Work area monitoring system and work area monitoring method

Abstract

To provide a work area monitoring system and a work area monitoring method capable of improving work efficiency while ensuring work safety.SOLUTION: A controller 70 of a work area monitoring system 100 acquires distance relevant information related to a distance D between an entry prohibited range 110 in a work site WS and a specific part SP of a work machine 10, acquires an operation direction of the operation to activate an actuator of the work machine 10, and sets a caution operation direction to increase intrusion possibility that the specific part SP enters the entry prohibited range 110 based on the operation direction acquired when the distance relevant information changes.SELECTED DRAWING: Figure 9

Description

[Technical field]

[0001] The present disclosure relates to a work area monitoring system and method. [Background technology]

[0002] Patent Document 1 discloses a crane control system that aims to easily set no-entry areas simply by measuring coordinates using GNSS. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-132307 A Summary of the Invention [Problem to be solved by the invention]

[0004] The crane control system of Patent Document 1 uniformly limits the operation of the actuator of the work machine depending on the distance from the tip of the boom to the prohibited area at the work site, so it cannot be said that work efficiency is necessarily good.

[0005] An object of the present disclosure is to provide a work area monitoring system and a work area monitoring method that can improve work efficiency while ensuring work safety. [Means for solving the problem]

[0006] The work area monitoring system of the first aspect includes a controller that acquires distance-related information relating to the distance between a prohibited-entry range at a work site and a specific part of a work machine, acquires an operation direction for operating an actuator of the work machine, and sets a caution operation direction that increases the possibility of the specific part entering the prohibited-entry range based on the operation direction acquired when the distance-related information changes.

[0007] In this work area monitoring system, by acquiring the operation direction when the distance-related information changes, it is possible to determine whether or not the operation direction is an attention operation direction that increases the possibility of intrusion. This makes it possible to restrict the operation of the actuator corresponding to the attention operation direction and to reserve the restriction on the operation of the actuator corresponding to a direction other than the attention operation direction. This makes it possible to improve the efficiency of work while ensuring safety.

[0008] The second aspect may further include the following configuration in the working area monitoring system according to the first aspect. That is, in the working area monitoring system according to the second aspect, when the change in the distance-related information indicates that the intrusion possibility increases (first case), the controller may set the operation direction acquired when the distance-related information changes as the attention operation direction, and when the change in the distance-related information indicates that the intrusion possibility decreases (second case), the controller may set the direction opposite to the operation direction acquired when the distance-related information changes as the attention operation direction. In this configuration, the attention operation direction can be set in both cases where the change in the distance-related information increases the intrusion possibility and where the change in the distance-related information decreases the intrusion possibility. In the first case, the distance between the intrusion prohibited range and the specific part may be reduced, and in the second case, the distance between the intrusion prohibited range and the specific part may be increased. In addition, when a plurality of attention levels according to the magnitude of the distance between the intrusion prohibited range and the specific part are set in advance, the first case may be a case where the attention level increases, and the second case may be a case where the attention level decreases.

[0009] A third aspect may further include the following configuration in the working area monitoring system according to the second aspect. That is, in the working area monitoring system according to the third aspect, the controller may perform control to request an operator to input for setting the attention operation direction if the operation is not applied to the operation device when the distance-related information changes. With this configuration, even if the operation is not applied to the operation device when the distance-related information changes, it becomes possible to set the attention operation direction based on an input by the operator.

[0010] A fourth aspect may further include the following configuration in the work area monitoring system according to any one of the first to third aspects. That is, in the work area monitoring system according to the fourth aspect, the controller may perform a first restriction control that is a control for restricting the operation of the actuator when a change in the distance-related information indicates that the possibility of intrusion increases and the operation direction acquired when the distance-related information changes is the caution operation direction. This effectively prevents a specific part of a work machine from intruding into an intrusion prohibited range.

[0011] A fifth aspect may further include the following configuration in the working area monitoring system according to the fourth aspect. That is, in the working area monitoring system according to the fifth aspect, the controller may perform a second limiting control for limiting the operation of the actuator when a change in the distance-related information indicates that the possibility of intrusion is reduced and the operation direction acquired when the distance-related information changes is the careful operation direction, the second limiting control being a control for limiting the operation of the actuator with a less restrictive degree than the first limiting control. In the case where the second limiting control is performed, although the operation direction is the careful operation direction, the possibility of intrusion is reduced, so that the degree of limiting can be lessened compared to the case where the first limiting control is performed. This makes it possible to further improve the efficiency of the work while ensuring the safety of the work.

[0012] A sixth aspect may further include the following configuration in the work area monitoring system according to the fourth or fifth aspect. That is, in the work area monitoring system according to the sixth aspect, the controller may perform the first limit control when a change in the distance-related information indicates that the possibility of intrusion increases and the attention operation direction is not set. In this case, the first limit control is performed regardless of the operation direction, so that safety can be reliably guaranteed.

[0013] A seventh aspect may further include the following configuration in the work area monitoring system according to any one of the first to sixth aspects. That is, in the work area monitoring system according to the seventh aspect, the controller may suspend control for restricting the operation of the actuator when a change in the distance-related information indicates that the possibility of intrusion increases and the operation direction acquired when the distance-related information changes is not the caution operation direction. This case is, for example, a case where an operation for retreating to a safe side is being performed. Therefore, by suspending restriction on the operation of the actuator in such a case, the efficiency of work can be further effectively improved.

[0014] An eighth aspect may further include the following configuration in the work area monitoring system according to any one of the first to seventh aspects. That is, in the work area monitoring system according to the eighth aspect, the controller may perform control to relax restrictions on the operation of the actuator when a change in the distance-related information indicates that the possibility of intrusion is reduced and the operation of the operating device is not being received. In this configuration, a prerequisite for performing control to relax restrictions on the operation of the actuator includes the operation of the operating device being not being received, so that it is possible to prevent the actuator from suddenly accelerating in a state unexpected by the operator.

[0015] A ninth aspect may further include the following configuration in the work area monitoring system according to any one of the first to eighth aspects. That is, the work area monitoring system according to the ninth aspect may further include an input device for receiving an input for setting a level of restriction on the operation of the actuator according to the distance between the intrusion-prohibited area and the specific part. In this configuration, a person involved in the work, such as an operator, can appropriately change the level of restriction on the operation of the actuator according to, for example, different constraint conditions for each work. Examples of the constraint conditions include the environment of the work site, the size of a work machine such as a crane, and the allowable range of the work (for example, the allowable range of the stopping distance of the work machine, the allowable range of the swing width of the suspended load), etc.

[0016] A tenth aspect may be such that the work area monitoring system according to any one of the first to ninth aspects further includes the following configuration: That is, in the work area monitoring system according to the tenth aspect, the controller includes a machine side controller unit mounted on the work machine, and a terminal side controller unit mounted on an information terminal separate from the work machine and capable of transmitting and receiving information to and from the machine side controller unit, the terminal side controller unit may obtain position information of the specific portion of the work machine and calculate the distance-related information using the position information, and the machine side controller unit may receive the distance-related information from the terminal side controller unit.

[0017] An eleventh aspect may further include the following configuration in the work area monitoring system according to any one of the first to tenth aspects. That is, in the work area monitoring system according to the eleventh aspect, the controller includes a machine side controller unit mounted on the work machine, and a terminal side controller unit mounted on an information terminal separate from the work machine and capable of transmitting and receiving information with the machine side controller unit, and when communication with the terminal side controller unit is interrupted, the machine side controller unit may output a message indicating that communication has been interrupted. This enables the controller to notify a person involved in the work, such as an operator, of a communication abnormality.

