at least one of the flow rate of the hydraulic pump 41 that supplies the hydraulic oil and the pilot pressure. The second limiting unit 49 may change the flow rate of the hydraulic oil discharged from the hydraulic pump 41 continuously and stepwise (for example, two steps, five steps, or ten steps). In this embodiment, the second limiting unit 49 closes at least the electromagnetic proportional valve 492 to block the flow path of the pilot oil supplied to the control signal input port 491 and stop the supply of the hydraulic oil from the hydraulic pump 41. When the supply of the hydraulic oil from the hydraulic pump 41 stops, all of the hydraulic actuators, such as the hydraulic motor 43 of the traveling unit 31, the hydraulic motor of the swivel unit 32, and the hydraulic cylinder 44 of the working unit 33, stop.

[0045] The operation device 35 is disposed in the driving section 321 of the machine body 30, and is a user interface for receiving operation input from a user (operator). The operation device 35 includes, for example, operation levers 351, 352, and controls the remote control valve 45 in accordance with the amount of operation of the operation levers 351, 352.

[0046] Specifically, the operation lever 351 receives operations related to the traveling operation (forward or backward, etc.) of the traveling unit 31, and the operation device 35 controls a remote control valve 45 corresponding to the hydraulic motor 43 of the traveling unit 31 according to the amount of operation of the operation lever 351. The operation lever 352 receives operations related to the deployment operation, retraction operation, etc. of the working unit 33, and the operation device 35 controls the remote control valve 45 corresponding to the hydraulic cylinder 44 of the working unit 33 according to the amount of operation of the operation lever 352. In this way, the operator can operate the remote control valve 45 by operating the operation device 35, specify the direction and flow rate of hydraulic oil from the hydraulic pump 41, and operate the work machine 3.

[0047] The pressure sensor 38 detects the pressure of the pilot oil between each remote control valve 45 and the directional control valve 47. The pressure sensor 38 is connected to the control system 1, and a pressure detection signal indicating the pressure detected by the pressure sensor 38 is input to the control system 1. When both the first control valve 481 and the control valve 46 open the flow path of the pilot oil, the pressure detected by the pressure sensor 38 reflects the operating state of the remote control valve 45, that is, the operating state of the operating levers 351, 352 (operating device 35).

[0048] The control system 1 mainly comprises a computer system having one or more processors such as a CPU (Central Processing Unit) and one or more memories such as a ROM (Read Only Memory) and a RAM (Random Access Memory), and executes various processes (information processing). In this embodiment, the control system 1 is an integrated controller that controls the entire work machine 3, and is composed of, for example, an electronic control unit (ECU). However, the control system 1 may be provided separately from the integrated controller. The control system 1 will be explained in detail in the section "[2] Configuration of the control system".

[0049] The display device 2 is disposed in the driving section 321 of the machine body 30, and is a user interface for receiving operation inputs by a user (operator) and outputting various information to the user. The display device 2 receives various operations by the user, for example, by outputting an electrical signal in response to the user's operation. This allows the user (operator) to visually check the display screen Dp1 (see FIG. 4) displayed on the display device 2, and also allows the user (operator) to operate the display device 2 as necessary.

[0050] 2, the display device 2 includes a control unit 21, an operation unit 22, and a display unit 23. The display device 2 is configured to be able to communicate with the control system 1, and is able to send and receive data between the display device 2 and the control system 1. In this embodiment, as an example, the display device 2 is a dedicated device used in the work machine 3.

[0051] The control unit 21 controls the display device 2 in accordance with data from the control system 1. Specifically, the control unit 21 outputs an electrical signal in response to a user's operation received by the operation unit 22, and displays a display screen Dp1 generated by the control system 1 on the display unit 23.

[0052] The operation unit 22 is a user interface for accepting operation input by a user (operator) to the display screen Dp1 displayed on the display unit 23. The operation unit 22 accepts various operations by the user U1 (see FIG. 4), for example, by outputting an electric signal according to the operation of the user U1. As an example in the present embodiment, the operation unit 22 includes a plurality of (six here) mechanical push button switches 221-226 as shown in FIG. 4. These plurality of push button switches 221-226 are arranged close to the display area (lower in the example of FIG. 4) so ​​as to follow the periphery of the display area of ​​the display unit 23. These plurality of push button switches 221-226 are associated with items displayed on the display screen Dp1 described later, and by operating any one of the plurality of push button switches 221-226, any one of the items on the display screen Dp1 is operated (selected).

[0053] Furthermore, the operation unit 22 may include a touch panel, an operation dial, etc. In this case as well, an operation on the operation unit 22 causes an operation (selection) of any item on the display screen Dp1.

[0054] The display unit 23 is a user interface for presenting information to the user U1 (operator), such as a liquid crystal display or an organic EL display that displays various information. The display unit 23 presents various information to the user by display. In the present embodiment, as an example, the display unit 23 is a full-color liquid crystal display with a backlight, and has a "landscape-long" display area that is long in the horizontal direction, as shown in FIG. 4.

[0055] The display device 2 presents various information on the display screen Dp1 to the user U1 (operator) who operates the work machine 3. In other words, the user U1 who operates the work machine 3 can visually obtain various information related to the work machine 3 by looking at the display screen Dp1 displayed on the display device 2. As an example, information on the operating state of the work machine 3, such as the cooling water temperature and the hydraulic oil temperature, is displayed on the display device 2, so that the user U1 can check the information on the operating state of the work machine 3 required for operating the work machine 3 on the display device 2. In addition, the display device 2 can also display, on the display screen Dp1, images of the surroundings of the work machine 3 (images of the monitoring area A1) captured by the left camera 341, the right camera 342, and the rear camera 343. This allows the user U1 (operator) to check, for example, the situation on the side and rear of the work machine 3, which are likely to be blind spots from the driving unit 321, on the display screen Dp1 displayed on the display device 2 when operating the work machine 3.

[0056] The sound output unit 36 ​​includes a buzzer, a speaker, or the like, and outputs sound upon receiving an electric signal. The sound output unit 36 ​​is connected to the control system 1, and outputs sound such as a beep or voice in response to a sound control signal from the control system 1. In this embodiment, the sound output unit 36 ​​is provided in the driving unit 321 of the machine body 30, similar to the display device 2. The sound output unit 36 ​​may be provided integrally with the display device 2.

