Abnormal operation range setting system and abnormal operation detection system

Abstract

To set an abnormal operation range for detecting an abnormality in the operation of an automatically operated work machine.SOLUTION: An abnormal operation range setting system comprises a work machine 10, a target position acquisition portion 41, and an abnormal operation range setting portion 45. The work machine 10 includes a monitored part 19 and is automatically operated. The target position acquisition portion 41 acquires target position information which is information relating to a target position of the monitored part 19. The abnormal operation range setting portion 45 sets an abnormal operation range B which is a range for determining whether or not the operation of the work machine 10 is abnormal, based on the target position information acquired by the target position acquisition portion 41.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to an abnormal operation range setting system and an abnormal operation detection system for monitoring abnormal operation of a work machine. [Background technology]

[0002] For example, Patent Document 1 describes a technology in which an automatically operated work machine is imaged and, based on the image data, the work machine is caused to release soil at an appropriate position. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 11-293708 Summary of the Invention [Problem to be solved by the invention]

[0004] The technology described in this document cannot detect abnormal operation of an automatically operated work machine.

[0005] Therefore, an object of the present invention is to provide an abnormal operation detection system that can detect abnormal operation of an automatically operated work machine. [Means for solving the problem]

[0006] The abnormal operation detection system includes a work machine, a target position acquisition unit, an abnormal operation range setting unit, a current position acquisition unit, and an abnormal operation determination unit. The work machine includes a monitored part and is automatically driven. The target position acquisition unit acquires target position information which is information relating to a target position of the monitored part. The abnormal operation range setting unit sets an abnormal operation range which is a predetermined range outside the position of the monitored part when it is assumed that the monitored part is placed at the target position, based on the target position information acquired by the target position acquisition unit. The current position acquisition unit acquires information on the current position of the monitored part. The abnormal operation determination unit determines whether the current position of the monitored part acquired by the current position acquisition unit is inside the abnormal operation range. Effect of the Invention

[0007] With the above configuration, it is possible to detect abnormal operation of an automatically operated work machine. [Brief description of the drawings]

[0008] [Figure 1] FIG. 2 is a side view of the work machine 10 and the like of the abnormal operation detection system 1. [Diagram 2] 2 is a block diagram showing the abnormal operation detection system 1 shown in FIG. [Diagram 3] FIG. 2 is a diagram showing an example of a work plan, in which the work machine 10 shown in FIG. 1 and the like are viewed from above. [Figure 4] 3 and shows a normal operating range A and the like that is set based on the rotation range of the upper rotating body 13 and the like. FIG. [Diagram 5] FIG. 4 is a diagram equivalent to FIG. 3 and showing a normal operating range A and the like that are set based on information on a plurality of work phases. [Figure 6] FIG. 4 is a diagram equivalent to FIG. 3 and shows a normal operating range A and the like that are set based on information about one work phase. [Figure 7] FIG. 4 is a diagram equivalent to FIG. 3 and showing a normal operating range A at a specific time, etc. [Figure 8]4 is a top view of a no-entry area D around the work machine 10 shown in FIG. 3. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] The abnormal action detection system 1 will be described with reference to FIGS.

[0010] The abnormal action detection system 1 is a system that detects abnormal action of the work machine 10 shown in Fig. 1. The abnormal action detection system 1 is provided, for example, at a work site (such as a construction site) of the work machine 10. The abnormal action detection system 1 includes the work machine 10, a posture detection unit 21 (see Fig. 2), an imaging device 25, a work machine controller 30 (see Fig. 2), and a monitoring controller 40 (see Fig. 2).

[0011] The work machine 10 is a machine that performs work, for example a construction machine that performs construction work. The work machine 10 is an autonomous work machine that is autonomously driven. The work machine 10 may be, for example, a shovel or a crane. The following mainly describes a case where the work machine 10 is a shovel (autonomous shovel). The work machine 10 comprises a lower traveling body 11, an upper rotating body 13, an attachment 15, a drive control unit 17 (see FIG. 2), and a monitored unit 19.

[0012] The undercarriage 11 allows the work machine 10 to travel. The undercarriage 11 is equipped with, for example, crawlers.

[0013] The upper rotating body 13 is rotatably mounted on the lower traveling body 11. The upper rotating body 13 is rotatable relative to the lower traveling body 11 about a rotation center 13a (see FIG. 3).

[0014] The attachment 15 is a part that performs work on a work target, and includes, for example, a boom 15a, an arm 15b, and a tip attachment 15c. The boom 15a is attached to the upper rotating body 13 so as to be able to rise and fall (to be able to rotate in the vertical direction). The arm 15b is attached rotatably to the boom 15a. The tip attachment 15c is provided at the tip of the attachment 15 and is attached rotatably to the arm 15b. The tip attachment 15c may be, for example, a bucket that scoops up soil and sand, a device that holds objects (such as a grapple), or a device that crushes or excavates (such as a breaker). The work target that is the target of the work of the attachment 15 may be soil and sand, stones, a structure such as concrete, or waste. A specific part of the attachment 15 (for example, the tip of the tip attachment 15c) is defined as a specific part 15t.