[0018] A work area monitoring method according to a twelfth aspect includes acquiring distance-related information related to a distance between an intrusion-prohibited area at a work site and a specific part of a work machine, acquiring an operation direction for operating an actuator of the work machine, and setting an attention operation direction that increases the possibility of the specific part intruding into the intrusion-prohibited area based on the operation direction acquired when the distance-related information changes. In this work area monitoring method, by acquiring the operation direction when the distance-related information changes, it is possible to determine whether the operation direction is an attention operation direction that increases the possibility of intrusion. This makes it possible to restrict the operation of the actuator corresponding to the attention operation direction and to suspend the restriction of the operation of the actuator corresponding to a direction that is not the attention operation direction. This makes it possible to improve the efficiency of work while ensuring safety. Effect of the Invention

[0019] According to the present disclosure, a work area monitoring system and a work area monitoring method are provided that can improve work efficiency while ensuring work safety. [Brief description of the drawings]

[0020] [Figure 1] 1 is a diagram showing a work area monitoring system and a work machine according to an embodiment; [Diagram 2] 1 is a diagram for explaining the positional relationship between a no-entry area in a work site and a specific part of a work machine. FIG. [Diagram 3] FIG. 4 is a diagram showing an example of a screen of a display that can be confirmed by an operator of a work machine. [Figure 4] FIG. 4 is a diagram for explaining a plurality of caution levels set in a controller of the work area monitoring system. [Diagram 5] FIG. 11 is a diagram showing another example of a screen of the display that can be confirmed by an operator of the work machine. [Figure 6] FIG. 13 is a diagram showing an example of a map previously set regarding caution levels and speed limits; [Figure 7] 5 is a diagram for explaining control performed by a controller when a caution level is changed in the work area monitoring system. FIG. [Figure 8] FIG. 11 is a diagram showing yet another example of a screen of the display that can be confirmed by an operator of the work machine. [Figure 9] 4 is a flowchart showing an example of a calculation process performed by the controller. [Figure 10] 4 is a flowchart showing an example of a calculation process performed by the controller. [Figure 11] 4 is a flowchart showing an example of a calculation process performed by the controller. [Figure 12] 4 is a flowchart showing an example of a calculation process performed by the controller. [Figure 13] 4 is a flowchart showing an example of a calculation process performed by the controller. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0021] An embodiment of the present disclosure will be described with reference to the drawings. FIG. 1 is a diagram showing a work area monitoring system 100 according to an embodiment. In the embodiment shown in FIG. 1, the work area monitoring system 100 includes a work machine 10. In the embodiment shown in FIG. 1, the work machine 10 is a crane, but may be another work machine such as a hydraulic excavator, an aerial work vehicle, or an earth drill. The crane may be a mobile crane or a fixed crane. The mobile crane may be a crawler crane or a wheel crane. Examples of the specifications of the crane include a crane specification, a tower specification, a luffing specification, and a fixed jib specification.

[0022] [Overview of the work machine] First, an overview of the work machine 10 will be described.

[0023] The work machine 10 comprises a lower traveling body 14, an upper rotating body 12, and a hoisting body 10S. The lower traveling body 14 is equipped with, for example, a crawler traveling device and is capable of traveling on the ground. The upper rotating body 12 comprises a rotating frame rotatably supported on the lower traveling body 14, and a cab 15 supported on the front part of the rotating frame. A counterweight 13 is disposed at the rear of the upper rotating body 12 to adjust the balance of the work machine 10. The upper rotating body 12 is supported by the lower traveling body 14 so as to be rotatable about a rotation center axis CL extending in the vertical direction.

[0024] The hoisting body 10S is supported by the upper rotating body 12 so as to be able to be raised and lowered relative to the upper rotating body 12. Specifically, the hoisting body 10S includes a boom 16 and a jib 18, the boom 16 is supported by the upper rotating body 12 so as to be able to be raised and lowered relative to the upper rotating body 12, and the jib 18 is supported by the boom 16 so as to be able to be raised and lowered relative to the boom 16. The boom 16 is supported by the upper rotating body 12 so as to be able to rotate about a rotation axis extending in the left-right direction with a boom foot pin 16S provided at the lower end of the boom 16 as a fulcrum. The boom 16 shown in FIG. 1 is a so-called lattice type, and is composed of a lower boom 16A, one or more intermediate booms (three intermediate booms 16B, 16C, 16D in the illustrated example), and an upper boom 16E. However, the intermediate boom can be omitted.

[0025] The jib 18 is supported on the boom 16 so as to be rotatable about a rotation axis extending in the left-right direction with its lower end as a fulcrum. The hoisting structure 10S is not required to include the jib 18 as long as it includes at least the boom 16. The jib 18 shown in Fig. 1 is of a so-called lattice type, and is composed of a lower jib, one or more intermediate jibs, and an upper jib. However, the intermediate jib can be omitted.

[0026] A mast 20, which is a member for raising and lowering the boom 16, is disposed on the upper rotating body 12. The mast 20 has a base end and a rotating end, and the base end is rotatably connected to the upper rotating body 12. The rotating shaft of the mast 20 is parallel to the rotating shaft of the boom 16 and is located immediately rearward of the rotating shaft of the boom 16. In other words, the mast 20 is rotatable in the same direction as the raising and lowering direction of the boom 16. Meanwhile, the rotating end of the mast 20 is connected to the tip of the boom 16 via a pair of left and right boom guy lines 24. This connection coordinates the rotation of the mast 20 and the rotation of the boom 16. The work machine 10 may be provided with a gantry (not shown) instead of the mast 20.

[0027] The work machine 10 is equipped with a pair of left and right backstops 23. The pair of left and right backstops 23 are arranged on both the left and right sides of the lower part of the boom 16. These backstops 23 abut against the center in the fore-and-aft direction of the upper rotating body 12 when the boom 16 reaches the upright position shown in Fig. 1. This abutment prevents the boom 16 from being blown backward by strong winds, etc.

[0028] The work machine 10 is equipped with a rear strut 21 and a front strut 22. However, if the work machine 10 is small, the rear strut 21 and the front strut 22 can be omitted.

[0029] The rear strut 21 is pivotally supported at the tip of the boom 16. The rear strut 21 is held in a position in which it projects rearward from the upper end of the boom 16. A pair of left and right strut backstops 25 and a pair of left and right guy lines 26 are interposed between the rear strut 21 and the boom 16 as a means for holding this position. The strut backstops 25 are interposed between the boom 16 and an intermediate portion of the rear strut 21, and support the rear strut 21 from below. The guy lines 26 are tensioned to connect the tip of the rear strut 21 to the lower portion of the boom 16, and the tension of the guy lines 26 regulates the position of the rear strut 21. The rear strut 21 has a sheave block 47 and rear strut idler sheaves 52, 62. The sheave block 47 is disposed at the pivot end of the rear strut 21, and includes a plurality of sheaves arranged in the width direction. The rear strut idler sheaves 52, 62 are disposed in a portion of the rear strut 21 that is closer to the base end side than the longitudinal center portion, and each includes a plurality of sheaves arranged in the width direction.

[0030] The front strut 22 is disposed behind the jib 18 and is pivotally supported at the tip of the boom 16 so as to rotate in conjunction with the jib 18. A pair of left and right jib guylines 28 are stretched to connect the tip of the front strut 22 and the tip of the jib 18. Therefore, the jib 18 is also rotated integrally with the front strut 22 by the rotational drive of the front strut 22. The rear strut 21 is disposed behind the front strut 22 as shown in FIG. 1, and forms a triangular structure with the front strut 22. The front strut 22 has a sheave block 48 and front strut idler sheaves 53, 63. The sheave block 48 is disposed at the rotating end of the front strut 22 and includes a plurality of sheaves arranged in the width direction. The front strut idler sheaves 53, 63 are disposed at a portion located closer to the base end side than the center portion in the longitudinal direction of the front strut 22, and each includes a plurality of sheaves arranged in the width direction.

[0031] The work machine 10 is equipped with a plurality of actuators. The plurality of actuators include a swing motor 37 for swinging the upper swing body 12 relative to the undercarriage 14, a travel motor 39 for traveling the undercarriage 14, and winch motors for a plurality of winches.

