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

Abstract

To provide a control method for a work machine, a control program for a work machine, a control system for a work machine and a work machine which make an operator hardly feel troublesomeness.SOLUTION: A control method for a work machine 3 includes a travel part 31, a turning part 32 and a detection device 5, and restrains operation of the travel part 31 on the basis of both a detection result of the detection device 5 and a turning angle of the turning part 32. The turning part 32 is turnable around a rotation shaft which is positioned above the travel part 31 and is provided in a vertical direction with respect to the travel part 31. The detection device 5 is arranged in the turning part 32, and detects a detection object Ob1 in a monitoring area A1 around the turning part 32.SELECTED DRAWING: Figure 5

Description

[Technical Field]

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

[0002] As a related art, a work machine equipped with a detection device (surroundings monitoring device) that detects whether or not a detection object is present within a monitoring area (set region) set around the work machine is known (see, for example, Patent Document 1). When the presence of a detection object within the monitoring area is detected, the work machine according to the related art restricts the operation of the traveling section (traveling device) of the work machine if a traveling operation device for operating the traveling section is operated. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2021-014736 Summary of the Invention [Problem to be solved by the invention]

[0004] In the above-mentioned related technology, when an object to be detected is present within the monitoring area, the operation of the running unit is restricted regardless of the direction in which the object to be detected is present as viewed from the running unit. For example, the operation of the running unit in a direction away from the object to be detected is also restricted, which can be annoying for the operator.

[0005] An object of the present invention is to provide a work machine control method, a work machine control program, a work machine control system, and a work machine that are less likely to be bothersome to the operator. [Means for solving the problem]

[0006] A control method for a work machine according to one aspect of the present invention is a control method for a work machine equipped with a traveling unit, a swivel unit, and a detection device, the method comprising: restraining operation of the traveling unit based on both the detection results of the detection device and the swing angle of the swivel unit. The swivel unit is located above the traveling unit and is rotatable around a rotation axis that is perpendicular to the traveling unit. The detection device is disposed on the swivel unit and detects a detection target in a monitoring area around the swivel unit.

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

[0008] A work machine control system according to one aspect of the present invention is used in a work machine that includes a traveling unit, a swivel unit, and a detection device, and includes an inhibition processing unit. The swivel unit is located above the traveling unit and is rotatable around a rotation axis that is perpendicular to the traveling unit. The detection device is disposed on the swivel unit and detects objects to be detected in a monitoring area around the swivel unit. The inhibition processing unit inhibits the operation of the traveling unit based on both the detection results of the detection device and the rotation angle of the swivel unit.

[0009] A work machine according to one aspect of the present invention includes the work machine control system and a machine body including the traveling section and the turning section. [Effects of the Invention]

[0010] According to the present invention, it is possible to provide a work machine control method, a work machine control program, a work machine control system, and a work machine that are less likely to be bothersome to the operator. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a schematic perspective view showing the overall configuration of a work machine according to a first embodiment. [Figure 2] FIG. 2 is a schematic diagram showing a hydraulic circuit and the like of the work machine according to the first embodiment. [Figure 3] FIG. 3 is a schematic plan view of the work machine according to the first embodiment, seen from above, that schematically shows a monitoring area set around the work machine, etc. [Figure 4] FIG. 4 is a schematic plan view illustrating the turning operation of the turning section in the work machine according to the first embodiment. [Figure 5] FIG. 5 is a schematic plan view for explaining the restraint process performed by the work machine control system according to the first embodiment. [Figure 6] FIG. 6 is a schematic plan view for explaining the restraint process performed by the work machine control system according to the first embodiment. [Figure 7] FIG. 7 is a flowchart showing an example of the operation of the work machine control system according to the first embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0012] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The following description will discuss preferred embodiments of the present invention with reference to the accompanying drawings. The preferred embodiments are merely examples of the present invention and are not intended to limit the technical scope of the present invention.

[0013] (Embodiment 1) [1] Overall structure As shown in Figure 1, the work machine 3 according to this embodiment is equipped with a traveling section 31, a swivel section 32, and a working section 33 on a machine body 30. Furthermore, as shown in Figure 2, the work machine 3 is further equipped with a work machine control system 1 (hereinafter simply referred to as the "control system 1"). In addition, the machine body 30 is further equipped with a display device 2, an operating device 35, a detection device 5 (see Figure 2), etc.

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

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

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

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

[0018] The traveling unit 31 has a traveling function and is configured to be able to travel (including turn) on the ground. The traveling unit 31 has a left traveling body 311, a right traveling body 312, a blade 313, and the like. The left traveling body 311 and the right traveling body 312 are arranged at a fixed interval in the left-right direction D3 and are driven independently. In this embodiment, as an example, each of the left traveling body 311 and the right traveling body 312 is a crawler (track).