[0015] The drive control unit 17 (see FIG. 2) controls an actuator that drives the work machine 10. For example, the drive control unit 17 controls a motor (not shown) that rotates the upper rotating body 13 relative to the lower traveling body 11. The drive control unit 17 controls a cylinder (not shown) that raises and lowers the boom 15a relative to the upper rotating body 13. The drive control unit 17 controls a cylinder (not shown) that rotates the arm 15b relative to the boom 15a. The drive control unit 17 controls a cylinder (not shown) that rotates the tip attachment 15c relative to the arm 15b.

[0016] The monitored part 19 is a part that is monitored to see whether or not an abnormal operation is occurring. The monitored part 19 may be the entire work machine 10 or a part of the work machine 10. The monitored part 19 may be the entire or a part of the upper rotating body 13, for example, the rear end part (counterweight) of the upper rotating body 13. The monitored part 19 may be the entire or a part of the lower traveling body 11. The monitored part 19 may be the entire or a part of the attachment 15. For example, the monitored part 19 may include the part of the attachment 15 that is the furthest from the rotation center 13a (see FIG. 3). For example, the monitored part 19 may be the tip part of the attachment 15 (specifically, for example, the tip attachment 15c). Usually, the work machine 10 performs work using the tip part of the attachment 15, so by monitoring the tip part of the attachment 15, it is possible to appropriately detect whether or not the work machine 10 is operating abnormally. For example, the monitored part 19 may be the entire end attachment 15c, or a part of the end attachment 15c (for example, the end part of the end attachment 15c). In the following, the case where the monitored part 19 is the entire end attachment 15c will be mainly described.

[0017] The attitude detection unit 21 (see FIG. 2) detects the attitude of the work machine 10. The attitude detection unit 21 may be mounted on the work machine 10 or may be disposed outside the work machine 10 (the same applies to the imaging device 25, work machine controller 30, and monitoring controller 40 shown in FIG. 2). For example, the attitude detection unit 21 detects the position and orientation of a reference part of the work machine 10 shown in FIG. 1 with respect to the work site. The reference part of the work machine 10 may be, for example, a specific part of the upper rotating body 13 or the lower running body 11, and may be, for example, the mounting part (boom foot) of the boom 15a to the upper rotating body 13. The attitude detection unit 21 (see FIG. 2) may perform detection using a positioning system (for example, a satellite positioning system). The positioning system may be a satellite positioning system, for example, a global navigation satellite system (GNSS). The positioning system may be one using a total station.

[0018] This attitude detection unit 21 (see FIG. 2) may detect the swing angle, swing angular velocity, etc. of the upper swing body 13 relative to the lower traveling body 11. The attitude detection unit 21 may detect the rotation angle (raising and lowering angle) and rotation angular velocity, etc. of the boom 15a relative to the upper swing body 13. The attitude detection unit 21 may detect the rotation angle, rotation angular velocity, etc. of the arm 15b relative to the boom 15a. The attitude detection unit 21 may detect the rotation angle, rotation angular velocity, etc. of the tip attachment 15c relative to the arm 15b. The attitude detection unit 21 may be equipped with a sensor that detects an angle (e.g., a rotary encoder, etc.), may be equipped with a sensor that detects an inclination with respect to a horizontal plane, or may be equipped with a sensor that detects the stroke of a cylinder (not shown) that drives the attachment 15.

[0019] The imaging device 25 captures an image of an object to be imaged. For example, an object to be imaged by the imaging device 25 is the monitored section 19. An object to be imaged by the imaging device 25 may include the work machine 10. An object to be imaged by the imaging device 25 may include an object around the work machine 10 (a vehicle, a building E2, etc. (see FIG. 8)). The imaging device 25 may detect two-dimensional information (e.g., position, shape) of the object to be imaged. The imaging device 25 may detect three-dimensional information of the object to be imaged, and may obtain an image (distance image) having distance information (depth information). The imaging device 25 may detect three-dimensional information of the object to be imaged based on the distance image and the two-dimensional image. Only one imaging device 25 may be provided, or multiple imaging devices 25 may be provided. The imaging device 25 may be mounted on the work machine 10, or may be disposed outside the work machine 10. The imaging device 25 may include a camera (monocular camera) that detects two-dimensional information. The imaging device 25 may include a device that detects three-dimensional information using laser light, such as a LIDAR (Light Detection and Ranging) sensor, or a TOF (Time Of Flight) sensor. The imaging device 25 may include a device that detects three-dimensional information using radio waves (such as a millimeter wave radar). The imaging device 25 may include a stereo camera.

[0020] As shown in Fig. 2, the work machine controller 30 is a computer that inputs and outputs signals, performs calculations (processing), stores information, etc. (The same applies to the monitoring controller 40). For example, the functions of the work machine controller 30 are realized by a calculation unit executing a program stored in a memory unit of the work machine controller 30 (The same applies to the monitoring controller 40). The work machine controller 30 controls the automatic operation of the work machine 10 (see Fig. 1).

[0021] The work machine controller 30 transmits information to the monitoring controller 40. For example, the work machine controller 30 may transmit machine information of the work machine 10 (see FIG. 1) to the monitoring controller 40. The machine information of the work machine 10 may include dimensional information and shape information of the components of the work machine 10 shown in FIG. 1 (for example, at least one of the lower traveling body 11, the upper rotating body 13, the boom 15a, the arm 15b, and the tip attachment 15c). For example, the work machine controller 30 may transmit information on the attitude of the work machine 10 detected by the attitude detection unit 21 (see FIG. 2) to the monitoring controller 40. For example, the work machine controller 30 may transmit information on a work plan (described later) to the monitoring controller 40. For example, the work machine controller 30 shown in FIG. 2 may transmit information on which work phase (described later) the work machine 10 is operating in (information on the current work phase) when the work machine 10 (see FIG. 1) is operating by automatic driving to the monitoring controller 40. As shown in FIG. 2, the work machine controller 30 includes a work plan setting unit 31.