[0032] The multiple winches include a boom hoist winch 30 for raising and lowering the boom 16, a jib hoist winch 32 for rotating the jib 18 in the hoisting direction, a main winch 34, and an auxiliary winch 36. The work machine 10 is equipped with a boom hoist rope 38, a jib hoist rope 44, a main hoist rope 50, and an auxiliary hoist rope 60. The main hoist winch 34 includes a main hoist drum for hoisting and lowering a load suspended by the main hoist rope 50, and a main hoist winch motor for rotating the main hoist drum. The auxiliary hoist winch 36 includes an auxiliary hoist drum for hoisting and lowering a load suspended by the auxiliary hoist rope 60, and an auxiliary hoist winch motor for rotating the auxiliary hoist drum. In the work machine 10 according to this embodiment, the jib hoist winch 32, the main hoist winch 34, and the auxiliary hoist winch 36 are installed near the base end of the boom 16. In addition, a boom hoisting winch 30 is installed on the upper rotating body 12. The positions of these winches 30, 32, 34, 36 are not limited to the specific example shown in FIG.

[0033] The boom hoist winch 30 includes a boom hoist drum that winds and pays out the boom hoist rope 38, and a boom hoist winch motor that rotates the boom hoist drum. The boom hoist rope 38 is arranged so that the mast 20 rotates as the boom hoist rope 38 is wound and paid out. Specifically, sheave blocks 40, 42, in which a number of sheaves are arranged in the width direction, are provided at the rotating end of the mast 20 and the rear end of the upper rotating body 12, respectively, and the boom hoist rope 38 drawn out from the boom hoist drum of the boom hoist winch 30 is stretched between the sheave blocks 40, 42. Therefore, as the boom hoist drum of the boom hoist winch 30 winds and pays out the boom hoist rope 38, the distance between the two sheave blocks 40, 42 changes, which causes the mast 20 and the boom 16, which is linked to the boom hoist rope, to rotate in the hoisting direction.

[0034] The jib hoist winch 32 includes a jib hoist drum that winds and pays out the jib hoist rope 44 that is wound around the rear strut 21 and the front strut 22, and a jib hoist winch motor that rotates the jib hoist drum. The jib hoist rope 44 is arranged so that the front strut 22 rotates as the rope is wound or paid out. Specifically, the jib hoist rope 44 drawn out from the jib hoist drum of the jib hoist winch 32 is hung around the idler sheave 32S and the intermediate boom sheave 46, and is further hung between the sheave blocks 47, 48 multiple times. Therefore, the jib hoist winch 32 changes the distance between the sheave blocks 47, 48 by winding and paying out the jib hoist rope 44, thereby rotating the front strut 22 relative to the rear strut 21. As a result, the jib hoisting winch 32 raises and lowers the jib 18 which is linked to the front strut 22.

[0035] The main hoisting winch 34 hoists and lowers a load using a main hoisting rope 50. As described above, for this main hoisting, a rear strut idler sheave 52, a front strut idler sheave 53, and a main hoisting guide sheave 54 are rotatably mounted at the locations near the base ends of the rear struts 21, the front struts 22, and the tip of the jib 18, respectively, and a main hoisting sheave block having a plurality of main hoisting point sheaves 56 arranged in the width direction is provided adjacent to the main hoisting guide sheave 54. The main hoisting rope 50 pulled out from the main hoisting drum of the main hoisting winch 34 is hung in this order around the idler sheave 34S, the rear strut idler sheave 52, the front strut idler sheave 53, and the main hoisting guide sheave 54, and is also hung between the main hoisting point sheave 56 of the sheave block and a sheave 58 of a sheave block mounted on a main hook 57 for hoisting a load. Therefore, when the main hoisting winch 34 winds or unwinds the main hoisting rope 50, the distance between the two sheaves 56, 58 changes, and the main hook 57 connected to the main hoisting rope 50 suspended from the tip of the jib 18 is wound up or lowered. Thus, in this embodiment, the main hoisting rope 50 is suspended from the tip of the hoisting body 10S and connected to the suspended load via the main hook 57.

[0036] Similarly, the auxiliary winch 36 hoists and lowers a load using the auxiliary hoisting rope 60. For this auxiliary hoisting, a rear strut idler sheave 62, a front strut idler sheave 63, and an auxiliary hoisting guide sheave 64 are rotatably mounted coaxially with the rear strut idler sheave 52, the front strut idler sheave 53, and the main hoisting guide sheave 54, respectively, and an auxiliary hoisting point sheave (not shown) is rotatably mounted adjacent to the auxiliary hoisting guide sheave 64. The auxiliary hoisting rope 60 pulled out from the auxiliary hoisting drum of the auxiliary hoisting winch 36 is hung in this order around the rear strut idler sheave 62, the front strut idler sheave 63, and the auxiliary hoisting guide sheave 64, and is hung down from the auxiliary hoisting point sheave. Therefore, when the auxiliary hoisting winch 36 winds or unwinds the auxiliary hoisting rope 60, an auxiliary hook for a suspended load (not shown), which is connected to the end of the auxiliary hoisting rope 60, is hoisted or lowered.

[0037] The work machine 10 is equipped with an operating device 87. The operating device 87 is equipped with a plurality of operating levers 87a. The plurality of operating levers 87a include a swing operating lever 87a for operating the swing motor 37, a boom hoisting operating lever 87a for operating the boom hoisting winch motor of the boom hoisting winch 30, a jib hoisting operating lever 87a for operating the jib hoisting winch motor of the jib hoisting winch 32, a main winding operating lever 87a for operating the main winding winch motor of the main winding winch 34, and an auxiliary winding operating lever 87a for operating the auxiliary winding winch motor of the auxiliary winding winch 36.

[0038] When any of a plurality of operating levers 87a is operated by an operator, the operating device 87 inputs a lever operation signal, which is a signal corresponding to the lever operation, to the controller 70. When the controller 70 receives the input of the lever operation signal, it controls the operation of the drive device 88 so that the actuator corresponding to the lever operation signal performs the operation corresponding to the lever operation signal.

[0039] The drive device 88 includes, for example, a hydraulic pump (not shown) and a control valve (not shown). The control valve is disposed in an oil passage connecting the hydraulic pump and a plurality of actuators, and includes a plurality of spools corresponding to the plurality of actuators. When any of a plurality of operating levers 87a is subjected to a lever operation by an operator, the controller 70 controls the control valve so that the spool corresponding to the lever operation operates, whereby hydraulic oil is supplied to the actuator corresponding to the lever operation signal, and the actuator is operated.

[0040] [Work area monitoring system] Next, the work area monitoring system 100 will be described.

[0041] The work area monitoring system 100 includes a controller 70 and a position information acquirer 80. The controller 70 includes at least one computer. The computer includes an arithmetic processing device and a memory. In the specific example shown in Fig. 1, the controller 70 includes a plurality of controller units. The plurality of controller units include a terminal side controller unit 70A, an operation management controller unit 70B (operation management device), and a machine side controller unit 70C.

[0042] The terminal side controller unit 70A is mounted, for example, on an information terminal 90 (for example, a mobile information terminal) separate from the work machine 10. The operation management controller unit 70B is a device having a function of transmitting and receiving signals between the terminal side controller unit 70A and the machine side controller unit 70C. The operation management controller unit 70B may be mounted on the work machine 10, may be mounted on the information terminal 90, or may be mounted on a terminal separate from the work machine 10 and the information terminal 90. The transmission and reception of information between the terminal side controller unit 70A and the operation management controller unit 70B may be performed by wireless communication or by wired communication. Similarly, the transmission and reception of information between the operation management controller unit 70B and the machine side controller unit 70C may be performed by wireless communication or by wired communication.

[0043] In addition, when the terminal side controller unit 70A and the machine side controller unit 70C can directly transmit and receive signals, the operation management controller unit 70B can be omitted. In addition, in this embodiment, the controller 70 is composed of multiple controller units 70A, 70B, and 70C as described above, but it may be composed of a single controller.

[0044] The position information acquirer 80 acquires information related to the position of the specific part SP of the work machine 10, and inputs the information to the controller 70. The controller 70 identifies the position of the specific part SP based on the input information. The controller 70 calculates, for example, the three-dimensional coordinates of the specific part SP based on the input information. The coordinate system for identifying the three-dimensional coordinates of the specific part SP may be a global coordinate system or a local coordinate system.

[0045] In this embodiment, the specific part SP is the tip of the hoisting structure 10S, and more specifically, the tip of the jib 18. However, the specific part SP in this disclosure is not limited to the tip of the hoisting structure 10S, and may be another part of the work machine 10.