[0019] The traveling unit 31 further includes traveling motors 431, 432 (see FIG. 2) for driving the crawlers of the left traveling body 311 and the right traveling body 312. The traveling motor 431 drives the crawler of the left traveling body 311, and the traveling motor 432 drives the crawler of the right traveling body 312. In this embodiment, as an example, the traveling motors 431, 432 are hydraulic motors (hydraulic actuators) and are driven by hydraulic oil supplied from the hydraulic pump 41. In other words, the traveling unit 31 is a crawler-type (crawler-type) traveling device that drives endless belt-shaped crawlers to travel the machine body 30.

[0020] Here, the travel motors 431, 432 can individually drive the left running body 311 and the right running body 312. For example, the travel unit 31 is in a forward state where the left running body 311 and the right running body 312 move forward at a constant speed, thereby moving straight forward; and in a reverse state where the left running body 311 and the right running body 312 move backward at a constant speed, thereby moving straight backward. Furthermore, the travel unit 31 is in a forward turning state where the left running body 311 and the right running body 312 move forward at unequal speeds, thereby turning while moving forward; and in a reverse turning state where the left running body 311 and the right running body 312 move backward at unequal speeds, thereby turning while moving backward. The traveling unit 31 is placed in a pivot turning (pivot turning) state when one of the left traveling body 311 and the right traveling body 312 is stopped while the other is driven, and is placed in a spin turning (pivot turning) state when the left traveling body 311 and the right traveling body 312 are driven at equal speeds in the forward and backward directions. The traveling unit 31 is placed in a traveling stopped state when the left traveling body 311 and the right traveling body 312 are stopped.

[0021] The swivel unit 32 is located above the travel unit 31 and is configured to be swivelable relative to the travel unit 31 around a rotation axis that is aligned in the vertical direction. The swivel unit 32 has a hydraulic motor (hydraulic actuator) for rotation and the like. In addition to a driving unit 321, the swivel unit 32 is equipped with an engine, a hydraulic pump 41 and the like. Furthermore, a boom bracket 322 to which the working unit 33 is attached is provided at the front end of the swivel unit 32.

[0022] The working unit 33 is configured to be able to perform work including lifting work. The working unit 33 is supported by a boom bracket 322 of the swivel unit 32 and performs work. The working unit 33 has a bucket 331, a boom 332, an arm 333, etc. The working unit 33 also has hydraulic actuators (including hydraulic cylinders 44, hydraulic motors, etc.) for driving each part.

[0023] The bucket 331 is a type of attachment (work implement) that is attached to the body 30 of the work machine 3, and is any tool selected from multiple types of attachments depending on the type of work to be done. As an example, the bucket 331 is removably attached to the body 30 and is replaced depending on the type of work to be done. In addition to the bucket 331, attachments for the work machine 3 include, for example, various tools such as breakers, augers, crushers, forks, fork claws, steel frame cutters, asphalt cutters, brush cutters, rippers, mulchers, tiltrotators, and tampers. The working unit 33 performs work by driving the bucket 331 with power from a drive device.

[0024] The boom 332 is rotatably supported by the boom bracket 322 of the swivel section 32. Specifically, the boom 332 is supported by the boom bracket 322 so as to be rotatable around a rotation axis that extends in the horizontal direction. The boom 332 has a shape that extends upward from a base end supported by the boom bracket 322. The arm 333 is connected to the tip of the boom 332. The arm 333 is supported relative to the boom 332 so as to be rotatable around a rotation axis that extends in the horizontal direction. A bucket 331 is attached to the tip of the arm 333.

[0025] The working unit 33 operates by receiving power from an engine as a power source. Specifically, the engine drives a hydraulic pump 41, and hydraulic oil is supplied from the hydraulic pump 41 to hydraulic actuators (hydraulic cylinder 44, etc.) of the working unit 33, thereby operating each part of the working unit 33 (bucket 331, boom 332, and arm 333).

[0026] Particularly in this embodiment, the working unit 33 has an articulated structure in which the boom 332 and the arm 333 are configured to be independently rotatable. In other words, by rotating each of the boom 332 and the arm 333 around a horizontal rotation axis, the articulated working unit 33 including the boom 332 and the arm 333 can be extended or folded as a whole.

[0027] Like the working unit 33, the traveling unit 31 and the swivel unit 32 each receive power from an engine as a power source and operate. That is, the swivel unit 32 and the traveling unit 31 operate when hydraulic oil is supplied from the hydraulic pump 41 to the traveling motors 431, 431 of the traveling unit 31 and the hydraulic motor of the swivel unit 32.

[0028] As described above, the engine functions as a power source that supplies power to each part. Here, the engine is mounted on the slewing part 32 together with the hydraulic pump 41 and the like. In this embodiment, as an example, the engine is a diesel engine. The engine is driven by fuel (here, diesel) supplied from a fuel tank.

[0029] The display device 2 is disposed in the driving section 321 of the machine body 30, and is a user interface for receiving operation inputs from a user (operator) and outputting various information to the user. The display device 2 receives various operations from the user, for example, by outputting electrical signals in response to the user's operations. This allows the user (operator) to view the display screen displayed on the display device 2 and to operate the display device 2 as necessary.