[0022] The work plan setting unit 31 sets a work plan for the work machine 10 (see FIG. 3). The work plan is information related to the target of the work of the work machine 10. The work plan may include information on the target trajectory (target route) of the travel of the work machine 10. The work plan may include information on the target range (target capture range P1, target release range P3) in which the tip attachment 15c (part including the specific part 15t) shown in FIG. 3 performs work. The work plan may include information on the target trajectory (target lifting rotation trajectory P2, target return rotation trajectory P4) of the specific part 15t. The work plan may include information on the rotation angle of the upper rotating body 13, may include information on the radius from the rotation center 13a to the specific part 15t, and may include information on the height from the bottom of the work machine 10 to the specific part 15t.

[0023] The work plan setting unit 31 (see FIG. 2) sets a plurality of work phases (contents of work) included in the work plan. Specifically, for example, the work phases include a capture phase, a lifting and turning phase, a release phase, and a return turning phase. The capture phase is a phase in which the tip attachment 15c captures the work object in a target capture range P1 (for example, excavates earth and sand). For example, the target capture range P1 is set to a place where the work objects are collected (for example, a pile of earth and sand). The lifting and turning phase is a phase in which the specific part 15t moves from the target capture range P1 to a target release range P3 along a target lifting and turning trajectory P2 while the tip attachment 15c has captured the work object. The release phase is a phase in which the tip attachment 15c releases the work object in a target release range P3 (for example, dumps earth). The target release range P3 is set to a range above the loading platform of a transport vehicle, for example. The return turning phase is a phase in which the specific part 15t moves from the target release range P3 toward the target capture range P1 along the target return turning trajectory P4. For example, a series of work phases including a capture phase, a lifting turning phase, a release phase, and a return turning phase are repeatedly performed.

[0024] The work plan may be set in the work plan setting unit 31 (see FIG. 2) by teaching, or may be set in the work plan setting unit 31 by a method other than teaching (for example, numerical input, etc.). Teaching is performed as follows. A worker (operator) gets on the work machine 10 and operates the work machine 10, or the worker remotely operates the work machine 10. For example, the worker operates the work machine 10 to place the specific part 15t at a specific position (for example, a position at a corner of the target capture range P1) in a range that is to be set as a target range (target capture range P1 or target release range P3). Then, the work plan setting unit 31 (see FIG. 2) sets the target range based on the position where the specific part 15t is placed. Also, for example, the worker operates the work machine 10 to move the specific part 15t so as to follow a trajectory that is to be set as a target trajectory (target lifting turning trajectory P2 or target return turning trajectory P4). Then, the work plan setting unit 31 (see FIG. 2) sets the trajectory along which the specific portion 15t has moved as a target trajectory.

[0025] The monitoring controller 40 (see FIG. 2) performs tasks such as judging whether the operation of the work machine 10 is abnormal or not. The monitoring controller 40 and the work machine controller 30 shown in FIG. 2 may be combined into one unit, or may be provided separately. The monitoring controller 40 includes a target position acquisition unit 41, a normal operation range setting unit 43, an abnormal operation range setting unit 45, a current position acquisition unit 47, an abnormal operation determination unit 51, and a measure unit 53.

[0026] The target position acquisition unit 41 acquires target position information, which is information related to the target position of the monitored part 19 shown in FIG. 3. As shown in FIG. 2, the target position acquisition unit 41 acquires target position information from the work machine controller 30. The target position acquisition unit 41 acquires target position information required for setting the abnormal operation range B (see FIG. 4). The target position information may include, for example, information on the work plan (information on the target trajectory and the target range), may include information indicating which work phase the current work phase is, or may include machine information on the work machine 10. The target position information may be three-dimensional information or two-dimensional information. This two-dimensional information may be, for example, information on the position when the work site is viewed from above, or information on the position in an image of the work site captured obliquely from above, etc.

[0027] The normal operating range setting unit 43 sets (automatically calculates) a normal operating range A (see FIG. 4). The normal operating range setting unit 43 sets the normal operating range A based on the target position information acquired by the target position acquisition unit 41. The normal operating range A shown in FIG. 4 is set based on the position of the monitored part 19 when it is assumed that the monitored part 19 is arranged at the target position. The normal operating range A is set based on the position of the monitored part 19 (the position where the monitored part 19 is assumed to be arranged) when it is assumed that the work machine 10 performs work according to the work plan. The normal operating range A does not need to strictly match the position of the monitored part 19 when it is assumed that the monitored part 19 is arranged at the target position. Even if the work machine 10 operates normally, it is assumed that the position of the monitored part 19 may deviate from the target position. For this reason, for example, the normal operating range A may be set to a range wider than the position of the monitored part 19 when it is assumed that the monitored part 19 is arranged at the target position. For example, the width of the normal operating range A relative to the target position of the monitored part 19 may be set based on the operating speed (target operating speed or actual speed) and mass of the operating parts of the work machine 10 (e.g., the upper rotating body 13 and the attachment 15). The normal operating range A may be a two-dimensional range or a three-dimensional range. Specific examples of the normal operating range A will be described later.