[0057] The disable switch 37 is a user interface for receiving an operation input by a user (operator). The disable switch 37 is, for example, a push button switch, and is connected to the control system 1, and an operation signal from the disable switch 37 is output to the control system 1. In this embodiment, the disable switch 37 is provided in the driving section 321 of the machine body 30, similar to the display device 2. The disable switch 37 may be provided integrally with the display device 2, in which case the disable switch 37 may be embodied, for example, by a touch panel.

[0058] In addition to the above-mentioned configuration, the machine 30 further includes a communication terminal, a fuel tank, a battery, etc. Furthermore, the machine 30 is equipped with sensors for monitoring the operating state of the machine 30, such as a coolant temperature sensor, a hydraulic oil temperature sensor, a tachometer for measuring the engine RPM, and an hour meter for measuring the operating time.

[0059] [2] Control system configuration Next, the configuration of the control system 1 according to this embodiment will be described with reference to Fig. 2. The control system 1 controls each part of the machine body 30 (including the traveling section 31, the swivel section 32, the working section 33, etc.). In this embodiment, as described above, the machine body 30 of the work machine 3 is equipped with hydraulic actuators such as the hydraulic motor 43 of the traveling section 31, the hydraulic motor of the swivel section 32, and the hydraulic cylinder 44 of the working section 33 as "drive sections" for driving the work machine 3. The control system 1 is a component of the work machine 3, and constitutes the work machine 3 together with the machine body 30, etc. In other words, the work machine 3 according to this embodiment includes at least the control system 1 and the machine body 30 (including the traveling section 31, the swivel section 32, and the working section 33).

[0060] As shown in Fig. 2, the control system 1 includes a display processing unit 11, an acquisition processing unit 12, a detection unit 13, a restriction processing unit 14, an alarm processing unit 15, and a disabling processing unit 16. In this embodiment, as an example, the control system 1 is mainly configured as a computer system having one or more processors, and these multiple functional units (display processing unit 11, etc.) are realized by the one or more processors executing a work machine control program. These multiple functional units included in the control system 1 may be provided distributed across multiple housings, or may be provided in a single housing.

[0061] The control system 1 is configured to be able to communicate with devices provided in each part of the machine body 30. That is, at least the first limiting unit 48 (first control valve 481), the second limiting unit 49 (electromagnetic proportional valve 492), the left camera 341, the right camera 342, the rear camera 343, the display device 2, the sound output unit 36, the disable switch 37, and the like are connected to the control system 1. As a result, the control system 1 can control the first limiting unit 48, the second limiting unit 49, the display device 2, the sound output unit 36, and the like, and can obtain captured images of the left camera 341, the right camera 342, the rear camera 343, and the like. Here, the control system 1 may directly exchange various information (data) with each device, or may indirectly exchange information (data) with each device via a repeater or the like.

[0062] The display processing unit 11 executes display processing to cause the display device 2 to display a display screen Dp1 including information related to the work machine 3. Specifically, the display processing unit 11 generates the display screen Dp1 based on data acquired by the acquisition processing unit 12, etc., and controls the display device 2 to cause the display screen Dp1 to be displayed on the display unit 23 of the display device 2. Furthermore, the display processing unit 11 operates in response to operations received by the operation unit 22 of the display device 2.

[0063] Here, the information related to the work machine 3 included in the display screen Dp1 includes operation information related to the operating state of the work machine 3, such as the remaining amount of fuel, the cooling water temperature, the hydraulic oil temperature, and the hanging weight during hanging work. That is, the display processing unit 11 can cause the display device 2 to display the display screen Dp1 including operation information related to the operating state of the work machine 3. Furthermore, the information related to the work machine 3 included in the display screen Dp1 can cause the display screen Dp1 to display captured images captured by the left camera 341, the right camera 342, and the rear camera 343. That is, the display processing unit 11 can cause the display device 2 to display the display screen Dp1 including captured images of the monitoring area A1 (each of the small areas A11, A12, A13) around the work machine 3.

[0064] In the present disclosure, a "screen" such as the display screen Dp1 means a video (image) displayed on the display device 2, and includes icons, figures, photographs, text, video, and the like. That is, the control system 1 is capable of causing the display device 2 to display the display screen Dp1 including icons and the like showing information relating to the operating state of the work machine 3, such as the cooling water temperature and hydraulic oil temperature. Here, when the display screen Dp1 includes a video, and the like, the display screen Dp1 does not include a fixed image, but includes an image that changes from moment to moment.

[0065] The acquisition processing unit 12 executes acquisition processing to acquire various data related to the work machine 3, such as captured images of the monitoring area A1 around the work machine 3. In this embodiment, the acquisition processing unit 12 acquires outputs from the left camera 341, the right camera 342 and the rear camera 343 periodically or irregularly from the left camera 341, the right camera 342 and the rear camera 343. In other words, the acquisition processing unit 12 acquires image data (captured images) of the monitoring area A1 around the work machine 3 (each of the small areas A11, A12, A13).

[0066] Furthermore, the acquisition processing unit 12 can, through acquisition processing, periodically or irregularly acquire information on the operating state of each part of the work machine 3, including a pressure detection signal from a pressure sensor 38 indicating the operation state of at least the operating device 35 (operation levers 351, 352), and the operation state of the disable switch 37. Here, the acquisition processing unit 12 can also acquire outputs (sensor signals) from a fuel remaining amount sensor, a cooling water temperature sensor, and a hydraulic oil temperature sensor. The acquisition processing unit 12 may acquire various types of data directly from various sensors (including cameras), or indirectly via an electronic control unit, etc. The data acquired by the acquisition processing unit 12 is stored, for example, in a memory, etc.

[0067] The detection unit 13 detects (detects) a detection object Ob1 in a monitoring area A1 around the machine body 30. That is, the detection unit 13 determines the presence or absence (presence) of the detection object Ob1 in the monitoring area A1, and outputs a detection result indicating whether or not the detection object Ob1 exists in the monitoring area A1. In the present embodiment, as an example, the detection object Ob1 is a "person." That is, when a "person" enters the monitoring area A1 around the work machine 3 as a result of the work machine 3 moving or the movement of a "person" around the work machine 3, the detection unit 13 detects the "person" as the detection object Ob1. When multiple detection objects Ob1 exist in the monitoring area A1, the detection unit 13 may also detect the number (number of people) of detection objects Ob1.