[0046] FIG. 2 is a diagram for explaining the positional relationship between a no-entry area 110 in the work site WS and a specific site SP of the work machine 10. As shown in FIG.

[0047] In the specific example shown in Fig. 2, a plurality of entry-prohibited areas 110A, 110B, and 110C are set in the work site WS. The controller 70 stores the three-dimensional coordinates of each of the plurality of entry-prohibited areas 110A, 110B, and 110C. The coordinate system for identifying the three-dimensional coordinates of each entry-prohibited area may be a global coordinate system or a local coordinate system. When the coordinate system of the three-dimensional coordinates of the entry-prohibited area and the coordinate system of the three-dimensional coordinates of the specific part SP are different, the controller 70 may perform a calculation to convert one coordinate system into the other coordinate system.

[0048] For example, the forbidden entry range 110A may be a range corresponding to an obstacle present at the work site WS, or may be another range. For example, the forbidden entry range 110B may be a range corresponding to an electric wire present at the work site WS, or may be another range. For example, the forbidden entry range 110C may be a range corresponding to a structure present at the work site WS, or may be another range.

[0049] The work area monitoring system 100 may include an input device 83 shown in Fig. 1. An operator may input, for example, three-dimensional coordinates of the entry-forbidden area 110 into the input device 83. In this case, the controller 70 stores information related to the three-dimensional coordinates of the entry-forbidden area 110 input into the input device 83 in a memory. This enables the controller 70 to set the entry-forbidden area 110. However, the method of setting the entry-forbidden area 110 is not limited to the specific example described above.

[0050] 2, the controller 70 acquires distance-related information that is information related to the distance D between the entry-prohibited range 110 in the work site WS and the specific part SP of the work machine 10, acquires the operation direction of the operator's operation on the controller 87 for operating the actuator of the work machine 10, and sets a caution operation direction based on the operation direction acquired when the distance-related information changes. This caution operation direction is an operation direction that increases the intrusion possibility, which is the possibility that the specific part SP will intrude into the entry-prohibited range 110. The distance-related information may be the distance D, or may be information regarding a caution level, which will be described later.

[0051] In this embodiment, the terminal side controller unit 70A acquires position information of the specific part SP and calculates the distance related information using the position information, and the machine side controller unit 70C receives the distance related information from the terminal side controller unit 70A and sets the attention operation direction based on the distance related information and the operation direction. However, the division of functions between the terminal side controller unit 70A and the machine side controller unit 70C is not limited to the specific example in this embodiment.

[0052] 2, the operation direction of the operation to move the work machine 10A forward is a caution operation direction because it reduces the distance D between the specific part SP of the work machine 10A and the entry prohibited range 110A and increases the possibility of the specific part SP entering the entry prohibited range 110A. On the other hand, the operation direction of the operation to move the work machine 10A backward is the opposite direction to the caution operation direction.

[0053] Furthermore, the operation direction of the operation for rotating the upper rotating body 12 of the work machine 10B to the right relative to the lower traveling body 14 reduces the distance D between the specific part SP of the work machine 10B and the entry prohibited range 110B, and increases the possibility of the specific part SP entering the entry prohibited range 110B, so it is a caution operation direction. On the other hand, the operation direction of the operation for rotating the upper rotating body 12 of the work machine 10B to the left relative to the lower traveling body 14 is the opposite direction to the caution operation direction.

[0054] Similarly, the operation direction of the operation to move the work machine 10C forward is a caution operation direction because it reduces the distance D between the specific part SP of the work machine 10C and the entry-prohibited range 110C and increases the possibility of the specific part SP entering the entry-prohibited range 110C. On the other hand, the operation direction of the operation to move the work machine 10C backward is the opposite direction to the caution operation direction.

[0055] In this work area monitoring system 100, by acquiring the operation direction when the distance-related information changes, it is possible to determine whether or not the operation direction is a direction that increases the possibility of intrusion. This makes it possible to restrict the operation of the actuator corresponding to the attention operation direction, and to reserve the restriction on the operation of the actuator corresponding to a direction other than the attention operation direction. This makes it possible to improve work efficiency while ensuring safety.

[0056] Furthermore, in this embodiment, when the change in the distance-related information indicates that the intrusion possibility increases, the controller 70 sets the operation direction acquired when the distance-related information changes as the attention operation direction, and when the change in the distance-related information indicates that the intrusion possibility decreases, the controller 70 sets the direction opposite to the operation direction acquired when the distance-related information changes as the attention operation direction. This makes it possible to set the attention operation direction in both cases where the change in the distance-related information increases the intrusion possibility and where the change in the distance-related information decreases the intrusion possibility.

[0057] In addition, in this embodiment, if the operation is not applied to the operation device 87 when the distance-related information changes, the controller 70 may perform control to request the operator to input for setting the attention operation direction. In this case, even if the operation is not applied to the operation device 87 when the distance-related information changes, the attention operation direction can be set based on the input by the operator.

[0058] As shown in Fig. 1, the work area monitoring system 100 includes a display 84. The display 84 provides various information to an operator, for example, as shown in Fig. 3. The controller 70 (specifically, the machine-side controller unit 70C) controls the display 84 so that various information is displayed on the display 84. The display 84 may be disposed in the cab 15, for example.

[0059] As shown in FIG. 3, the controller 70 may control the display 84 so that a request display section 89, which is a display for requesting the operator to input for setting the attention operation direction, and an input reception display section 86, which is a display as an input device for receiving an input by the operator, are displayed on the display screen of the display 84 (for example, in the lower right column of the display screen). In this case, the display screen of the display 84 is configured by a touch panel (input device). In the specific example shown in FIG. 3, the request display section 89 includes a display of the sentence "Please select an operation direction," and the input reception display section 86 includes two images including arrows each indicating an operation direction. However, the contents of the request display section 89 and the contents of the input reception display section 86 are not limited to the specific example of FIG. 3.

[0060] 1 may be configured to allow the operator to perform input for setting the attention operation direction. The input device 83 may be disposed, for example, in the cab 15. When the work area monitoring system 100 includes the input device 83, the request display unit 89 and the input reception display unit 86 in the display unit 84 may be omitted.

[0061] The above are the main features of the work area monitoring system 100 according to this embodiment. More specific features of the work area monitoring system 100 will be described below.

[0062] In the working area monitoring system 100, the position information acquirer 80 includes a plurality of GNSS antennas 81 (for example, two GNSS antennas 81) and a GNSS receiver 82. GNSS is a satellite positioning system (Global Navigation Satellite System). Each of the plurality of GNSS antennas 81 receives a satellite signal from a GNSS satellite and inputs the received satellite signal to the GNSS receiver 82. The GNSS receiver 82 inputs satellite signal information, which is information related to the satellite signal received by each of the plurality of GNSS antennas 81, to the controller 70. The controller 70 (specifically, the terminal side controller unit 70A) uses the satellite signal information input from the GNSS receiver 82 to identify the position of the specific part SP, i.e., calculates the three-dimensional coordinates of the specific part SP.

[0063] Fig. 4 is a diagram for explaining a plurality of caution levels set in the controller 70 of the work area monitoring system 100. As shown in Fig. 4, a plurality of caution levels (four caution levels in the specific example of Fig. 4) are set in advance in the controller 70 according to the magnitude of the distance D between the specific part SP of the work machine 10 and the entry-prohibited area 110. The controller 70 then specifies which of the plurality of caution levels the distance D at that time falls within, and performs control to limit the operating speed of the actuator according to the specified caution level.

[0064] The multiple caution levels include four levels: "Level 0", "Level 1", "Level 2", and "Level 3". When the distance D exceeds a predetermined first reference value, the controller 70 sets the caution level to "Level 0". When the distance D is equal to or less than the first reference value and exceeds a predetermined second reference value, the controller 70 sets the caution level to "Level 1". The second reference value is a value smaller than the first reference value. When the distance D is equal to or less than the second reference value and exceeds a predetermined third reference value, the controller 70 sets the caution level to "Level 2". The third reference value is a value smaller than the second reference value. When the distance D is equal to or less than the third reference value, the controller 70 sets the caution level to "Level 3".