[0028] The abnormal operation range setting unit 45 (see FIG. 2) sets (automatically calculates) the abnormal operation range B. The abnormal operation range setting unit 45 sets the abnormal operation range B based on the target position information acquired by the target position acquisition unit 41 (see FIG. 2). More specifically, the abnormal operation range setting unit 45 sets the abnormal operation range B based on the normal operation range A. The abnormal operation range B is a predetermined range outside the position of the monitored unit 19 when it is assumed that the monitored unit 19 is placed at the target position. For example, the abnormal operation range B is a range other than the normal operation range A. The abnormal operation range B may be a two-dimensional range or a three-dimensional range. A specific example of the abnormal operation range B will be described later.

[0029] The current position acquisition unit 47 (see FIG. 2) acquires the current position of the monitored part 19. The current position acquisition unit 47 sets a current position range C based on the current position of the monitored part 19. The current position range C does not need to exactly match the current position of the monitored part 19. The current position range C is a range that includes at least a part of the monitored part 19. The current position range C may be a two-dimensional range or a three-dimensional range.

[0030] This current position acquisition unit 47 (see FIG. 2) may acquire the current position of the monitored portion 19 from an image (a two-dimensional image or a three-dimensional distance image) captured from outside the work machine 10. Specifically, the current position acquisition unit 47 may acquire the current position of the monitored portion 19 from an imaging device 25 arranged outside the work machine 10. The following mainly describes the case where the imaging device 25 (see FIG. 1) is provided outside the work machine 10 and the attitude detection unit 21 (see FIG. 2) is mounted on the work machine 10.

[0031] Here, a case will be considered in which the current position acquisition unit 47 (see FIG. 2) acquires the current position of the monitored part 19 based on information transmitted from the work machine 10 (more specifically, from the work machine controller 30 (see FIG. 2)). In this case, if there is an error in the information transmitted from the work machine 10, the current position acquisition unit 47 cannot correctly acquire the current position of the monitored part 19. For example, if the attitude detection unit 21 (see FIG. 2) mounted on the work machine 10 breaks down, if the work machine controller 30 (see FIG. 2) breaks down, or if the machine information is incorrect, the current position acquisition unit 47 cannot correctly acquire the current position of the monitored part 19. The above-mentioned "case where the machine information is incorrect" includes, for example, a case where the attachment 15 is replaced but the information (dimensions, shape) of the replaced attachment 15 is not correctly input to the work machine controller 30. For example, if the work machine controller 30 fails, the work machine 10 may operate abnormally, and furthermore, erroneous information may be transmitted from the work machine controller 30 to the current position acquisition unit 47 .

[0032] On the other hand, when the current position acquisition unit 47 (see FIG. 2) acquires the current position of the monitored object 19 from an image captured from outside the work machine 10 (specifically, the imaging device 25 (see FIG. 2)), no problem occurs due to an error in the information transmitted from the work machine 10. Therefore, the current position acquisition unit 47 can correctly acquire the current position of the monitored object 19.

[0033] This current position acquisition unit 47 (see FIG. 2) sets the current position range C based on an image, for example, as follows. The current position acquisition unit 47 may specify the position of the monitored area 19 by image recognition using artificial intelligence or the like based on a two-dimensional image, and set the current position range C. For example, the current position acquisition unit 47 may specify the position of the monitored area 19 based on a three-dimensional distance image, and set the current position range C. The current position acquisition unit 47 may specify the range of the monitored area 19 in the image based on the two-dimensional image, extract three-dimensional information corresponding to this range, specify the three-dimensional position of the monitored area 19 based on the extracted three-dimensional information, and set the current position range C.

[0034] This current position acquisition unit 47 (see Figure 2) may acquire the current position of the monitored object 19 based on the attitude of the work machine 10 detected by an attitude detection unit 21 (see Figure 2) mounted on the work machine 10. The current position acquisition unit 47 may acquire the current position of the monitored object 19 based on the attitude of the work machine 10 detected by the attitude detection unit 21 and the position of the monitored object 19 acquired by the imaging device 25 (see Figure 2).

[0035] The abnormal operation determination unit 51 (see FIG. 2) determines whether or not the current position of the monitored part 19 acquired by the current position acquisition unit 47 (see FIG. 2) is inside the abnormal operation range B. If the current position of the monitored part 19 is inside the abnormal operation range B, the abnormal operation determination unit 51 determines that the operation of the work machine 10 is abnormal. If the current position of the monitored part 19 is not inside the abnormal operation range B, the abnormal operation determination unit 51 determines that the operation of the work machine 10 is not abnormal (for example, normal operation).

[0036] The abnormal operation determination unit 51 (see FIG. 2) makes a determination (i.e., whether or not the current position of the monitored unit 19 is inside the abnormal operation range B) specifically, for example, as follows. [Example 1a] The abnormal operation determination unit 51 may determine whether or not at least a part of the current location range C is inside (has entered) the abnormal operation range B. [Example 1b] The abnormal operation determination unit 51 may determine whether or not at least a part of the current location range C protrudes from the normal operation range A. [Example 2a] The abnormal operation determination unit 51 may determine whether or not the entire current location range C is inside the abnormal operation range B. [Example 2b] The abnormal operation determination unit 51 may determine whether or not the entire current location range C protrudes from the normal operation range A.