[0030] The operation device 35 is mounted on the swivel unit 32 of the machine body 30 and is a device that accepts various operations from an operator riding in the driver's unit 321. The operation device 35 includes operation levers 351 and 352 that accept operations related to at least the travel unit 31. The operation levers 351 and 352 are disposed in front of the driver's unit 321 on the swivel unit 32. The operation lever 351 accepts operations to drive the left travel unit 311 (travel motor 431), and the operation lever 352 accepts operations to drive the right travel unit 312 (travel motor 432). In other words, the operator can individually drive the left travel unit 311 and the right travel unit 312 by operating the operation levers 351 and 352.

[0031] In this embodiment, as an example, the operation lever 351 of the operation device 35 is located on the left hand side as viewed from the operator sitting in the driving unit 321, and the operation lever 352 is located on the right hand side as viewed from the operator sitting in the driving unit 321. Therefore, the operator holds the operation lever 351 in the left hand and the operation lever 352 in the right hand, for example, and operates the pair of operation levers 351, 352 individually to cause the work machine 3 to perform various operations.

[0032] The detection device 5 is a device for detecting a detection target Ob1 (see FIG. 3) in a monitoring area A1 (see FIG. 3) around the work machine 3. The detection device 5 is mounted on the rotating section 32 of the machine body 30. The detection device 5 is connected to the control system 1, and outputs the detection result of the detection target Ob1 in the monitoring area A1 to the control system 1.

[0033] Here, the detection device 5 is installed facing rearward so as to be able to detect a detection target Ob1 within a monitoring area A1 that is behind the operator sitting in the driving section 321 of the swivel section 32. In other words, the detection range of the detection device 5 for the detection target Ob1 is set behind the operator sitting in the driving section 321. This allows the detection device 5 to cover the rear, which is likely to be a blind spot for the operator.

[0034] In this embodiment, the detection device 5 includes a sensor 51 (see FIG. 2 ) and an imaging unit 52 (see FIG. 2 ). The sensor 51 is a three-dimensional sensor that measures the distance to a detection object Ob1 using a time-of-flight (TOF) method, which measures the distance to a detection point based on the round-trip time it takes for radio waves, light, sound, or the like to reach the detection point and return. The sensor 51 is a distance measurement sensor that uses radio waves as a medium, such as a millimeter-wave radar, to determine the distance to the detection object Ob1, the direction in which the detection object Ob1 is located, and the like. The imaging unit 52 is a camera (including an image sensor and optical elements) that captures an image of the detection region (monitoring area A1) of the sensor 51. Thus, the detection device 5, which combines the sensor 51 and the imaging unit 52, can determine the three-dimensional position and attributes (shape, size, color, movement, etc.) of the detection object Ob1 when it is present in the monitoring area A1.

[0035] That is, the detection result of the detection device 5 may include the presence or absence of the detection object Ob1 in the monitoring area A1, the position of the detection object Ob1 in the monitoring area A1 when the detection object Ob1 is present in the monitoring area A1, the attributes of the detection object Ob1, etc. Furthermore, in this embodiment, the detection device 5 has the sensor 51 and the imaging unit 52, and therefore determines that the detection object Ob1 is present when the detection object Ob1 is detected by both the sensor 51 and the imaging unit 52.

[0036] In short, the detection device 5 arranged on the swivel section 32 detects a detection object Ob1 in a monitoring area A1 around the work machine 3. The detection device 5 determines the presence or absence (presence or absence) of the detection object Ob1 in the monitoring area A1, and outputs a detection result indicating whether or not the detection object Ob1 is present in the monitoring area A1. In this embodiment, as an example, the detection object Ob1 is a "person." In other words, if the work machine 3 moves, or a "person" around the work machine 3 moves, and as a result a "person" enters the monitoring area A1 around the work machine 3, the detection device 5 detects the "person" as the detection object Ob1. If there are multiple detection objects Ob1 in the monitoring area A1, the detection device 5 may also detect the number of detection objects Ob1 (number of people).

[0037] Fig. 2 shows a schematic diagram of the hydraulic circuit and electrical circuit (electrical connection relationships) of the work machine 3 according to this embodiment. In Fig. 2, solid lines indicate high-pressure oil passages (for hydraulic oil), and dashed arrows indicate electrical signal paths.

[0038] As shown in Fig. 2, the work machine 3 is equipped with a control system 1, a display device 2, a detection device 5, an operation device 35, a hydraulic pump 41, travel motors 431, 432, and a hydraulic cylinder 44 (not shown in Fig. 2), as well as a directional control valve (control valve) 45, a sound output unit 36, a swing angle sensor 34, etc. In Fig. 2, only the hydraulic circuit for the travel motors 431, 432 of the travel unit 31 is shown as the hydraulic circuit, but similar hydraulic circuits are also configured for the hydraulic motors of the swing unit 32 and the hydraulic actuators (hydraulic cylinder 44, etc.) of the working unit 33.