[0068] In this embodiment, the detection unit 13 detects a detection object Ob1 in the monitoring area A1 based on the output (image data) of the left camera 341, the right camera 342, and the rear camera 343. Specifically, the detection unit 13 performs image processing on the image data acquired by the acquisition processing unit 12 to extract a feature amount in the image, and determines whether or not the detection object Ob1 (in this embodiment, a "person") is captured in the image based on the feature amount. Here, if the detection object Ob1 is captured in the image, the detection unit 13 determines whether the detection object Ob1 is captured in an image captured by the left camera 341, the right camera 342, or the rear camera 343. In other words, the detection unit 13 detects the object to be detected Ob1 by distinguishing whether the object to be detected Ob1 is present in the small area A11 captured by the left camera 341, the small area A12 captured by the right camera 342, or the small area A13 captured by the rear camera 343.

[0069] Furthermore, in this embodiment, the detection unit 13 can also detect the distance from the machine body 30 to the detection object Ob1. That is, when the detection object Ob1 is captured in the image, the detection unit 13 calculates the distance from the machine body 30 to the detection object Ob1 based on the position of the detection object Ob1 on the image. Therefore, the detection unit 13 can detect the detection object Ob1 that exists within a certain distance (for example, 2 m, 3 m, 4 m, or 5 m, etc.) from the machine body 30, for example. In other words, the detection unit 13 can not only set the entire area captured by the left camera 341, the right camera 342, and the rear camera 343 as the monitoring area A1, but also detect the detection object Ob1 in the monitoring area A1 of an arbitrarily set size and shape.

[0070] The restriction processing unit 14 executes restriction processing that restricts the operation of the work machine 3 based on the detection results of the detection unit 13. In this embodiment, the restriction processing unit 14 executes restriction processing when the detection results of the detection unit 13 satisfy specific conditions and a specific operation is performed on the operation device 35 of the work machine 3. In other words, the restriction processing unit 14 executes restriction processing based on the operation state of the operation device 35 in addition to the detection results of the detection unit 13.

[0071] In the present disclosure, the "restriction process" refers to a process that acts in some way to restrict (suppress) the operation of the work machine 3. For example, the restriction process includes a process that directly restricts the operation of the work machine 3 by controlling the traveling unit 31, the swivel unit 32, the working unit 33, and the like of the work machine 3. As an example, the restriction process includes a process that prohibits the traveling operation of the traveling unit 31 (making the traveling operation impossible), a process that prohibits the turning operation of the turning unit 32 (making the turning operation impossible), and a process that prohibits the operation of the working unit 33 (making the work impossible). This makes it possible to forcibly restrict the operation of the work machine 3 without the operation of the user U1 (operator). In other words, it is possible to avoid contact between the machine body 30 and the detection object Ob1 caused by the operation of the work machine 3.

[0072] In this embodiment, the restriction processing unit 14 controls at least one of the first restriction unit 48 and the second restriction unit 49. The restriction processing unit 14, for example, operates the first restriction unit 48 and closes the first control valve 481 to restrict the operation of each driving unit (hydraulic actuator) such as the hydraulic motor 43 of the traveling unit 31, the hydraulic motor of the turning unit 32, and the hydraulic cylinder 44 of the working unit 33. In other words, when the restriction processing unit 14 operates the first restriction unit 48, the first control valve 481 blocks the flow path of the pilot oil and stops the supply of hydraulic oil from the hydraulic pump 41 to the hydraulic actuator, thereby forcibly stopping the operation of the hydraulic actuator.

[0073] Furthermore, the restriction processing unit 14 operates the second restriction unit 49 and closes the electromagnetic proportional valve 492, thereby collectively restricting the operation of multiple drive units (hydraulic actuators) such as the hydraulic motor 43 of the traveling unit 31, the hydraulic motor of the turning unit 32, and the hydraulic cylinder 44 of the working unit 33. In other words, when the restriction processing unit 14 operates the second restriction unit 49, the electromagnetic proportional valve 492 restricts the amount of hydraulic oil discharged from the hydraulic pump 41 and stops the supply of hydraulic oil from the hydraulic pump 41 to the hydraulic actuator, thereby forcibly stopping the operation of the hydraulic actuator.

[0074] Here, the restriction processing executed by the restriction processing unit 14 includes a process of restricting at least one of the traveling operation of the traveling unit 31 and the turning operation of the turning unit 32. Specifically, the restriction processing unit 14 closes the first control valve 481 or the electromagnetic proportional valve 492 to stop the supply of hydraulic oil from the hydraulic pump 41, thereby disabling at least the hydraulic motor of the turning unit 32, emergency stopping the turning unit 32 if the turning unit 32 is in the turning operation, and prohibiting the turning operation of the turning unit 32 if the turning unit 32 is not in the turning operation. This makes it possible to avoid contact between the machine body 30 and the detection object Ob1 caused by the turning of the turning unit 32 when the detection object Ob1 is present in the monitoring area A1 that is a blind spot of the user U1 (operator).

[0075] The alarm processing unit 15 outputs an alarm, that is, issues a notice. Here, the alarm processing unit 15 executes an alarm process for outputting (notifying) an alarm based on the detection result of the detection unit 13, that is, the detection result of a detection object Ob1 in a monitoring area A1 around the machine body 30. In particular, the alarm processing unit 15 outputs an alarm when a detection object Ob1 is present in the monitoring area A1.

[0076] In the present disclosure, "notification" means outputting an alarm to a user (operator) by various means, including, for example, sound (including voice), display (including lighting of an indicator light), vibration (vibration function), transmission to another terminal, or writing to a non-temporary recording medium. However, the alarm processing unit 15 basically notifies the user (operator) in a manner that allows the user (operator) to recognize the alarm in real time. In the present embodiment, as an example, when a detection object Ob1 exists in the monitoring area A1 around the machine 30, the alarm processing unit 15 causes the display unit 23 of the display device 2 to display that fact and causes the sound output unit 36 ​​to output an alarm sound. The alarm sound may be a simple beep sound or a voice such as "Please be careful". Furthermore, the alarm content (display content and alarm sound) may change according to the detection result of the detection unit 13 (the position of the detection object Ob1, the distance from the machine 30 to the detection object Ob1, etc.).