[0037] The normal operation range A, the abnormal operation range B, and the current location range C are appropriately set according to the judgment method of the abnormal operation judgment unit 51 (see FIG. 2). Specifically, for example, the width of the current location range C with respect to the actual position of the monitoring target unit 19 (whether it is wider, narrower, or the same, etc.) may be set according to the judgment method of the abnormal operation judgment unit 51 (similarly for the normal operation ranges A and B). Note that judging whether the current location range C is outside the normal operation range A (see [Example 2a] and [Example 2b] above) is substantially equivalent to judging whether the current location range C is inside the abnormal operation range B (see [Example 1a] and [Example 1b] above). The normal operation range setting unit 43 setting the normal operation range A and the abnormal operation judgment unit 51 judging whether the current location range C is outside the normal operation range A are substantially equivalent to the abnormal operation range setting unit 45 setting the abnormal operation range B and the abnormal operation judgment unit 51 judging whether the current location range C is inside the abnormal operation range B.

[0038] The action unit 53 (see FIG. 2) takes a predetermined action (for example, a measure predetermined for the action unit 53) when the abnormal action determination unit 51 (see FIG. 2) determines that the operation of the work machine 10 is abnormal. Specific examples of the action taken by the action unit 53 are as follows. The action taken by the action unit 53 may be a restriction on the operation of the work machine 10. In this case, the action unit 53 outputs a command to the work machine controller 30 (see FIG. 2) to restrict the operation. The restriction on the operation of the work machine 10 by the action unit 53 may be a stop of the monitored part 19, or a stop of the entire work machine 10. The restriction on the operation of the work machine 10 by the action unit 53 may be a deceleration of the monitored part 19, or a deceleration of the entire work machine 10. The action taken by the action unit 53 may be a warning. For example, the action unit 53 may cause the monitoring controller 40 (see FIG. 2) to issue a warning, or may cause a device other than the monitoring controller 40 to issue a warning. This warning may be, for example, a warning using at least one of sound, light, display, and vibration. The action unit 53 may change the content of the action (the degree of restriction on the operation of the work machine 10, the degree of the warning, etc.) in accordance with some condition. For example, the action unit 53 may change the content of the action in accordance with the amount by which the current position range C has entered the abnormal operation range B, the magnitude of the operating speed of the work machine 10, etc. The action unit 53 may both restrict the operation of the work machine 10 and issue a warning.

[0039] (Example of range setting) The normal operation range A and the abnormal operation range B can be set in various ways. The normal operation range A and the abnormal operation range B may be set based on a target rotation angle of the upper rotating body 13 relative to the lower traveling body 11. The normal operation range A and the abnormal operation range B may be set based on a target position (e.g., a target working radius) of the part of the monitored part 19 that is the furthest from the rotation center 13a. The normal operation range A and the abnormal operation range B may be set based on a target height of the monitored part 19 (e.g., a height relative to the bottom surface of the work machine 10). The normal operation range A and the abnormal operation range B may be set based on target position information of the monitored part 19 in the entire work plan, or based on target position information of the monitored part 19 in a part of the work plan. Specific examples of the normal operation range A and the abnormal operation range B will be described below.

[0040] (Range setting based on min and max values) The abnormal operation range B may be set based on information such as the minimum and maximum values ​​of at least one of the rotation angle, working radius, and height of the monitored part 19 included in the target position information of the monitored part 19. Specifically, for example, the target position acquisition unit 41 (see FIG. 2) acquires information on a series of work phases (capture phase, lifting and rotating phase, release phase, and return rotating phase). Specifically, for example, the target position acquisition unit 41 acquires the rotation angle, working radius, and height of the monitored part 19 in the series of work phases.

[0041] For example, the normal operating range setting unit 43 (see FIG. 2) acquires or calculates the minimum and maximum values ​​of the rotation angle of the upper rotating body 13 when the monitored part 19 moves (more specifically, when it is assumed that it moves) according to a series of work phases. The normal operating range setting unit 43 calculates the range in which the monitored part 19 can be positioned when the rotation angle changes between the minimum and maximum values, and sets the normal operating range A based on this range.

[0042] For example, the normal operating range setting unit 43 (see FIG. 2) acquires or calculates the minimum and maximum working radius when it is assumed that the monitored unit 19 moves according to a series of work phases. The normal operating range setting unit 43 calculates the range in which the monitored unit 19 can be located when the monitored unit 19 moves with a working radius between the minimum and maximum values, and sets the normal operating range A based on this range.

[0043] For example, the normal operating range setting unit 43 (see FIG. 2) acquires or calculates the minimum and maximum values ​​of the height of the monitored part 19 when it is assumed that the monitored part 19 moves in accordance with a series of work phases. The normal operating range setting unit 43 calculates the range in which the monitored part 19 may be positioned when the monitored part 19 moves, between the minimum and maximum values ​​of the height of the monitored part 19, and sets the normal operating range A based on this range.