[0065] Specifically, the controller 70 calculates the three-dimensional coordinates of the specific area SP based on information input from the position information acquirer 80 (multiple GNSS antennas 81 and GNSS receiver 82). Then, the controller 70 calculates the distance D between the specific area SP of the work machine 10 and the intrusion prohibited area 110, using the three-dimensional coordinates of the intrusion prohibited area 110 previously stored in the controller 70 and the calculated three-dimensional coordinates of the specific area SP. The distance D may be the shortest distance between the specific area SP of the work machine 10 and the intrusion prohibited area 110. Next, the controller 70 identifies the caution level by comparing the distance D with a first reference value, a second reference value, and a third reference value that are set in advance.

[0066] When the attention level is level 0, in other words, when the distance D is large enough to ensure safety, the terminal-side controller unit 70A of the controller 70 outputs an attention signal corresponding to level 0. When the attention level is level 1, in other words, when a low level of attention is required, the terminal-side controller unit 70A of the controller 70 outputs an attention signal corresponding to level 1. When the attention level is level 2, in other words, when a medium level of attention is required, the terminal-side controller unit 70A of the controller 70 outputs an attention signal corresponding to level 2. When the attention level is level 3, in other words, when a high level of attention is required, the terminal-side controller unit 70A of the controller 70 outputs an attention signal corresponding to level 3.

[0067] The operation management controller unit 70B receives the warning signal output from the terminal side controller unit 70A, and inputs the warning signal to the machine side controller unit 70C. As shown in Fig. 4, the warning level may shift from level 0 to level 1, level 2, or level 3, from level 1 to level 0, level 2, or level 3, from level 2 to level 0, level 1, or level 3, and from level 3 to level 0, level 1, or level 2.

[0068] As shown in FIG. 5, the controller 70 (specifically, the machine-side controller unit 70C) controls the display 84 so that a warning level display corresponding to the warning level specified by the controller 70 is performed on the display screen of the display 84 (for example, the lower right column of the display screen). This warning level display may be displayed in a different color for each warning level. Specifically, when the warning level is level 0, the warning level display may be displayed in a colorless, white, black, gray, or the like, or the warning level display may be omitted. When the warning level is level 1, the warning level display may be displayed in blue, when the warning level is level 2, the warning level display may be displayed in yellow, and when the warning level is level 3, the warning level display may be displayed in red.

[0069] As described above, the controller 70 specifies which of the multiple attention levels the distance D at that time falls within, and performs control to limit the actuator operation speed in accordance with the specified attention level. FIG. 6 is a diagram showing an example of a map previously set regarding attention levels and speed limits. In this embodiment, the controller 70 stores a relationship between attention levels and speed limits, for example as shown in FIG. 6, for each of the operations of the multiple actuators (e.g., the operation of the main hoisting winch motor of the main hoisting winch 34, the operation of the slewing motor 37, the operation of the jib hoisting winch motor of the jib hoisting winch 32, and the operation of the traveling motor 39). The controller 70 may control the operations of the multiple actuators such that the upper limit of the operation speed becomes smaller as the attention level becomes higher.

[0070] 6, when the caution level is level 0, the controller 70 does not impose a speed limit on the operation of each of the multiple actuators. In this case, each of the multiple actuators operates at a speed corresponding to the operation received by the operation device 87.

[0071] When the attention level is Level 1 (attention level: low), the controller 70 imposes a low-level speed restriction on each of the multiple actuators. Specifically, when the attention level is Level 1, the controller 70 sets the upper limit of the operating speed of the main winch motor of the main winch 34 to "Vw_max," sets the upper limit of the operating speed of the swing motor 37 to "Vs_max," sets the upper limit of the operating speed of the jib hoisting winch motor of the jib hoisting winch 32 to "Vb_max," and sets the upper limit of the operating speed of the traveling motor 39 to "Vr_max." Each of "Vw_max," "Vs_max," "Vb_max," and "Vr_max" is a value smaller than the maximum speed of the corresponding actuator.

[0072] When the attention level is level 2 (attention level: medium), the controller 70 imposes a medium-level speed restriction on each of the multiple actuators. Specifically, when the attention level is level 2, the controller 70 sets the upper limit of the operating speed of the main winch motor of the main winch 34 to "Vw_mid," sets the upper limit of the operating speed of the swing motor 37 to "Vs_mid," sets the upper limit of the operating speed of the jib hoisting winch motor of the jib hoisting winch 32 to "Vb_mid," and sets the upper limit of the operating speed of the traveling motor 39 to "Vr_mid." "Vw_mid" is a value smaller than "Vw_max," "Vs_mid" is a value smaller than "Vs_max," "Vb_mid" is a value smaller than "Vb_max," and "Vr_mid" is a value smaller than "Vr_max."

[0073] When the attention level is level 3 (attention level: high), the controller 70 imposes a high-level speed restriction on each of the multiple actuators. Specifically, when the attention level is level 3, the controller 70 sets the upper limit of the operating speed of the main winch motor of the main winch 34 to "Vw_min", sets the upper limit of the operating speed of the swing motor 37 to "Vs_min", sets the upper limit of the operating speed of the jib hoisting winch motor of the jib hoisting winch 32 to "Vb_min", and sets the upper limit of the operating speed of the travel motor 39 to "Vr_min". "Vw_min" is a value smaller than "Vw_mid", "Vs_min" is a value smaller than "Vs_mid", "Vb_min" is a value smaller than "Vb_mid", and "Vr_min" is a value smaller than "Vr_mid".

[0074] The relationship between the attention level and the speed limit stored by the controller 70 is not limited to the specific example shown in FIG. 6. The controller 70 may store the relationship between the attention level and the speed limit for the operation of the auxiliary winch motor instead of the main winch motor. The controller 70 may store the relationship between the attention level and the speed limit for the operation of the third winch motor of the third winch for hoisting and lowering a suspended load instead of the main winch motor. As with the map shown in FIG. 6, the relationship between the attention level and the speed limit for the operation of the auxiliary winch motor and the operation of the third winch motor may be set so that no speed limit is imposed when the attention level is level 0, and the upper limit of the operating speed becomes smaller as the attention level increases. The controller 70 may also store the relationship between the attention level and the speed limit for the operation of two or more winch motors among the main winch motor, the auxiliary winch motor, and the third winch motor. In this case, the controller 70 may use the map to simultaneously limit the operation of the two or more winch motors.

[0075] The controller 70 may also store the relationship between the caution level and the speed limit for the boom hoisting winch motor instead of the jib hoisting winch motor. As with the map shown in FIG. 6, the relationship between the caution level and the speed limit for the operation of the boom hoisting winch motor may be set such that no speed limit is imposed when the caution level is level 0, and the upper limit of the operating speed becomes smaller as the caution level increases. The controller 70 may also store the relationship between the caution level and the speed limit for both the operation of the jib hoisting winch motor and the operation of the boom hoisting winch motor. In this case, the controller 70 may use the map to simultaneously limit the operation of both winch motors.

[0076] 6 is set for the relationship between the operation speed of actuators such as a winch motor, a swing motor, and a traveling motor and the caution level, but for example, the map may be set for the relationship between the upper limit of the operation speed of a driven object that is an object driven by an actuator and the caution level. Specifically, when the actuator is a winch motor, the operation speed of the driven object may be the rotation speed of a drum, when the actuator is a swing motor, the operation speed of the driven object may be the swing speed of an upper swing body, and when the actuator is a traveling motor, the operation speed of the driven object may be the rotation speed of a wheel (drive tumbler) of a lower traveling body or the traveling speed of the lower traveling body.

[0077] The input device 83 (see FIG. 1) may be configured to receive an input for setting a level of restriction on the actuator operation according to the distance D between the intrusion-prohibited area 110 and the specific site SP. Specifically, for example, the input device 83 may be capable of changing the setting of the upper limit of the operation speed in FIG. 6 based on the input. In this case, the operator or other related person in the work can change the level of restriction on the actuator operation as appropriate according to, for example, different constraints for each work. Examples of the constraints include the environment of the work site, the size of a work machine such as a crane, and the allowable range of the work (for example, the allowable range of the stopping distance of the work machine, the allowable range of the swing width of the suspended load), etc.