[0077] The invalidation processing unit 16 invalidates the restriction processing in response to an operation by the user U1 (operator). That is, the restriction processing by the restriction processing unit 14 is not always valid, but can be switched between valid and invalid in response to an operation by the user U1 (operator). If the restriction processing is valid, when the detection result of the detection unit 13 satisfies a specific condition and a specific operation is performed on the operation device 35 of the work machine 3, the restriction processing is executed by the restriction processing unit 14. On the other hand, if the restriction processing is invalid, the restriction processing is not executed by the restriction processing unit 14 even if the detection result of the detection unit 13 satisfies a specific condition and a specific operation is performed on the operation device 35 of the work machine 3. Therefore, for example, even if a detection target Ob1 exists in the monitoring area A1 and the detection result of the detection unit 13 satisfies a specific condition, the user U1 (operator) recognizes the existence of the detection target Ob1 and invalidates the restriction processing, so that the work machine 3 can continue to work even if the detection target Ob1 exists in the monitoring area A1.

[0078] In this embodiment, as an example, the function related to the restriction process (the restriction processing unit 14) is switched between enabled and disabled by the user U1 (operator) operating the disable switch 37. That is, when the user U1 operates the disable switch 37 in a state in which the restriction process is enabled, the disable processing unit 16 receives this operation and disables the function related to the restriction process. On the other hand, when the user U1 operates the disable switch 37 in a state in which the restriction process is disabled, the disable processing unit 16 receives this operation and enables the function related to the restriction process. In this way, in this embodiment, the disable processing unit 16 switches between enabled and disabled states of the restriction process in response to the operation of the user U1. Thereby, for example, when the user U1 (operator) recognizes the presence of the detection object Ob1, the user U1 can disable the restriction process of his / her own volition, making it easier to continue work by the work machine 3 even if the detection object Ob1 is present in the monitoring area A1.

[0079] Here, the status information indicating whether the restriction process by the invalidation processing unit 16 is enabled / disabled is presented to the user (operator) by various means, for example. Means for presenting the status information include, for example, sound (including voice), display (including lighting of an indicator light), vibration (vibration function), transmission to another terminal, or writing to a non-temporary recording medium. The invalidation processing unit 16 presents the status information by displaying it on the display unit 23 of the display device 2 and outputting sound from the sound output unit 36. In this way, the invalidation processing unit 16 presents the status information indicating whether the restriction process is enabled or disabled. Therefore, the user U1 (operator) can perform work with the work machine 3 after recognizing whether the restriction process is enabled / disabled.

[0080] Incidentally, the detection unit 13 is not an essential component of the control system 1. For example, the control system 1 may be configured to acquire a detection result from an external detection unit, and the restriction processing unit 14 may execute the restriction process based on the detection result.

[0081] [3] Control method for work machine An example of a control method for the work machine 3 executed mainly by the control system 1 (hereinafter simply referred to as a "control method") will be described below with reference to Figs. 5 to 7.

[0082] The control method according to this embodiment is executed by a control system 1 having a computer system as its main component, and in other words is embodied in a work machine control program (hereinafter simply referred to as a "control program"). In other words, the control program according to this embodiment is a computer program for causing one or more processors to execute each process related to the control method. Such a control program may be executed, for example, by the control system 1 and the display device 2 in cooperation with each other.

[0083] Here, the control system 1 executes the various processes described below related to the control method when a specific, preset start operation is performed to execute the control program. The start operation is, for example, an operation to start the engine of the work machine 3. On the other hand, the control system 1 ends the various processes described below related to the control method when a specific, preset end operation is performed. The end operation is, for example, an operation to stop the engine of the work machine 3.

[0084] [3.1] Conditions for Restriction Processing First, a description will be given of the conditions (execution conditions) for executing the restriction process in the control method according to this embodiment, that is, in the operation of the control system 1 according to this embodiment.

[0085] That is, the restriction processing unit 14 executes the restriction processing when the detection result of the detection unit 13 satisfies the specific condition and a specific operation is performed on the operation device 35 of the work machine 3. In other words, the restriction processing is executed when the detection result of the detection unit 13 satisfies an execution condition including the specific condition and a specific operation being performed on the operation device 35. In short, the execution condition is satisfied and the restriction processing is executed only when the detection result of the detection unit 13 satisfies an additional condition (such as a specific operation being performed on the operation device 35) in addition to satisfying the specific condition.

[0086] In this embodiment, the specific condition includes the presence of a detection object Ob1 in the monitoring area A1. That is, when the detection result of the detection unit 13 indicates that a detection object Ob1 (a "person" in this embodiment) is present in the monitoring area A1 around the work machine 3, the detection result satisfies the specific condition. On the other hand, when the detection result of the detection unit 13 indicates that a detection object Ob1 (a person) is not present in the monitoring area A1 around the work machine 3, the detection result does not satisfy the specific condition.

[0087] The specific operation also includes an operation related to at least one of traveling and turning of the work machine 3. That is, the "specific operation" includes an operation of the operator on the operation device 35 to perform at least one of the traveling operation (forward or backward, etc.) of the traveling unit 31 and the turning operation (left turn or right turn, etc.) of the turning unit 32. Specifically, the specific operation includes at least one of the operation of the operating lever 351 that receives an operation related to the traveling operation of the traveling unit 31 and the operation of the operating lever that receives an operation related to the turning operation of the turning unit 32.

[0088] In this way, the specific operation includes an operation related to at least one of traveling and turning of the work machine 3, and the restriction process is executed only when the detection result of the detection unit 13 satisfies the specific condition and an operation related to at least one of traveling and turning is performed. Therefore, for example, if only a detected object Ob1 is present in the monitoring area A1, the restriction process is not executed for operations related to the deployment operation, retraction operation, etc. of the working unit 33, and it is possible to continue working by the working unit 33.

[0089] In this embodiment, as an example, only operations related to traveling out of the traveling and swinging of the work machine 3 are included in the specific operation. More specifically, the specific operation is when the operating lever 351 that accepts operations related to the traveling operation is operated to a position other than the neutral position. Therefore, as long as the operating lever 351 is in the neutral position, no specific operation is being performed, even if the operating lever that accepts operations related to the swinging operation of the swing unit 32 or the operating lever 352 that accepts operations related to the expanding operation, contracting operation, etc. of the working unit 33 is operated.

[0090] As explained above, the execution condition is met and the restriction process is executed only when the two conditions of the detection result of the detection unit 13 satisfying a specific condition (also referred to as the "first condition") and a specific operation being performed on the operating device 35 of the work machine 3 (also referred to as the "second condition") are both satisfied. Here, in this embodiment, there is no particular restriction on the timing of satisfying these two conditions (the first condition and the second condition), and for example, even if the first condition or the second condition occurs first, the execution condition is met as long as both the first condition and the second condition are satisfied.