[0044] In the example shown in FIG. 4, the normal operating range A includes a range in which the monitored part 19 is located when it is assumed that the monitored part 19 works in the target capture range P1 and the target release range P3. The normal operating range A includes a range in which the monitored part 19 may be located when it is assumed that the specific part 15t (e.g., the tip attachment 15c) moves along the target lifting rotation trajectory P2 and the target return rotation trajectory P4. In the example shown in FIG. 4, the normal operating range A is a sector-shaped or approximately sector-shaped area when viewed from above. For example, the normal operating range A may be a three-dimensional area in which a part of a cylinder or an approximately cylinder is removed so that the normal operating range A is sector-shaped when viewed from above. The abnormal operating range setting unit 45 (see FIG. 2) sets a range other than the normal operating range A as the abnormal operating range B.

[0045] As described above, the abnormal operation determination unit 51 (see FIG. 2) determines that the operation of the work machine 10 is abnormal when the current position range C enters inside the abnormal operation range B. In the example shown in FIG. 4, the abnormal operation determination unit 51 determines that the operation of the work machine 10 is abnormal when the current rotation angle of the upper rotating body 13 falls within the range of rotation angles set as the abnormal operation range B.

[0046] (Range setting based on target position for each work phase) As shown in FIG. 5, the abnormal operation range B may be set based on target position information of the monitored part 19 set for each work phase. Specifically, for example, the target position acquisition unit 41 (see FIG. 2) acquires information on each of a series of work phases. For example, the normal operation range setting unit 43 sets a range A1, a range A2, a range A3, and a range A4. For example, the normal operation range setting unit 43 may set a range in which the range A1, the range A2, the range A3, and the range A4 are superimposed as the normal operation range A. Specifically, for example, the range A1 is set based on a range in which the monitored part 19 is assumed to be located when it is assumed that the monitored part 19 performs an operation of capturing a work object within the target capture range P1 in the capture phase. For example, the range A2 is set based on a range (trajectory) in which the monitored part 19 is assumed to pass when it is assumed that the specific part 15t moves along the target lifting and turning trajectory P2 in the lifting and turning phase. For example, range A3 is set based on the range in which the monitored part 19 is assumed to be located when it is assumed that the monitored part 19 performs the task of releasing the work object within the target release range P3 in the release phase. Range A4 is set based on the range (trajectory) in which the monitored part 19 is assumed to pass when it is assumed that the specific part 15t moves along the target return rotation trajectory P4 in the return turning phase. Then, the abnormal operation range setting unit 45 sets the range other than the normal operation range A, that is, the area that is not any of the ranges A1, A2, A3, and A4, as the abnormal operation range B.

[0047] (Changes in scope due to changes in work phase) The abnormal operation range B may be changed (switched) in accordance with the change (progress) of the work phase. In this case, if the monitored part 19 does not move in accordance with the change of the work phase set in the work plan (if the monitored part 19 moves differently from the target), the operation of the work machine 10 is determined to be abnormal.

[0048] Specifically, for example, the target position acquisition unit 41 (see FIG. 2) acquires information indicating which work phase the current work phase is. The target position acquisition unit 41 may acquire information on the next work phase of the current work phase, or may acquire information on a work phase that is scheduled to be performed later. The target position acquisition unit 41 may acquire information on a series (all) of work phases. The target position acquisition unit 41 may update the target position when the target position of the monitored part 19 in a work phase is changed, for example while the work machine 10 is working.

[0049] The normal operating range setting unit 43 (see FIG. 2) sets (switches) the normal operating range A depending on which operating phase the current work phase is. Specifically, for example, when the current work phase is the capture phase, the normal operating range setting unit 43 sets the range A1 as the normal operating range A. When the current work phase is the lifting and turning phase, the normal operating range setting unit 43 sets the range A2 as the normal operating range A. When the current work phase is the release phase, the normal operating range setting unit 43 sets the range A3 as the normal operating range A. When the current work phase is the return turning phase, the normal operating range setting unit 43 sets the range A4 as the normal operating range A. Then, the abnormal operating range setting unit 45 sets (switches) the abnormal operating range B depending on which operating phase the current work phase is.

[0050] Specifically, for example, in the example shown in Fig. 6, the current work phase is the return swing phase, and normal operation range A is range A4. Furthermore, abnormal operation range B is a range other than range A4. In this example, if current position range C is inside an area other than range A4 (i.e., abnormal operation range B), the operation of the work machine 10 is determined to be abnormal even if current position range C falls within at least one of ranges A1, A2, and A3 shown in Fig. 5.

[0051] (Changes in range over a given time period) As shown in Fig. 7, the abnormal operation range B may be changed at predetermined time intervals. More specifically, the abnormal operation range B may be changed based on information (time-series information) indicating the relationship between the time (hours) set in the work plan and the target position of the monitored part 19. In this case, if the monitored part 19 does not move in accordance with the time-series information set in the work plan, the operation of the work machine 10 is determined to be abnormal. For example, if the monitored part 19 does not move at a speed set in the work plan, the operation of the work machine 10 is determined to be abnormal. In this case, it becomes possible to determine abnormal operation in real time, taking into account the work speed of the monitored part 19.