[0078] 7 is a diagram for explaining the control performed by the controller 70 when the attention level is changed in the work area monitoring system 100. When the attention level is changed so as to decrease, the controller 70 may change the upper limit of the actuator operation speed only when it is detected that the operating lever 87a of the operating device 87 is in the neutral position. This makes it possible to prevent the actuator from suddenly accelerating in a state unexpected by the operator.

[0079] 7, when the attention level drops from level 3 to level 2, level 1 or level 0, the controller 70 changes the upper limit of the actuator's movement speed to a value corresponding to level 2, level 1 or level 0 (no speed limit in the case of level 0) only when it detects that the operating lever 87a is in the neutral position based on the lever operation signal input from the operation device 87. Similarly, when the attention level drops from level 2 to level 1 or level 0, and when the attention level drops from level 1 to level 0, the controller 70 changes the upper limit of the actuator's movement speed in the same manner as above only when it detects that the operating lever 87a is in the neutral position based on the lever operation signal input from the operation device 87.

[0080] Furthermore, when the attention level is changed so that it increases, the controller 70 may control the operation of the drive device 88 so that the upper limit of the operation speed of the actuator is changed over a predetermined period of time. This allows the operation speed to be smoothly changed from the operation speed of the actuator before the change in the attention level to the operation speed of the actuator after the change in the attention level.

[0081] Specifically, as shown in Fig. 7, when the attention level rises from level 0 to level 1, the controller 70 controls the operation of the drive device 88 so that the upper limit of the actuator's motion speed is lowered from a state in which the actuator's motion speed is not limited to a value corresponding to level 1 over a predetermined time T1. When the attention level rises from a level (level 0 or level 1) lower than level 2 to level 2, the controller 70 controls the operation of the drive device 88 so that the upper limit of the actuator's motion speed is lowered from a value before the change (a value corresponding to level 0 or level 1) to a value corresponding to level 2 over a predetermined time T2. When the attention level rises from a level (level 0, level 1 or level 2) lower than level 3 to level 3, the controller 70 controls the operation of the drive device 88 so that the upper limit of the actuator's motion speed is lowered from a value before the change (a value corresponding to level 0, level 1 or level 2) to a value corresponding to level 3 over a predetermined time T3.

[0082] The controller 70 may limit the actuator speed by, for example, adjusting the pump displacement, which is the displacement of the hydraulic pump of the drive unit 88. In this case, The controller 70 inputs a command (current value) corresponding to the upper limit of the actuator's operating speed to a proportional valve of a regulator for adjusting the pump capacity, and the proportional valve generates a secondary pressure corresponding to the command (current value), and the pump capacity is adjusted to a magnitude according to the command (current value) by this secondary pressure. The controller 70 may also limit the actuator's operating speed, for example, by adjusting the size of the opening of the control valve of the drive device 88. The controller 70 may also limit the actuator's operating speed, for example, by adjusting the pump capacity and the size of the opening of the control valve.

[0083] Furthermore, the controller 70 may limit the operating speed of the actuator, for example, by controlling a proportional valve capable of limiting the pilot pressure supplied to a pilot port of the control valve of the drive device 88. In this case, the controller 70 inputs a command (current value) corresponding to the upper limit of the operating speed of the actuator to the proportional valve, and the proportional valve generates a secondary pressure (pilot pressure) corresponding to the command (current value), and the size of the opening of the control valve is adjusted to a size according to the command (current value).

[0084] When communication with the terminal-side controller unit 70A is interrupted, the machine-side controller unit 70C of the controller 70 may output a message indicating that communication has been interrupted. This enables the controller 70 to notify the operator of the communication abnormality.

[0085] As shown in Fig. 8, when communication with the terminal controller unit 70A is interrupted, the machine-side controller unit 70C may control the display 84 so that an abnormality display 85, which is an output display indicating that communication has been interrupted, is displayed on the display screen of the display 84 (for example, in the upper right column of the display screen). In the specific example shown in Fig. 8, the abnormality display 85 displays the text "A communication abnormality has occurred. Please return the operation lever to the neutral position and restore the remote deceleration mode following the specified procedure." However, the content of this abnormality display 85 is not limited to the specific example shown in Fig. 8.

[0086] Next, a specific example of control (remote deceleration control) performed by the controller 70 of the working area monitoring system 100 will be described. Fig. 9 shows a control flow in which the controller 70 identifies the attention operation direction. Figs. 10 to 13 show a control flow in which the controller 70 performs speed restriction according to the attention level. The remote deceleration control includes the control shown in Fig. 9 (attention operation direction registration control) and the control shown in Figs. 10 to 13 (speed restriction control). The controller 70 may perform the attention operation direction registration control and the speed restriction control in parallel.

[0087] When a change in the attention level (a change in the distance-related information) indicates an increase in the possibility of intrusion, and the operation direction acquired when the attention level changes is the attention operation direction, the controller 70 may perform a first restriction control that is a control for restricting the operation of the actuator (for example, a process of step S43 in FIG. 11 described later). This effectively prevents the specific part SP of the work machine 10 from intruding into the intrusion prohibited range 110.

[0088] Furthermore, when a change in the attention level (a change in the distance-related information) indicates that the possibility of intrusion is reduced, and the operation direction acquired when the attention level is changed is the caution operation direction, the controller 70 may perform a second limiting control for restricting the operation of the actuator, which is a control with a less restrictive degree than the first limiting control (for example, a process of step S53 in FIG. 12 described later). In the case where the second limiting control is performed, although the operation direction is the caution operation direction, the possibility of intrusion is reduced, so that the degree of limiting can be lessened compared to the case where the first limiting control is performed. This makes it possible to further improve the efficiency of the work while ensuring the safety of the work.

[0089] Furthermore, when a change in the attention level (a change in the distance-related information) indicates that the possibility of intrusion increases and the attention operation direction is not set, the controller 70 may perform the first restriction control (for example, processing of step S45 in FIG. 11 described later). In this case, the first restriction control is performed regardless of the operation direction, so that safety can be reliably guaranteed.

[0090] Furthermore, when a change in the attention level (change in the distance-related information) indicates that the possibility of intrusion increases and the operation direction acquired when the attention level changes is not the attention operation direction, the controller 70 may suspend control for restricting the operation of the actuator (for example, processing of step S44 in FIG. 11 described later). This case is, for example, when an operation to retreat to a safe side is being performed. Therefore, by suspending the restriction on the operation of the actuator in such a case, the efficiency of the work can be improved more effectively.

[0091] Furthermore, when a change in the attention level (a change in the distance-related information) indicates a decrease in the possibility of intrusion and the operation device 87 is not being operated, the controller 70 may perform control to relax the restriction on the operation of the actuator (for example, processing of step S56 in FIG. 12 described later). In this case, the prerequisite for performing control to relax the restriction on the operation of the actuator includes the operation device 87 not being operated, so that it is possible to prevent the actuator from suddenly accelerating in a state unexpected by the operator.

[0092] When the operator wants to start remote deceleration control of the work area monitoring system 100, he or she presses the remote deceleration mode switch 91 displayed on the display screen of the display device 84 shown in Fig. 5. This starts remote deceleration control by the controller 70 of the work area monitoring system 100.

[0093] First, among the remote deceleration controls, the caution operation direction registration control shown in FIG. 9 will be described.

[0094] When the remote deceleration control is started, the controller 70 judges whether the attention level has increased (step S11). In this embodiment, the controller 70 calculates the three-dimensional coordinates of the specific part SP of the work machine 10 using satellite signal information related to the satellite signals input to the controller 70 from the two GNSS antennas 81 via the GNSS receiver 82, calculates the distance D (e.g., the shortest distance) between the specific part SP and the intrusion-prohibited area 110 using the three-dimensional coordinates of the specific part SP and the three-dimensional coordinates of the intrusion-prohibited area 110, and identifies the attention level by comparing the distance D with the first reference value, the second reference value, and the third reference value. Then, the controller 70 compares the currently identified attention level with the previously identified attention level to determine whether the attention level has increased. Specifically, for example, the controller 70 compares the currently identified attention level with the attention level identified in the previous control cycle to determine whether the attention level has increased.