[0091] First, in the control method according to the present embodiment, if the detection result satisfies a specific condition during a specific operation, the restriction process is executed. In other words, if the detection result of the detection unit 13 satisfies the specific condition and thus satisfies the first condition in a state in which a specific operation is performed on the operation device 35 and the second condition is satisfied first, the execution condition is satisfied and the restriction process is executed. This makes it possible to execute the restriction process even if there is a discrepancy between the timing when the specific operation is performed on the operation device 35 and the timing when the detection result of the detection unit 13 satisfies the specific condition.

[0092] Furthermore, in the control method according to the present embodiment, the restriction process is also executed if the detection result satisfies the specific condition within a predetermined time from the end of the specific operation. In other words, if the specific operation is performed on the operation device 35 first to satisfy the second condition, but the detection result of the detection unit 13 satisfies the specific condition within a predetermined time (for example, several seconds) after the specific operation is ended by, for example, returning the operation lever 351 to the neutral position, thereby satisfying the first condition, the execution condition is satisfied and the restriction process is executed. As a result, even after the end of the specific operation on the operation device 35, if the detection result of the detection unit 13 satisfies the specific condition immediately after the specific operation, it is possible to execute the restriction process.

[0093] In addition, in the control method according to the present embodiment, when the detection result satisfies the specific condition and the specific operation is started, the restriction process is executed. In other words, when the detection result of the detection unit 13 first satisfies the specific condition and thereby satisfies the first condition, if the specific operation is performed on the operation device 35 and satisfies the second condition, the execution condition is met and the restriction process is executed. This makes it possible to execute the restriction process even if there is a discrepancy between the timing when the detection result of the detection unit 13 satisfies the specific condition and the timing when the specific operation is performed on the operation device 35.

[0094] Furthermore, in the control method according to the present embodiment, the restriction process is also executed if a specific operation is started within a predetermined time after the detection result no longer satisfies the specific condition. In other words, if the detection result of the detection unit 13 previously satisfies the specific condition and thereby satisfies the first condition, but the detection result no longer satisfies the specific condition due to the detection unit 13 losing sight of the detection target Ob1, etc., and then within a predetermined time (for example, several seconds), if a specific operation is performed on the operation device 35 and satisfies the second condition, the execution condition is met and the restriction process is executed. As a result, even after the detection result of the detection unit 13 no longer satisfies the specific condition, if a specific operation is performed on the operation device 35 immediately thereafter, it is possible to execute the restriction process.

[0095] [3.2] Restriction processing Next, details of the restriction process of the control method according to this embodiment will be described with reference to FIGS.

[0096] In this embodiment, when the detection result of the detection unit 13 indicates the presence of a detection object Ob1 in the monitoring area A1 and an operation (specific operation) related to the traveling operation of the traveling unit 31 is performed on the operating device 35 (operation lever 351), the restriction processing unit 14 executes restriction processing to restrict the operation of the work machine 3. Here, the restriction processing unit 14 basically controls at least one of the first restriction unit 48 and the second restriction unit 49 to directly restrict the operation of the work machine 3.

[0097] Specifically, when the detection result of the detection unit 13 indicates the presence of a detection target Ob1 in the monitoring area A1 and an operation related to the traveling operation of the traveling unit 31 is performed on the operating device 35, the restriction processing unit 14 activates the first restriction unit 48 to restrict the operation of a desired drive unit. As an example, the restriction processing unit 14 activates the first restriction unit 48 corresponding to the hydraulic motor 43 of the traveling unit 31 as the restriction process, and reduces the rotation speed of the hydraulic motor 43 to reduce the traveling speed of the work machine 3 by the traveling unit 31. This example is not limited to this, and the restriction processing unit 14 may activate the first restriction unit 48 corresponding to one or more drive units among the hydraulic motor 43 of the traveling unit 31, the hydraulic motor of the swivel unit 32, and the hydraulic cylinder 44 of the working unit 33, for example, to stop the one or more drive units.

[0098] On the other hand, even if the detection result of the detection unit 13 indicates the presence of a detection object Ob1 in the monitoring area A1, the restriction processing unit 14 will not execute the restriction processing unless an operation (specific operation) related to the traveling operation of the traveling unit 31 is performed on the operation device 35 (operation lever 351). In this way, according to the control method of this embodiment, the restriction processing is executed only when the detection result of the detection unit 13 satisfies the specific condition and a specific operation is performed on the operation device 35. Therefore, for example, when the work machine 3 is used to perform work in an environment where workers are working around it, it is easier to avoid the work machine 3 being frequently placed in an unworkable state, which has the advantage of making it easier to improve work efficiency.

[0099] In the control method according to the present embodiment, the restriction process includes a first restriction process for restricting the movement of the operation target by the specific operation, and a second restriction process for restricting the movement of the operation target other than the operation target. In the present embodiment, the operation target by the specific operation is the traveling unit 31, so the first restriction process is a process for restricting the movement of the traveling unit 31, and the second restriction process is a process for restricting the movement of the swivel unit 32, working unit 33, etc. other than the traveling unit 31.

[0100] In short, when the detection result of the detection unit 13 indicates the presence of a detection target Ob1 in the monitoring area A1 and an operation (specific operation) related to the traveling operation of the traveling unit 31 is performed on the operating device 35 (operation lever 351), the restriction processing unit 14 executes a first restriction process on the traveling unit 31 and a second restriction process on the swivel unit 32 and the working unit 33, etc. This makes it possible to restrict the operation of not only the operation target of the specific operation (the traveling unit 31 as an example in this embodiment), but also the operation of objects other than the operation target of the specific operation.

[0101] Here, the first limiting process is a process that limits the operation of the work machine 3 more gently than the second limiting process. For example, as the first limiting process, the limiting processor 14 reduces the rotation speed of the hydraulic motor 43 to reduce the traveling speed of the work machine 3 caused by the traveling unit 31, and then stops the hydraulic motor 43 to stop the traveling unit 31. Alternatively, as the first limiting process, the limiting processor 14 gradually closes the first control valve 481 corresponding to the hydraulic motor 43 to gradually reduce the rotation speed of the hydraulic motor 43 and slowly stop the traveling unit 31. In contrast to this, as the second limiting process, the limiting processor 14 abruptly closes the first control valve 481 corresponding to the hydraulic motor of the revolving unit 32 and the hydraulic cylinder 44 of the working unit 33 to stop the hydraulic motor and the hydraulic cylinder 44, and immediately stop the revolving unit 32 and the working unit 33.