[0039] Hydraulic oil from a hydraulic pump 41 driven by the engine is supplied to the travel motors 431, 432 of the travel unit 31, the hydraulic motor of the swivel unit 32, and the hydraulic cylinder 44 of the working unit 33. This drives the travel motors 431, 432 and hydraulic actuators such as the hydraulic cylinder 44.

[0040] Here, hydraulic actuators such as the travel motors 431, 432 are provided with a directional control valve 45 that can switch the direction and flow rate of hydraulic oil from the hydraulic pump 41. The directional control valve 45 is, for example, an electromagnetic control valve (solenoid valve), is connected to the control system 1, and operates in response to a control signal (supply current) from the control system 1. In other words, by controlling the directional control valve 45, the control system 1 can, for example, switch the direction and flow rate of hydraulic oil supplied from the hydraulic pump 41 to each of the travel motors 431, 432.

[0041] Specifically, the control system 1 controls the direction switching valve 45 in response to the operation of the operating lever 351 of the operating device 35, and drives the traveling motor 431 to drive the left traveling body 311 in the forward direction or the reverse direction. In addition, the control system 1 controls the direction switching valve 45 in response to the operation of the operating lever 352 of the operating device 35, and drives the traveling motor 432 to drive the right traveling body 312 in the forward direction or the reverse direction.

[0042] Similarly, the hydraulic motor of the rotating unit 32 and the hydraulic cylinder 44 of the working unit 33 are driven in response to the operation of the operating device 35, making it possible to control the rotating operation of the rotating unit 32 (left rotation or right rotation, etc.) and the deployment and retraction operations of the working unit 33.

[0043] The operation device 35 is an electric operation device 35 in this embodiment, and outputs an electric signal (operation signal) according to the operation of the operator to the control system 1, thereby accepting various operations by the operator.

[0044] The operation levers 351, 352 are each a stick-type (lever-type) operator, and when operated to tilt, for example, "forward" or "backward," output an electrical signal (operation signal) corresponding to the operation. As one example, the operation device 35 outputs different operation signals in response to an operation of tilting the operation lever 351 forward, an operation of tilting the operation lever 351 backward, an operation of tilting the operation lever 352 forward, and an operation of tilting the operation lever 352 backward, respectively.

[0045] The control system 1 is primarily configured as a computer system having one or more processors such as a CPU (Central Processing Unit) and one or more memories such as a ROM (Read Only Memory) and a RAM (Random Access Memory), and executes various processes (information processing). In this embodiment, the control system 1 is an integrated controller that controls the entire work machine 3, and is composed of, for example, an electronic control unit (ECU). However, the control system 1 may also be provided separately from the integrated controller. The control system 1 will be explained in more detail in the section "[2] Configuration of the Control System."

[0046] 2, the display device 2 includes a control unit 21, an operation unit 22, and a display unit 23. The display device 2 is configured to be able to communicate with the control system 1, and is able to send and receive data to and from the control system 1. In this embodiment, as an example, the display device 2 is a dedicated device used in the work machine 3.

[0047] The control unit 21 controls the display device 2 in accordance with data from the control system 1. Specifically, the control unit 21 outputs an electrical signal in response to a user operation received by the operation unit 22, and displays a display screen generated by the control system 1 on the display unit 23.

[0048] The operation unit 22 is a user interface for accepting operation inputs by a user (operator) to a display screen displayed on the display unit 23. The operation unit 22 accepts various operations by the user, for example, by outputting an electrical signal in response to the user's operation.

[0049] The display unit 23 is a user interface for presenting information to a user (operator), such as a liquid crystal display or an organic EL display that displays various types of information. The display unit 23 presents various types of information to the user by displaying them.

[0050] The display device 2 presents various pieces of information on the display screen to the user (operator) operating the work machine 3. In other words, the user operating the work machine 3 can visually obtain various pieces of information related to the work machine 3 by looking at the display screen displayed on the display device 2. As an example, by displaying information about the operating state of the work machine 3, such as the coolant temperature and hydraulic oil temperature, on the display device 2, the user can check on the display device 2 information about the operating state of the work machine 3 that is necessary for operating the work machine 3. The display device 2 can also display on the display screen an image of the surroundings of the work machine 3 (an image of the monitoring area A1) captured by the imaging unit 52 of the detection device 5. This allows the user (operator) to check, for example, the situation behind the work machine 3, which is likely to be a blind spot from the driving unit 321, when operating the work machine 3, on the display screen displayed on the display device 2.

[0051] The swivel angle sensor 34 detects the swivel angle of the swivel unit 32 relative to the travel unit 31. The swivel angle sensor 34 is electrically connected to the control system 1 and outputs the detected swivel angle to the control system 1. The swivel angle here is the rotation angle of the swivel unit 32 about a rotation axis that is aligned in the vertical direction (up-down direction D1) relative to the travel unit 31, with the state in which the driving unit 321 faces forward (toward the blade 313) of the travel unit 31 (the state shown in FIG. 1) being defined as "0 degrees."