[0052] Specifically, for example, the target position acquisition unit 41 (see FIG. 2) acquires target position information (time-series information) of the monitored part 19 at each predetermined time. This "predetermined time" is, for example, 1 second, and may be less than 1 second or greater than 1 second. More specifically, the target position acquisition unit 41 acquires the target position of the monitored part 19 at time t+n (n=0, 1, 2, . . .). Each point ("t", "t+1", "t+2", . . .) on the target return turning trajectory P4 shown in FIG. 7 is an example of the target position of the monitored part 19 at each time. The target position acquisition unit 41 may acquire all target positions from the start position ("t" in the example shown in FIG. 7) to the end position ("t+11" in the example shown in FIG. 7) of the monitored part 19 in a certain phase (for example, the return turning phase), or may acquire only some of the target positions. The target position acquisition unit 41 may acquire target positions for times (e.g., t4, t5, t6, etc.) subsequent to the current time (e.g., t4). For example, the work plan (specifically, the target trajectory and the target speed) may change while the work machine 10 is operating. In this case, it is preferable for the target position acquisition unit 41 to acquire the changed work plan (more specifically, acquire the changed target position of the monitored part 19). If the work plan is changed after the target position acquisition unit 41 acquires the target position of the monitored part 19, the target position acquisition unit 41 may update the target position based on the changed work plan. In these cases, it becomes possible to set an appropriate abnormal operation range B in accordance with the change in the work plan.

[0053] For example, the normal operating range setting unit 43 (see FIG. 2) sets the normal operating range A at every predetermined time and switches the normal operating range A at every predetermined time. The normal operating range setting unit 43 sets the normal operating range A based on the position of the monitored part 19 when it is assumed that the monitored part 19 is placed at a target position corresponding to a certain time. Specifically, the normal operating range A at a certain time t is set based on the position of the monitored part 19 when it is assumed that the monitored part 19 is placed at a target position corresponding to this time t. Specifically, for example, the target position acquisition unit 41 (see FIG. 2) may acquire the target position of the next time t+2 at a certain time t+1, and the normal operating range setting unit 43 may determine the normal operating range A at the time t+2. Then, the abnormal operating range setting unit 45 sets the abnormal operating range B at every predetermined time and switches the abnormal operating range B at every predetermined time.

[0054] (No entry area D) The abnormal operation range setting unit 45 (see FIG. 2) may include an intrusion-prohibited range D set around the work machine 10 in the abnormal operation range B as shown in FIG. 8. For example, the intrusion-prohibited range D is set to a range where an object that may cause a problem if the monitored unit 19 comes into contact with it exists and a range around the range. Specifically, for example, the intrusion-prohibited range D may be set to a range where a person may intrude, or may be set to a cab E1 of a transport vehicle (such as a dump truck) and its periphery, or may be set to a building E2 and its periphery. The abnormal operation range setting unit 45 (see FIG. 2) may automatically set the intrusion-prohibited range D based on an image (a two-dimensional image or a three-dimensional distance image) captured by the imaging device 25 (see FIG. 2). The abnormal operation range setting unit 45 may automatically set the intrusion-prohibited range D based on information (e.g., three-dimensional information) of the site (work site) where the work machine 10 performs work. The intrusion-prohibited range D may be set in advance in the abnormal operation range setting unit 45.

[0055] (Effects of the first invention) The effects of the abnormal operation detection system 1 shown in Fig. 2 are as follows. The abnormal operation detection system 1 includes a work machine 10 (see Fig. 1), a target position acquisition unit 41, an abnormal operation range setting unit 45, a current position acquisition unit 47, and an abnormal operation determination unit 51. The work machine 10 (see Fig. 1) includes a monitored unit 19 (see Fig. 1) and is automatically operated.

[0056] [Configuration 1] The target position acquisition unit 41 acquires target position information, which is information on the target position of the monitoring target unit 19 (see FIG. 1). The abnormal operation range setting unit 45 sets the abnormal operation range B shown in FIG. 4 based on the target position information acquired by the target position acquisition unit 41. The abnormal operation range B is a predetermined range outside the position of the monitoring target unit 19 when it is assumed that the monitoring target unit 19 is placed at the target position (e.g., outside the normal operation range A). The current position acquisition unit 47 (see FIG. 2) acquires information on the current position of the monitoring target unit 19 (e.g., current position range C). The abnormal operation determination unit 51 (see FIG. 2) determines whether the current position of the monitoring target unit 19 acquired by the current position acquisition unit 47 (see FIG. 2) is inside the abnormal operation range B or not.

[0057] In the above [Configuration 1], it is determined whether or not the current position of the monitored part 19 is inside the abnormal operation range B. The abnormal operation range B is set based on target position information, which is information on the target position of the monitored part 19, and is a predetermined range outside the position of the monitored part 19 when it is assumed that the monitored part 19 is placed at the target position (for example, outside the normal operation range A). Therefore, an abnormality in the position of the monitored part 19 can be detected more appropriately compared to a case where the abnormal operation range B is not set or a case where the abnormal operation range B is set without being based on the target position of the monitored part 19. As a result, it is possible to detect that the operation of the automatically operated work machine 10 is abnormal.

[0058] (Effects of the second invention) The work machine 10 includes a lower traveling body 11, an upper rotating body 13, and an attachment 15. The upper rotating body 13 is rotatably mounted on the lower traveling body 11. The attachment 15 is attached to the upper rotating body 13 and performs work.

[0059] [Configuration 2] The monitored part 19 is the tip of the attachment 15.