[0095] When the attention level has increased (YES in step S11), the controller 70 determines whether or not the operation device 87 has received a lever operation at the time when the attention level changed, that is, at the time when the attention level increased (step S12).

[0096] If the operating device 87 receives a lever operation when the attention level changes (YES in step S12), the controller 70 registers the operation direction of the lever operation as the "attention operation direction" (step S13). In other words, even if the operator does not perform an input for registering the "attention operation direction", the operation direction of the lever operation received by the operating device 87 when the attention level increases is automatically registered by the controller 70 as the "attention operation direction". In this case, the registration of the "attention operation direction" may be performed by the arithmetic processing device of the controller 70 storing the operation direction of the lever operation received by the operating device 87 when the attention level increases as the "attention operation direction" in the memory of the controller 70.

[0097] If the operating device 87 is not receiving a lever operation when the attention level changes (NO in step S12), the controller 70 performs control to request the operator to input an operation direction, which is an input for setting the "attention operation direction" (step S14). Specifically, as shown in Fig. 3 for example, the controller 70 controls the display device 84 so that a request display section 89, which is a display for requesting the operator to input an operation direction, and an input acceptance display section 86, which accepts an operation direction input by the operator, are displayed on the display screen of the display device 84.

[0098] Then, the controller 70 determines whether the input acceptance display unit 86 has received an input for selecting one of the two images included in the input acceptance display unit 86, that is, an input for selecting one of the two operation directions (step S15). When the input acceptance display unit 86 has received an input (manual input) by the operator (YES in step S15), the controller 70 registers the operation direction input by the operator as a "caution operation direction" (step S16).

[0099] If the input reception display unit 86 has not received an input, that is, if NO in step S15, the caution operation direction is not registered, so the controller 70 may limit the speed according to the caution level regardless of the operation direction of the lever (step S17 in FIG. 9). Note that, since the same process as step S17 in FIG. 9 is performed in step S45 in FIG. 11, step S57 in FIG. 12, and step S65 in FIG. 13, the process of step S17 in FIG. 9 can be omitted in the flowchart in FIG. 9.

[0100] Returning now to the description of the process of step S11, if the attention level has not increased (NO in step S11), the controller 70 judges whether the attention level has decreased (step S18). The controller 70 compares the attention level specified this time with the attention level specified previously to judge whether the attention level has decreased. Specifically, for example, the controller 70 compares the attention level specified this time with the attention level specified in the previous control cycle to judge whether the attention level has decreased.

[0101] If the attention level has not decreased (NO in step S18), the controller 70 repeats the processes from step S11 onward (return to step S11). If the attention level has decreased (YES in step S18), the controller 70 determines whether the lever operation was performed on the operating device 87 when the attention level changed, i.e., when the attention level decreased (step S19).

[0102] If the operating device 87 receives a lever operation when the attention level changes (YES in step S19), the controller 70 registers the direction opposite to the operation direction of the lever operation as the "attention operation direction" (step S20). In other words, even if the operator does not perform an input for registering the "attention operation direction", the direction opposite to the operation direction of the lever operation received by the operating device 87 when the attention level decreased is automatically registered by the controller 70 as the "attention operation direction". In this case, the registration of the "attention operation direction" may be performed by the arithmetic processing device of the controller 70 storing the direction opposite to the operation direction of the lever operation received by the operating device 87 when the attention level decreased in the memory of the controller 70 as the "attention operation direction".

[0103] If the lever operation of the operating device 87 is not performed when the attention level is changed (NO in step S19), the controller 70 performs control to request the operator to input an operation direction, which is an input for setting the "attention operation direction" (step S14). The process from step S14 onwards is as described above.

[0104] Next, of the remote deceleration control, the speed limit control shown in Fig. 10 to Fig. 13 will be described. Note that in the following description of the speed limit control, a case where the attention level at the start of the speed limit control is Level 2 (medium level) will be described as an example.

[0105] When the remote deceleration control is started, the controller 70 determines whether or not the attention level has increased from level 2 (medium level) to level 3 (high level) (step S31 in FIG. 10).

[0106] When the attention level has increased from level 2 (medium level) to level 3 (high level) (YES in step S31), the controller 70 executes the process of steps S41-S45 shown in FIG.

[0107] On the other hand, if the attention level has not risen from level 2 (medium level) to level 3 (high level) (NO in step S31), the controller 70 determines whether the attention level has dropped from level 2 (medium level) to level 1 (low level) (step S32 in FIG. 10).

[0108] When the attention level has been lowered from level 2 (medium level) to level 1 (low level) (YES in step S32), the controller 70 executes the process of steps S51-S57 shown in FIG.

[0109] On the other hand, if the attention level has not decreased from level 2 (medium level) to level 1 (low level) (NO in step S32), the controller 70 executes the process of steps S61-S65 shown in FIG.

[0110] The process of steps S41-S45 shown in Fig. 11 will be described. The controller 70 determines whether or not the attention operation direction is registered (step S41). If the attention operation direction is registered (YES in step S41), the controller 70 determines whether or not the operation direction of the lever operation is the attention operation direction (step S42).

[0111] If the lever operation direction is the caution operation direction (YES in step S42), the controller 70 imposes a speed restriction on the actuator operation corresponding to level 3 (high level) (step S43). On the other hand, if the lever operation direction is not the caution operation direction (NO in step S42), in other words, if the lever operation direction is the direction opposite to the caution operation direction, the controller 70 does not impose a speed restriction on the actuator operation (step S44).

[0112] If a cautionary operation direction has not been registered (NO in step S41), the controller 70 imposes a speed limit corresponding to level 3 (high level) regardless of the lever operation direction (step S45).

[0113] Next, the process of steps S51-S57 shown in Fig. 12 will be described. The controller 70 judges whether or not the attention operation direction is registered (step S51). If the attention operation direction is registered (YES in step S51), the controller 70 judges whether or not the operation direction of the lever operation is the attention operation direction (step S52).

[0114] If the lever operation direction is the caution operation direction (YES in step S52), the controller 70 imposes a speed restriction on the actuator operation corresponding to level 1 (low level) (step S53). On the other hand, if the lever operation direction is not the caution operation direction (NO in step S52), in other words, if the lever operation direction is the direction opposite to the caution operation direction, the controller 70 does not impose a speed restriction on the actuator operation (step S54).

[0115] If the caution operation direction is not registered (NO in step S51), the controller 70 judges whether the operation lever 87a is in the neutral position (step S55). If the operation lever 87a is in the neutral position (YES in step S55), the controller 70 imposes a speed restriction corresponding to level 1 (low level) on the operation of the actuator (step S56). On the other hand, if the operation lever 87a is not in the neutral position (NO in step S55), the controller 70 imposes a speed restriction corresponding to level 2 (medium level) regardless of the lever operation direction (step S57).

[0116] Next, the process of steps S61-S65 shown in Fig. 13 will be described. The controller 70 determines whether or not the attention operation direction is registered (step S61). If the attention operation direction is registered (YES in step S61), the controller 70 determines whether or not the operation direction of the lever operation is the attention operation direction (step S62).

[0117] If the lever operation direction is the caution operation direction (YES in step S62), the controller 70 imposes a speed restriction on the actuator operation corresponding to level 2 (medium level) (step S63). On the other hand, if the lever operation direction is not the caution operation direction (NO in step S62), in other words, if the lever operation direction is the direction opposite to the caution operation direction, the controller 70 does not impose a speed restriction on the actuator operation (step S64).

[0118] If a cautionary operation direction has not been registered (NO in step S61), the controller 70 imposes a speed limit corresponding to level 2 (medium level) regardless of the lever operation direction (step S65).

[0119] [Variations] Although the embodiments of the present disclosure have been described above, the present disclosure is not limited to the above-described embodiments and includes, for example, the following modified examples.