[0052] The sound output unit 36 ​​includes a buzzer, a speaker, or the like, and outputs sound upon receiving an electrical signal. The sound output unit 36 ​​is connected to the control system 1, and outputs sound such as a beep or voice in response to a sound control signal from the control system 1. In this embodiment, the sound output unit 36 ​​is provided in the driving unit 321 of the machine body 30, similar to the display device 2. The sound output unit 36 ​​may be provided integrally with the display device 2.

[0053] In addition to the above-described configuration, the machine body 30 also includes a cutoff lever, a cutoff relay, a communication terminal, a fuel tank, a battery, etc. The cutoff relay is connected to the control system 1 and switches on / off in response to a control signal (electrical signal) from the control system 1. For example, when the cutoff lever is operated upward (to the raised position), the cutoff relay forcibly blocks the flow path of hydraulic oil, disabling the hydraulic actuator from being driven. When the cutoff lever is operated downward (to the lowered position), the cutoff relay opens the flow path of hydraulic oil, enabling the hydraulic actuator to be driven in response to operation of the operating device 35, etc. The cutoff lever is thus operated to lock the operation of the work machine 3, and is synonymous with a gate lock lever.

[0054] Furthermore, the machine body 30 is equipped with sensors for monitoring the operating status of the machine body 30, such as a cooling water temperature sensor, a hydraulic oil temperature sensor, a tachometer that measures the engine rotation speed, and an hour meter that measures the operating time.

[0055] [2] Control system configuration Next, the configuration of the control system 1 according to this embodiment will be described with reference to Figure 2. The control system 1 controls each part of the machine body 30 (including the traveling section 31, the swivel section 32, the working section 33, etc.). The control system 1 is a component of the work machine 3, and together with the machine body 30, etc., constitutes the work machine 3. In other words, the work machine 3 according to this embodiment is equipped with at least the control system 1 and the machine body 30, which includes the traveling section 31 and the swivel section 32.

[0056] As shown in Fig. 2, the control system 1 includes a display processing unit 11, a restraint processing unit 12, a travel processing unit 13, and a detection processing unit 14. In this embodiment, as an example, the control system 1 is mainly configured as a computer system having one or more processors, and these multiple functional units (display processing unit 11, etc.) are realized by the one or more processors executing a work machine control program. These multiple functional units included in the control system 1 may be distributed across multiple housings, or may be provided in a single housing.

[0057] The control system 1 is configured to be able to communicate with devices provided in various parts of the aircraft 30. That is, at least the display device 2, the detection device 5, the turning angle sensor 34, the operation device 35, the sound output unit 36, the directional control valve 45, etc. are connected to the control system 1. This enables the control system 1 to control the display device 2, the sound output unit 36, the directional control valve 45, etc., and to obtain the detection results of the detection device 5, the operation signal from the operation device 35, and the detection results (turning angle) of the turning angle sensor 34, etc. Here, the control system 1 may exchange various types of information (data) directly with each device, or indirectly via a relay or the like.

[0058] The display processing unit 11 executes display processing to display at least a display screen on the display device 2. Specifically, the display processing unit 11 generates a display screen including, for example, an image captured by the imaging unit 52 of the detection device 5, and controls the display device 2 to display the display screen on the display unit 23 of the display device 2. In other words, the display processing unit 11 causes the display device 2 to display an image of the monitoring area A1 around the work machine 3.

[0059] The driving processing unit 13 executes driving processing to control the operation of the driving unit 31. In this embodiment, the driving processing unit 13 controls the driving motors 431, 432 of the driving unit 31 in response to the operation of the operating device 35, thereby controlling the operation of the driving unit 31.

[0060] Specifically, in response to an operation of tilting the operation lever 351 forward (referred to as a "left forward operation"), the driving processing unit 13 drives the left running body 311 in the forward direction by the traveling motor 431, and in response to an operation of tilting the operation lever 351 backward (referred to as a "left backward operation"), the driving processing unit 13 drives the left running body 311 in the backward direction by the traveling motor 431. In addition, in response to an operation of tilting the operation lever 352 forward (referred to as a "right forward operation"), the driving processing unit 13 drives the right running body 312 in the forward direction by the traveling motor 432, and in response to an operation of tilting the operation lever 352 backward (referred to as a "right backward operation"), the driving processing unit 13 drives the right running body 312 in the backward direction by the traveling motor 432.

[0061] The detection processing unit 14 executes a detection process to detect the detection target Ob1 in the monitoring area A1. In this embodiment, the detection device 5 detects the detection target Ob1 in the monitoring area A1, and therefore the detection processing unit 14 detects the detection target Ob1 in the monitoring area A1 by acquiring the detection result of the detection device 5 from the detection device 5.