[0102] In this way, by setting different speeds for restricting the operation of the operation target of the specific operation (the traveling unit 31 as an example in this embodiment) from the other operations, it becomes possible to perform detailed restriction processing for each part of the work machine 3. In particular, when the operation target of the specific operation is the traveling unit 31 (and / or the turning unit 32), it becomes possible to reduce the impact on the operator riding on the work machine 3 by gently restricting the operation of the traveling unit 31 (and / or the turning unit 32).

[0103] Furthermore, unlike the first restriction process, the second restriction process may be executed regardless of the specific operation. In other words, the second restriction process that restricts the operation of other than the operation target (traveling unit 31 as an example in this embodiment) by the specific operation may be executed at the time when the detection result satisfies a specific condition, regardless of the presence or absence of a specific operation. In this case, it is possible to impose restrictions on the operation of parts of the work machine 3 that are not related to the specific operation, regardless of the presence or absence of a specific operation.

[0104] Furthermore, the release condition for terminating the limiting process includes a predetermined operation of the operating device 35 that is the target of the specific operation. In the present embodiment, as an example, the predetermined operation is a return operation of the operating lever 351 that is the target of the specific operation to the neutral position. That is, when the detection result of the detection unit 13 satisfies the specific condition and an operation (specific operation) related to the traveling operation of the traveling unit 31 is performed on the operating lever 351, the limiting process is executed. Then, after the limiting process is executed, the limiting process is not terminated just because the detection result of the detection unit 13 no longer satisfies the specific condition. That is, the limiting process continues until the detection result of the detection unit 13 no longer satisfies the specific condition and the release condition is satisfied by the operation (predetermined operation) to return the operating lever 351 to the neutral position. When the release condition is satisfied, the limiting process is terminated.

[0105] As a result, even if the detection unit 13 temporarily loses sight of the detection target Ob1, for example, the restriction process is not immediately released. Then, when the operator performs a predetermined operation of his / her own volition on the operation device 35 that is the target of the specific operation, the restriction process is released, and work using the work machine 3 can be resumed.

[0106] A specific example of the control method according to this embodiment will be described below.

[0107] For example, as shown in the left side of Fig. 5, assume that a "person" which is a detection object Ob1 is outside the monitoring area A1 and is present behind the work machine 3, and the operator operates the operation device 35 (operation lever 351) to cause the traveling unit 31 to move backward. In this case, as the body 30 of the work machine 3 moves backward, the monitoring area A1 also moves backward, and therefore the "person" which is the detection object Ob1 enters the monitoring area A1 (small area A13) as shown on the right side of Fig. 5. As a result, the detection result of the detection unit 13 satisfies the specific condition, and a specific operation is performed on the operation device 35 (operation lever 351), and the restriction process is executed.

[0108] 5, the first restriction process causes the traveling unit 31 to stop after its traveling speed is reduced, and the second restriction process causes the swivel unit 32 and working unit 33 to immediately stop. This makes it possible to prevent the "person" which is the detection object Ob1 from coming into contact with the work machine 3.

[0109] Meanwhile, for example, assume that a "person" as the detection object Ob1 is outside the monitoring area A1 and is present behind the work machine 3 as shown on the left side of Fig. 6, and the operator operates the operation device 35 to cause the turning unit 32 to turn left. In this case, as the body 30 of the work machine 3 turns left, the monitoring area A1 also moves counterclockwise in the figure, and the "person" as the detection object Ob1 enters the monitoring area A1 (small area A13) as shown on the right side of Fig. 6. As a result, although the detection result of the detection unit 13 satisfies the specific condition, no specific operation has been performed on the operation device 35, so that no restriction process is executed.

[0110] Therefore, the first restriction process and the second restriction process are not performed in the state on the right side of Fig. 6. This allows the work machine 3 to continue working.

[0111] Here, the alarm processor 15 outputs an alarm when a detection target Ob1 exists in the monitoring area A1, regardless of whether a specific operation has been performed or not. Therefore, an alarm is output in both the state of FIG. 5 (right side) and the state of FIG. 6 (right side).

[0112] [3.3] Flowchart Next, the main process flow of the control method according to this embodiment will be described with reference to the flowchart of FIG.

[0113] As a premise, when the engine of the working machine 3 is started (the ignition is turned on), the control system 1 starts the processing from step S1 onwards, and thereafter repeatedly executes the processing from steps S1 to S5.

[0114] In step S1, the restriction processing unit 14 of the control system 1 determines whether or not the detection result of the detection unit 13 satisfies a specific condition as a first condition. In this embodiment, if a detection target object Ob1 is present in the monitoring area A1, the restriction processing unit 14 determines that the detection result satisfies the specific condition (S1: Yes) and moves the process to step S2. On the other hand, if a detection target object Ob1 is not present in the monitoring area A1, the restriction processing unit 14 determines that the detection result does not satisfy the specific condition (S1: No) and repeatedly executes step S1.

[0115] In step S2, the restriction processing unit 14 of the control system 1 determines whether or not a specific operation has been performed on the operating device 35 as a second condition. In this embodiment, if the operating lever 351 related to the traveling operation of the traveling unit 31 is operated, the restriction processing unit 14 determines that a specific operation has been performed (S2: Yes) and shifts the process to step S3. On the other hand, if the operating lever 351 related to the traveling operation of the traveling unit 31 is not operated, the restriction processing unit 14 determines that a specific operation has not been performed (S2: No) and returns the process to step S1.

[0116] In step S3, the restriction processing unit 14 of the control system 1 executes the restriction processing. Specifically, as a first restriction processing, the restriction processing unit 14 reduces the rotation speed of the hydraulic motor 43 to reduce the traveling speed of the work machine 3 caused by the traveling unit 31, and then stops the hydraulic motor 43 to stop the traveling unit 31. Furthermore, as a second restriction processing, the restriction processing unit 14 abruptly closes the first control valve 481 corresponding to the hydraulic motor of the revolving unit 32 and the hydraulic cylinder 44 of the working unit 33 to stop the hydraulic motor and the hydraulic cylinder 44, thereby immediately stopping the revolving unit 32 and the working unit 33.