[0120] (A) Configuration of the work area monitoring system Although the work area monitoring system 100 according to the embodiment includes a work machine 10, the work area monitoring system according to the present disclosure does not necessarily have to include a work machine. For example, the entire controller 70 may be located at a location remote from the work machine 10. Also, in the embodiment, the position information acquirer 80 includes a plurality of GNSS antennas 81 (for example, two GNSS antennas 81) and a GNSS receiver 82, but the position information acquirer may include a range finder capable of measuring the distance to an object, such as a LIDAR or a stereo camera. Also, in the embodiment, the controller 87 is mounted on the work machine, but the controller may be a remote controller installed at a location remote from the work machine.

[0121] (B) Operations for activating the actuator In the above embodiment, the operation for operating the actuator is an operation by an operator on a control device of the work machine, but is not limited to this specific example. The operation for operating the actuator may be, for example, an operation performed by a person involved in the work, such as an operator, a work manager, or an assistant, on a control device (e.g., a remote control device) installed in a location away from the work machine (e.g., a remote location). In this case, the remote control device may include an operating lever, and may be an input device of an information terminal such as a portable information terminal or a personal computer.

[0122] (C) Restrictions on actuator operation In the embodiment, the operation of the actuator is restricted stepwise according to the attention level as shown in FIG. 6, but the present invention is not limited to such a specific example. For example, the controller 70 may continuously restrict the operation of the actuator according to the distance D between the intrusion-prohibited area 110 and the specific part SP. Specifically, when the distance D between the intrusion-prohibited area 110 and the specific part SP is equal to or less than a preset threshold, the controller 70 may perform control such that the upper limit of the operation speed of the actuator decreases as the distance D decreases. In this case, the controller 70 may perform control such that the upper limit of the operation speed of the actuator decreases as the distance D decreases, using a function such as a linear function or a quadratic function that is preset to define the relationship between the distance D and the upper limit of the operation speed.

[0123] Furthermore, when the caution level is at the highest level, the controller 70 may perform control to stop the operation of the actuator. In this case, the work machine 10 may be provided with a locking mechanism that prohibits the operation of the actuator (e.g., winch motor) or a driven object (e.g., winch drum) driven thereby. The locking mechanism may be a mechanism (e.g., a lock lever) that mechanically locks the actuator or the driven object, or may be a mechanism that electrically locks the actuator or the driven object.

[0124] (D) Specific parts In the above embodiment, the specific portion SP is the tip of the hoisting body 10S, but if the length of the hoisting body 10S is known, in other words, if the length of the hoisting body 10S is stored in the controller 70, the specific portion SP may be the base end of the hoisting body 10S, or a middle portion between the base end and the tip. The specific portion SP may be, for example, a part of the upper rotating body 12, such as the rear end of the upper rotating body 12, or a part of the lower traveling body 14, such as the tip or rear end of the crawler traveling device of the lower traveling body 14. The specific portion SP may be, for example, a part of the boom hoisting rope 38, the jib hoisting rope 44, the main hoisting rope 50, or the auxiliary hoisting rope 60, or may be a part of the suspended load.

[0125] (E) Prohibited areas In the embodiment, a plurality of entry-prohibited ranges 110A, 110B, and 110C as shown in FIG. 2 are set in the work site WS, but the entry-prohibited range is not limited to the specific example shown in FIG. 2. The entry-prohibited range may be a range formed by one or a plurality of line segments. Specifically, the entry-prohibited range may be, for example, a range formed by a plurality of line segments in a broken line shape, or a range formed by a plurality of line segments in a polygonal shape. The entry-prohibited range may also be a range formed by a combination of straight lines and curved lines. The entry-prohibited range may also be a range formed by the periphery of a surface including at least one of a flat surface and a curved surface, or may be a range including the periphery of the surface and its interior. The entry-prohibited range may also be a range formed by the surface of a solid such as a sphere, a rectangular parallelepiped, a cylinder, or a prism, or may be a range including the surface of the solid and its interior. Only one entry-prohibited range may also be set in the work site WS.

[0126] Furthermore, the prohibited entry range 110 does not have to be a range set to completely prevent entry of the specific area SP, but may be a range set to alert workers, such as operators, that it is preferable for the specific area SP not to enter. [Explanation of symbols]

[0127] 10: Work machines 30: Boom raising winch (an example of an actuator) 32: Jib hoisting winch (an example of an actuator) 34: Main winch (an example of an actuator) 36: Auxiliary winch (an example of an actuator) 37: Swing motor (an example of an actuator) 39: Travel motor (an example of an actuator) 70: Controller 70A: Terminal side controller unit 70B: Operation management controller unit 70C: Machine side controller unit 80: Location information acquisition device 81: GNSS antenna 82: GNSS receiver 83: Input device 84:Display unit 87:Operator 88: Drive unit 90: Portable information terminal (an example of an information terminal) 100: Work area monitoring system 110: No entry area D: Distance SP:Specific part WS: Work site

Claims

1. 1. A work area monitoring system comprising a controller, The controller: Acquire distance-related information relating to the distance between a no-entry area in the work site and a specific part of the work machine; Acquiring an operation direction for operating an actuator of the work machine; A work area monitoring system that sets an attention operation direction that increases the possibility of the specific part entering the prohibited entry range based on the operation direction obtained when the distance-related information changes.

2. The controller: When the change in the distance-related information indicates an increase in the possibility of intrusion, the operation direction acquired when the distance-related information changes is set as the attention operation direction; The work area monitoring system of claim 1 , wherein when a change in the distance-related information indicates a decrease in the possibility of intrusion, a direction opposite to the operation direction obtained when the distance-related information changes is set as the attention operation direction.

3. The work area monitoring system according to claim 2 , wherein the controller performs control to request an operator to input to set the attention operation direction when the operation is not applied to the operating device when the distance-related information changes.

4. The work area monitoring system of claim 1, wherein the controller performs a first restriction control, which is a control for restricting the operation of the actuator, when a change in the distance-related information indicates an increase in the possibility of intrusion and when the operation direction obtained when the distance-related information changes is the attention operation direction.

5. The work area monitoring system of claim 4, wherein the controller performs a second restriction control for restricting the operation of the actuator when a change in the distance-related information indicates a decrease in the possibility of intrusion and when the operation direction obtained when the distance-related information changes is the attention operation direction, the second restriction control is a control for restricting the operation of the actuator that is less restrictive than the first restriction control.

6. The work area monitoring system of claim 4 or 5, wherein the controller performs the first restriction control when a change in the distance-related information indicates an increase in the possibility of intrusion and when the attention operation direction is not set.

7. The work area monitoring system of claim 1 , wherein the controller reserves control to limit the operation of the actuator when a change in the distance-related information indicates an increase in the possibility of intrusion and when the operation direction obtained when the distance-related information changes is not the attention operation direction.

8. The work area monitoring system of claim 1 , wherein the controller performs control to relax restrictions on the operation of the actuator when a change in the distance-related information indicates a decrease in the possibility of intrusion and when the operation device is not being operated.

9. The work area monitoring system according to claim 1 , further comprising an input device for receiving an input for setting a level of restriction on the operation of the actuator according to the distance between the intrusion-prohibited area and the specific portion.

10. the controller includes a machine-side controller unit mounted on the work machine, and a terminal-side controller unit mounted on an information terminal separate from the work machine and capable of transmitting and receiving information to and from the machine-side controller unit, the terminal side controller unit acquires position information of the specific portion of the work machine, and calculates the distance-related information using the position information; The work area monitoring system according to claim 1 , wherein the machine-side controller unit receives the distance-related information from the terminal-side controller unit.

11. the controller includes a machine-side controller unit mounted on the work machine, and a terminal-side controller unit mounted on an information terminal separate from the work machine and capable of transmitting and receiving information to and from the machine-side controller unit, 2. The work area monitoring system according to claim 1, wherein, when communication with said terminal controller unit is interrupted, said machine controller unit outputs a message indicating that communication has been interrupted.

12. Obtaining distance-related information relating to a distance between a no-entry area in a work site and a specific part of a work machine; Obtaining an operation direction for operating an actuator of the work machine; A work area monitoring method comprising: setting an attention operation direction that increases the possibility of the specific part entering the prohibited entry range, based on the operation direction obtained when the distance-related information changes.

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