[0062] The restraint processing unit 12 executes restraint processing to restrain the operation of the work machine 3 based on the detection results of the detection device 5, etc. In this embodiment, the restraint processing unit 12 basically executes restraint processing when the detection results of the detection device 5 indicate the presence of a detection object Ob1 (here, a person) in the monitoring area A1. In this disclosure, "restraint processing" refers to processing that acts in some way to restrain the operation of the work machine 3. As an example, restraint processing includes processing that indirectly restrains the operation of the work machine 3 by warning the user (operator) operating the work machine 3 by sound or light (including display). Furthermore, restraint processing includes processing that directly restrains the operation of the work machine 3 by controlling the traveling unit 31, swivel unit 32, working unit 33, etc. of the work machine 3.

[0063] In this embodiment, the restraint processing unit 12 includes a sound output processing unit 121 and a restriction processing unit 122.

[0064] When a detection object Ob1 is present in the monitoring area A1, the sound output processing unit 121 controls the sound output unit 36 ​​to output an alarm sound from the sound output unit 36. That is, in this embodiment, the restraint processing includes sound output processing that outputs an alarm sound. The alarm sound may be a simple beep, or a voice message such as "please be careful." Furthermore, the alarm sound may change depending on the detection results of the detection device 5 (such as the distance from the machine body 30 to the detection object Ob1). This allows the operation of the work machine 3 to be indirectly restrained by issuing a warning via an alarm sound to the user (operator) operating the work machine 3, thereby increasing the degree of freedom in operating the work machine 3. In other words, by operating the work machine 3 while paying attention to the detection object Ob1, the user can continue operating the work machine 3 while avoiding contact with the detection object Ob1.

[0065] When a detection object Ob1 is present in the monitoring area A1, the restriction processing unit 122 forcibly stops hydraulic actuators such as the travel motors 431, 432 of the travel unit 31. That is, in this embodiment, the restraint processing includes restriction processing that restricts the operation of the work machine 3. In this disclosure, "restriction processing" refers to processing that acts in some way to restrict the operation of the work machine 3.

[0066] As an example, the restriction processing includes processing to prohibit the traveling operation of the traveling unit 31 (making traveling operation impossible), processing to prohibit the rotating operation of the rotating unit 32 (making rotating operation impossible), and processing to prohibit the operation of the working unit 33 (making work impossible). This makes it possible to forcibly restrict the operation of the work machine 3 without relying on operation by the user (operator). In other words, it is possible to avoid contact between the machine body 30 and the detection object Ob1 due to operation of the work machine 3.

[0067] Here, the restriction processing executed by the restriction processing unit 122 includes at least processing to restrict the traveling operation of the traveling unit 31. Specifically, the restriction processing unit 122 disables the traveling operation of the traveling unit 31 by disabling the output of the traveling processing unit 13. As a result, if the traveling unit 31 is traveling, the traveling unit 31 makes an emergency stop, and if the traveling unit 31 is not traveling, the traveling operation of the traveling unit 31 is prohibited. As a result, if a detection object Ob1 is present in the monitoring area A1 that is a blind spot for the user (operator), contact between the machine body 30 and the detection object Ob1 due to the traveling of the traveling unit 31 can be avoided.

[0068] In this embodiment, the restraint processing unit 12 restrains the operation of the traveling unit 31 based on both the detection result of the detection device 5 and the rotation angle of the swivel unit 32. That is, when restraining the operation of the traveling unit 31, the restraint processing unit 12 uses not only the detection result of the detection device 5 but also the rotation angle of the swivel unit 32 relative to the traveling unit 31. In this embodiment, the rotation angle of the swivel unit 32 is determined by the output of the rotation angle sensor 34. However, the rotation angle of the swivel unit 32 may be determined by means other than the rotation angle sensor 34, for example, based on a history of rotation operations by the operator or an overhead image of the machine body 30.

[0069] The checking process related to the traveling operation of the traveling unit 31 performed by the checking process unit 12 will be explained in detail in the section "[3.2] Checking Process."

[0070] In the present embodiment, the detection processing unit 14 acquires the detection result of the detection device 5 outside the control system 1 and performs the detection process of the detection target Ob1 based on the detection result, but this configuration is not limiting. For example, the detection processing unit 14 may perform the detection process of the detection target Ob1 in the monitoring area A1 based on the output of the sensor 51 and / or the imaging unit 52 outside the control system 1.

[0071] [3] Control method for work machine An example of a control method for the work machine 3 (hereinafter simply referred to as "control method") that is mainly executed by the control system 1 will be described below with reference to FIGS.

[0072] The control method according to this embodiment is executed by a control system 1 whose main component is a computer system, and in other words, is embodied in a work machine control program (hereinafter simply referred to as a "control program"). In other words, the control program according to this embodiment is a computer program for causing one or more processors to execute each process related to the control method. Such a control program may be executed, for example, by the control system 1 and the display device 2 working together.