[0117] In step S4, the restriction processing unit 14 of the control system 1 determines whether or not a predetermined operation has been performed on the operating device 35 that is the target of the specific operation. In this embodiment, if there is an operation to return the operating lever 351 related to the traveling operation of the traveling unit 31 to the neutral position, the restriction processing unit 14 determines that there has been a predetermined operation (S4: Yes) and shifts the process to step S5. On the other hand, if there is no operation to return the operating lever 351 related to the traveling operation of the traveling unit 31 to the neutral position, the restriction processing unit 14 determines that there has been no predetermined operation (S4: No) and repeats step S4.

[0118] In step S5, the restriction processing unit 14 cancels the restriction processing, and ends the series of processes.

[0119] The control system 1 repeatedly executes the processes of steps S1 to S5 described above. However, the flowchart shown in Fig. 7 is merely an example, and processes may be added or omitted as appropriate, and the order of processes may be changed as appropriate.

[0120] As described above, the control method of this embodiment includes executing a restriction process (S3) to restrict the operation of the work machine 3 when the detection result of the detection unit 13, which detects a detection object Ob1 in the monitoring area A1 around the work machine 3, satisfies a specific condition (S1: Yes) and when a specific operation is performed on the operating device 35 of the work machine 3 (S2: Yes).

[0121] According to this configuration, even if the detection result of the detection unit 13 satisfies the specific condition, the restriction processing unit 14 will not execute the restriction processing unless a specific operation is performed on the operating device 35 (operating lever 351). Thus, according to the control method of this embodiment, the restriction processing is executed only when the detection result of the detection unit 13 satisfies the specific condition and a specific operation is performed on the operating device 35. Therefore, for example, when working with the work machine 3 in an environment where workers are working around it, it is easier to avoid the work machine 3 being frequently placed in an unworkable state, which has the advantage of making it easier to improve work efficiency.

[0122] [3.4] Other actions As another example of the operation, the content of the restriction process may differ depending on the order of the timing at which the specific operation starts and the timing at which the detection result satisfies the specific condition.

[0123] That is, the contents of the restriction process differ between a case where the detection result of the detection unit 13 satisfies the specific condition and thus satisfies the first condition in a state where a specific operation is performed on the operating device 35 first to satisfy the second condition, and a case where the detection result of the detection unit 13 satisfies the specific condition and thus satisfies the first condition in a state where the detection result of the detection unit 13 first to satisfy the specific condition and thus satisfies the second condition. As an example, in the former case where the second condition comes first, it is preferable that the contents of the restriction process in each case are set so that the operation of the work machine 3 is more gently restricted compared to the latter case where the first condition comes first.

[0124] As a result, for example, when a specific operation has been performed on the operating device 35 first and the detection result of the detection unit 13 satisfies a specific condition, the operation of the work machine 3 can be gently restricted, thereby making it possible to reduce the impact on the operator riding on the work machine 3.

[0125] Furthermore, the specific condition may include not only the presence of the detection object Ob1 in the monitoring area A1, but also the presence of the detection object Ob1 in the monitoring area A1 in the traveling direction of the work machine 3 due to a specific operation of the operating device 35. That is, for example, when the operating lever 351 is operated to move the traveling part 31 forward, the specific condition is met only when the detection object Ob1 is present in front of the work machine 3, and the specific condition is not met even if the detection object Ob1 is present behind or to the side of the work machine 3.

[0126] [4] Variations Below, we will list some modified examples of the embodiment 1. The modified examples explained below can be applied in appropriate combinations.

[0127] The control system 1 in the present disclosure includes a computer system. The computer system is mainly composed of one or more processors and one or more memories as hardware. The processor executes a program recorded in the memory of the computer system, thereby realizing the functions of the control system 1 in the present disclosure. The program may be pre-recorded in the memory of the computer system, may be provided through a telecommunication line, or may be recorded and provided in a non-transitory recording medium such as a memory card, an optical disk, or a hard disk drive that can be read by the computer system. In addition, some or all of the functional units included in the control system 1 may be configured with electronic circuits.

[0128] Furthermore, it is not essential for the control system 1 that at least some of the functions of the control system 1 are concentrated in one housing, and the components of the control system 1 may be distributed across multiple housings. Conversely, in the first embodiment, functions distributed across multiple devices (e.g., the control system 1 and the display device 2) may be concentrated in one housing. Furthermore, at least some of the functions of the control system 1 may be realized by the cloud (cloud computing) or the like.

[0129] Furthermore, the specific operation need only include an operation related to at least one of the traveling and turning of the work machine 3, and is not limited to only operations related to traveling, but may include operations related to turning (the turning movement of the turning unit 32) in addition to or instead of the operations related to traveling.

[0130] Furthermore, the power source of the work machine 3 is not limited to a diesel engine, and may be, for example, an engine other than a diesel engine, or may be a motor (electric motor), or a hybrid power source including an engine and a motor (electric motor).

[0131] Furthermore, the operation lever of the operation device 35 may be an electric operation device configured to accept various operations by a user (operator) by outputting an electric signal (operation signal) in response to the operation of the user to the control system 1. In this case, the control system 1 can control the hydraulic actuator, for example, by controlling a control valve (solenoid valve) provided in place of the remote control valve 45 in response to the operation of the operation device 35 (operation lever).

[0132] The display device 2 is not limited to a dedicated device, and may be, for example, a general-purpose terminal such as a laptop computer, a tablet terminal, or a smartphone. Furthermore, the display unit 23 is not limited to a mode that directly displays a display screen, such as a liquid crystal display or an organic EL display, and may be configured to display a display screen by projection, such as a projector.

[0133] Furthermore, a form other than a push button switch, a touch panel, or an operation dial may be adopted as the form of inputting information to the operation unit 22. For example, the operation unit 22 may adopt a form such as a keyboard, a pointing device such as a mouse, a voice input, a gesture input, or input of an operation signal from another terminal.

[0134] Moreover, the manner of outputting the alarm (presenting information) in the alarm processing unit 15 is not limited to displaying on the display unit 23 of the display device 2 and outputting an alarm sound from the sound output unit 36. For example, the alarm processing unit 15 may output an alarm by only one of displaying on the display unit 23 of the display device 2 and outputting an alarm sound from the sound output unit 36, or may output an alarm by other means such as vibration (vibration function), transmission to another terminal or writing to a non-temporary recording medium, or a combination of these.