[0060] The above [Configuration 2] provides the following effects. Normally, the tip of the attachment 15 (specifically, tip attachment 15c) is the part where work is performed. In the above [Configuration 2], this tip of the attachment 15 is the monitored part 19, and the position of the tip of the attachment 15 is monitored. Therefore, abnormalities in the operation of the work machine 10 can be detected more appropriately than when the position of a part other than the tip of the attachment 15 is monitored.

[0061] (Effects of the third invention) [Configuration 3] The current position acquisition unit 47 (see FIG. 2) acquires information on the current position of the monitored object 19 based on an image captured from outside the work machine 10 (eg, the imaging device 25 (see FIG. 1)).

[0062] The above [Configuration 3] provides the following effects. When the current position acquisition unit 47 (see FIG. 2) acquires information on the current position of the monitored area 19 based only on information acquired by the work machine 10, if there is an error in the information acquired by the work machine 10, the information on the current position of the monitored area 19 will be erroneous. On the other hand, in the above [Configuration 3], the current position acquisition unit 47 (see FIG. 2) acquires information on the current position of the monitored area 19 based on an image captured from outside the work machine 10. Therefore, even if there is an error in the information acquired by the work machine 10, it is possible to accurately acquire information on the current position of the monitored area 19.

[0063] (Effect of the fourth invention) [Configuration 4] The abnormal operation range setting unit 45 (see FIG. 2) changes the abnormal operation range B shown in FIG. 5 in accordance with changes in the work phase of the automatic operation of the work machine 10.

[0064] By the above [Configuration 4], an appropriate range according to the change in the work phase can be set as the abnormal operation range B. Therefore, abnormal operation of the work machine 10 can be detected more appropriately.

[0065] (Effect of the fifth aspect of the invention) [Configuration 5] The target position acquisition unit 41 (see FIG. 2) acquires target position information of the monitored object 19 at every predetermined time, as shown in FIG. 7. The abnormal operation range setting unit 45 (see FIG. 2) changes the abnormal operation range B at every predetermined time.

[0066] By the above [Configuration 5], an appropriate range based on the target position information of the monitored part 19 for each predetermined time can be set as the abnormal operation range B. Therefore, abnormal operation of the work machine 10 can be detected more accurately (finely).

[0067] (Effect of the sixth aspect of the invention) [Configuration 6] The abnormal operation range setting unit 45 (see FIG. 2) includes an intrusion-prohibited range D, which is set around the work machine 10, in the abnormal operation range B as shown in FIG.

[0068] The above [Configuration 6] makes it possible to perform processing to detect when the monitored part 19 has entered inside the prohibited entry range D by utilizing processing (program) to detect when the current position of the monitored part 19 has entered inside the abnormal operation range B.

[0069] (Modification) The above embodiment may be modified in various ways. For example, the arrangement and shape of each component of the above embodiment may be changed. For example, the connection between the components shown in FIG. 2 may be changed. For example, each range (normal operation range A, abnormal operation range B, current position range C, and intrusion-prohibited range D shown in FIG. 8, etc., shown in FIG. 4) can be set in various ways, and may be changed, for example, by manual operation or automatically according to some conditions. For example, the number of components may be changed, and some of the components may not be provided. For example, the components may be fixed or connected directly or indirectly. For example, what has been described as multiple different members or parts may be treated as one member or part. For example, what has been described as one member or part may be provided as multiple different members or parts. [Explanation of symbols]

[0070] 1. Abnormal Operation Detection System 10. Working Machinery 11 Undercarriage 13 Upper rotating body 15 Attachment 19 Surveillance Area 41 Target position acquisition section 45 Abnormal operation range setting section 47 Current position acquisition part 51 Abnormal operation determination section 53 Measures Department B Abnormal operating range D. Prohibited Area

Claims

1. a work machine that includes a monitored part and is automatically operated; a target position acquisition unit that acquires target position information that is information regarding a target position of the monitoring target portion; an abnormal operation range setting unit that sets an abnormal operation range, which is a range for determining whether or not the operation of the work machine is abnormal, based on the target position information acquired by the target position acquisition unit; Equipped with Abnormal operating range setting system.

2. 2. The abnormal operation detection system of claim 1, The work machine includes an attachment for performing work, The monitored part is a tip part of the attachment. Abnormal operating range setting system.

3. 3. The abnormal operation detection system according to claim 1, the abnormal operation range setting unit changes the abnormal operation range in accordance with a change in the content of the work of the automatic operation of the work machine. Abnormal operating range setting system.

4. The abnormal action detection system according to any one of claims 1 to 3, the target position acquisition unit acquires the target position information of the monitoring target part in time series; the abnormal operation range setting unit changes the abnormal operation range at predetermined time intervals; Abnormal operating range setting system.

5. The abnormal action detection system according to any one of claims 1 to 4, the abnormal operation range setting unit includes an intrusion prohibition range set around the work machine in the abnormal operation range. Abnormal operating range setting system.

6. An abnormal operating range setting system according to any one of claims 1 to 5; a current location acquisition unit that acquires information on a current location of the monitoring target unit; an abnormal operation determination unit that determines whether or not an operation of the work machine is abnormal based on the current position of the monitored part acquired by the current position acquisition unit and the abnormal operation range; Equipped with Abnormal behavior detection system.

7. 7. The abnormal operation detection system according to claim 6, the current position acquisition unit acquires information on the current position of the monitored object based on an image captured from outside the work machine. Abnormal behavior detection system.

Images