[0073] Here, the control system 1 executes the various processes described below related to the control method when a specific, preset start operation is performed to execute the control program. The start operation is, for example, an operation to start the engine of the work machine 3. On the other hand, the control system 1 ends the various processes described below related to the control method when a specific, preset end operation is performed. The end operation is, for example, an operation to stop the engine of the work machine 3.

[0074] [3.1] Turning First, the swivel operation of the swivel unit 32 according to the control method according to this embodiment will be described with reference to FIG.

[0075] In this embodiment, the swivel unit 32 can rotate 360 ​​degrees relative to the travel unit 31. The swivel unit 32 rotates a predetermined rotation angle relative to the travel unit 31 in accordance with the operation of the operator. Here, the rotation angle when the driving unit 321 of the swivel unit 32 faces forward of the travel unit 31 (toward the blade 313) is defined as "0 degrees."

[0076] When the front end of the swivel unit 32 turns 90 degrees to the left from a state in which the swivel angle is "0 degrees," the swivel unit 32 assumes a position in which the driver unit 321 faces the left side of the travel unit 31 (toward the left travel body 311), as shown in Fig. 4. When the front end of the swivel unit 32 turns another 90 degrees to the left from this state, the swivel unit 32 assumes a position in which the driver unit 321 faces the rear of the travel unit 31 (the side opposite the blade 313), as shown in Fig. 4.

[0077] Furthermore, when the front end of the swivel unit 32 turns 90 degrees to the right from a state in which the swivel angle is "0 degrees," the swivel unit 32 assumes a position in which the driver unit 321 faces the right side of the traveling unit 31 (toward the right traveling body 312), as shown in Fig. 4. When the front end of the swivel unit 32 turns further 90 degrees to the right from this state, the swivel unit 32 assumes a position in which the driver unit 321 faces the rear of the traveling unit 31 (the side opposite the blade 313), as shown in Fig. 4.

[0078] The position of the swivel unit 32 is constantly monitored by the swivel angle detected by the swivel angle sensor 34 .

[0079] [3.2] Deterrence Next, the details of the process of restraining the traveling operation of the traveling unit 31 in the control method according to this embodiment will be described.

[0080] In this embodiment, if the detection result of the detection device 5 indicates the presence of a detected object Ob1 (here, a person) in the monitoring area A1, the restraint processing unit 12 executes restraint processing to restrain the operation of the traveling unit 31. Here, the restraint processing includes alarm processing and restriction processing, and the restraint processing unit 12 basically executes both alarm processing and restriction processing as restraint processing. In other words, if a detected object Ob1 is present in the monitoring area A1, the restraint processing unit 12 outputs an alarm sound from the sound output unit 36 ​​to indirectly restrain the operation of the work machine 3, and also directly restrains the operation of the traveling unit 31 by disabling the output of the traveling processing unit 13.

[0081] In this embodiment, since the detection device 5 is disposed on the swivel unit 32, when the swivel unit 32 rotates, the position (direction) of the monitoring area A1 changes as viewed from the traveling unit 31. Therefore, even if the presence of the detection object Ob1 is detected in the monitoring area A1 in the same manner, the actual direction in which the detection object Ob1 exists as viewed from the traveling unit 31 differs depending on the rotation angle of the swivel unit 32.

[0082] Therefore, the control method according to this embodiment is a control method for a work machine that includes a traveling unit 31, a swivel unit 32, and a detection device 5, and when restraining the operation of the traveling unit 31, the operation of the traveling unit 31 is restrained based on both the detection results of the detection device 5 and the rotation angle of the swivel unit 32. The swivel unit 32 is located above the traveling unit 31 and is rotatable around a rotation axis that is perpendicular to the traveling unit 31. The detection device 5 is disposed on the swivel unit 32 and detects a detection target Ob1 in a monitoring area A1 around the swivel unit 32.

[0083] In short, in this control method, the restraint processing unit 12 uses both the detection results of the detection device 5 and the rotation angle of the swivel unit 32 when restraining the operation of the traveling unit 31. Therefore, even when the swivel unit 32 rotates, the operation of the traveling unit 31 can be restrained by reflecting the position (direction) of the monitoring area A1 as seen from the traveling unit 31. Therefore, when a detection object Ob1 is present within the monitoring area A1, the operation of the traveling unit 31 can be restrained (limited) taking into account the direction in which the detection object Ob1 exists as seen from the traveling unit 31. For example, it is possible not to restrain the operation of the traveling unit 31 in a direction away from the detection object Ob1. As a result, it is possible to realize a control method for a work machine 3, a work machine control program, a work machine control system 1, and a work machine 3 that are less likely to be bothersome to the operator.

[0084] More specifically, in the control method according to this embodiment, when a detection target Ob1 is present in the monitoring area A1, the restraint processing unit 12 restrains the operation of the traveling unit 31 based on the direction of the detection target Ob1 as seen from the traveling unit 31, which direction is determined from the detection result of the detection device 5 and the rotation angle of the rotation unit 32. That is, the restraint processing unit 12 determines the actual direction of the detection target Ob1 as seen from the traveling unit 31 based on the detection result of the detection device 5 and the rotation angle of the rotation unit 32. Then, the restraint processing unit 12 restrains the operation of the traveling unit 31 based on the actual direction of the detection target Ob1 determined in this manner.