[0135] Furthermore, the sensor for detecting the detection object Ob1 in the monitoring area A1 around the machine body 30 is not limited to the left camera 341, the right camera 342, and the rear camera 343, and may include one, two, or four or more cameras (image sensors). Furthermore, the detection object Ob1 in the monitoring area A1 may be detected by a camera capable of capturing images in all directions as seen from the work machine 3, such as a spherical camera (360-degree camera). The sensor for detecting the detection object Ob1 in the monitoring area A1 may include, in addition to or instead of a camera, a human sensor, a sonar sensor, a radar, or a LiDAR (Light Detection and Ranging) sensor. Here, the sensor for detecting the detection object Ob1 in the monitoring area A1 may be a three-dimensional sensor that measures the distance to the detection object Ob1 by a Time Of Flight (TOF) method that measures the distance to a ranging point based on the round-trip time it takes for light or sound to reach and return to a ranging point.

[0136] In addition, the detection object Ob1 may include, in addition to or instead of a "person," a moving object such as a vehicle (including other work machinery), structures such as walls and pillars, plants, animals, steps, ditches, or other obstacles.

[0137] Furthermore, the actuators of each part of the machine body 30 are not limited to hydraulic actuators, but may be, for example, pneumatic actuators driven by air pressure such as compressed air, or electric actuators driven by a power supply, or a combination of these.

[0138] [Appendix to the invention] The following will provide an overview of the invention extracted from the above-described embodiment. Note that the configurations and processing functions described in the following supplementary notes can be selected and combined as desired.

[0139] <Appendix 1> and executing a restriction process for restricting an operation of the work machine when a detection result of a detection unit that detects a detection object in a monitoring area around the work machine satisfies a specific condition and a specific operation is performed on an operation device of the work machine. A method for controlling a work machine.

[0140] <Appendix 2> The specific operation includes an operation related to at least one of traveling and turning of the work machine. 2. A method for controlling a work machine as described in claim 1.

[0141] <Appendix 3> The restriction process includes a first restriction process that restricts a motion of an object to be operated by the specific operation, and a second restriction process that restricts a motion other than the object to be operated. 3. A method for controlling a work machine according to claim 1 or 2.

[0142] <Appendix 4> The first restriction process restricts the operation of the work machine more gently than the second restriction process. 4. A method for controlling a work machine as described in appended claim 3.

[0143] <Appendix 5> When the detection result satisfies the specific condition during the specific operation, the restriction process is executed. A control method for a work machine according to any one of appendices 1 to 4.

[0144] <Appendix 6> The restriction process is also executed when the detection result satisfies the specific condition within a predetermined time from the end of the specific operation. 6. A method for controlling a work machine as described in appendix 5.

[0145] <Appendix 7> When the detection result satisfies the specific condition and the specific operation is started, the restriction process is executed. A control method for a work machine according to any one of appendices 1 to 6.

[0146] <Appendix 8> The restriction process is also executed when the specific operation is started within a predetermined time after the detection result no longer satisfies the specific condition. 8. A method for controlling a work machine as described in appendix 7.

[0147] <Appendix 9> The content of the restriction process varies depending on the order of a start timing of the specific operation and a timing at which the detection result satisfies the specific condition. A control method for a work machine according to any one of appendices 1 to 8.

[0148] <Appendix 10> a release condition for terminating the restriction process includes a predetermined operation of the operation device that is the target of the specific operation, A control method for a work machine according to any one of appendices 1 to 9.

[0149] <Appendix 11> The method further includes disabling the restriction process in response to a user operation. A control method for a work machine according to any one of appendices 1 to 10.

[0150] <Appendix 12> and presenting status information indicating whether the restriction process is enabled or disabled. 12. A method for controlling a work machine according to claim 11.

[0151] <Appendix 13> A method for controlling a work machine according to any one of appendices 1 to 12, A control program for a work machine for execution by one or more processors. [Explanation of symbols]

[0152] 1. Control system for work machines 3. Work Machinery 13 Detection unit 14 Restriction Processing Unit 30 Aircraft 35 Operating device A1 Surveillance Area Ob1 Detected object

Claims

1. and executing a restriction process for restricting an operation of the work machine when a detection result of a detection unit that detects a detection object in a monitoring area around the work machine satisfies a specific condition and a specific operation is performed on an operation device of the work machine. A method for controlling a work machine.

2. The specific operation includes an operation related to at least one of traveling and turning of the work machine. A method for controlling a work machine according to claim 1.

3. The restriction process includes a first restriction process that restricts a motion of an operation target by the specific operation, and a second restriction process that restricts a motion other than the operation target. A control method for a work machine according to claim 1 or 2.

4. The first restriction process restricts the operation of the work machine more gently than the second restriction process. A method for controlling a work machine according to claim 3.

5. When the detection result satisfies the specific condition during the specific operation, the restriction process is executed. A control method for a work machine according to claim 1 or 2.

6. The restriction process is also executed when the detection result satisfies the specific condition within a predetermined time from the end of the specific operation. A method for controlling a work machine according to claim 5.

7. When the detection result satisfies the specific condition and the specific operation is started, the restriction process is executed. A control method for a work machine according to claim 1 or 2.

8. The restriction process is also executed when the specific operation is started within a predetermined time after the detection result no longer satisfies the specific condition. A method for controlling a work machine according to claim 7.

9. The content of the restriction process varies depending on the order of a start timing of the specific operation and a timing at which the detection result satisfies the specific condition. A control method for a work machine according to claim 1 or 2.

10. a release condition for terminating the restriction process includes a predetermined operation of the operation device that is the target of the specific operation, A control method for a work machine according to claim 1 or 2.

11. The method further includes disabling the restriction process in response to a user operation. A control method for a work machine according to claim 1 or 2.

12. and presenting status information indicating whether the restriction process is enabled or disabled. A method for controlling a work machine according to claim 11.

13. A control method for a work machine according to claim 1 or 2, A control program for a work machine for execution by one or more processors.

14. and a restriction processing unit that restricts operation of the work machine when a detection result of a detection unit that detects a detection object in a monitoring area around the work machine satisfies a specific condition and a specific operation is performed on an operation device of the work machine. Control systems for work machines.

15. A control system for a work machine according to claim 14; An aircraft body, Working machinery.

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