[0085] This makes it possible to, for example, allow forward movement of the traveling section 31 and restrain backward movement of the traveling section 31 if the actual direction of the detection object Ob1 as seen from the traveling section 31 is behind the traveling section 31. Therefore, it becomes possible to perform appropriate restraint processing according to the actual direction of the detection object Ob1 as seen from the traveling section 31.

[0086] Furthermore, in the control method according to this embodiment, the restraint processing unit 12 restrains the operation of the traveling unit 31 when the direction in which the detection object Ob1 exists as seen from the traveling unit 31 corresponds to the direction of movement of the traveling unit 31. In other words, when the direction in which the detection object Ob1 exists as seen from the traveling unit 31 does not correspond to the direction of movement of the traveling unit 31, the restraint processing unit 12 does not restrain the operation of the traveling unit 31. This makes it possible to perform appropriate restraint processing according to the actual direction in which the detection object Ob1 exists as seen from the traveling unit 31.

[0087] Here, the direction in which the detection object Ob1 exists as seen from the traveling unit 31 is determined at least according to the set direction of the monitoring area A1 as seen from the traveling unit 31. In other words, since the arrangement and orientation of the detection device 5 relative to the swivel unit 32 are known, once the swivel angle is identified, it is possible to identify the set direction of the actual monitoring area A1 as seen from the traveling unit 31.

[0088] For example, as shown in FIG. 5, if the turning angle is "0 degrees" (indicated as "0 degree turning" in FIG. 5), the set direction of the monitoring area A1 as seen from the traveling unit 31 is rearward (backward direction) of the traveling unit 31. In this case, if a detection object Ob1 is present within the monitoring area A1, the direction in which the detection object Ob1 exists is rearward as seen from the traveling unit 31. On the other hand, as shown in FIG. 5, if the turning angle is "180 degrees" (indicated as "180 degree turning" in FIG. 5), the set direction of the monitoring area A1 as seen from the traveling unit 31 is forward (forward direction) of the traveling unit 31. In this case, if a detection object Ob1 is present within the monitoring area A1, the direction in which the detection object Ob1 exists is forward as seen from the traveling unit 31.

[0089] In this embodiment, the operation of the traveling unit 31 is classified into a plurality of operation patterns. In the control method according to this embodiment, the restraint processing unit 12 restrains the operation of the traveling unit 31 for the operation pattern corresponding to the detection result of the detection device 5 and the rotation angle of the rotating unit 32 among the plurality of operation patterns.

[0090] That is, since the operation of the traveling unit 31 is classified into a plurality of operation patterns, the operation of the traveling unit 31 is not restrained for all operation patterns, but is restrained only for operation patterns corresponding to the direction in which the detection object Ob1 exists as seen from the traveling unit 31. This makes it less irritating for the operator than a configuration in which all operations of the traveling unit 31 are restrained when the detection object Ob1 is present in the monitoring area A1.

[0091] More specifically, in this embodiment, the traveling unit 31 includes at least a left traveling body 311 and a right traveling body 312. Therefore, the multiple operation patterns are defined by combinations of the drive directions of the left traveling body 311 and the right traveling body 312. In short, the multiple operation patterns include "forward" (including a forward turning state) in which both the left traveling body 311 and the right traveling body 312 are driven in the forward direction, "reverse" (including a backward turning state) in which both the left traveling body 311 and the right traveling body 312 are driven in the backward direction, "pivot turning" in which only one of the left traveling body 311 and the right traveling body 312 is driven in the forward or backward direction, and "spin turning" in which the left traveling body 311 and the right traveling body 312 are driven in the opposite direction to each other.

[0092] A specific example of the process of restraining the traveling operation of the traveling unit 31 will be described below with reference to FIGS.

[0093] For example, as shown in FIG. 5, if the turning angle is "0 degrees" (indicated as "0 degree turning" in FIG. 5), the set direction of the monitoring area A1 as seen from the traveling unit 31 is rearward (backward direction) of the traveling unit 31. In this case, if a detection object Ob1 is present within the monitoring area A1, the direction in which the detection object Ob1 exists is rearward as seen from the traveling unit 31. In this case, the restraint processing unit 12 restrains only "backward movement" out of the multiple movement patterns, and allows movements of the traveling unit 31 other than "backward movement" ("forward movement," "pivot turn," and "spin turn").

[0094] Furthermore, as shown in FIG. 5, if the turning angle is "180 degrees" (indicated as "180 degree turn" in FIG. 5), the set direction of the monitoring area A1 as seen from the traveling unit 31 is forward (forward direction) of the traveling unit 31. In this case, if a detection object Ob1 is present within the monitoring area A1, the direction in which the detection object Ob1 exists is forward as seen from the traveling unit 31. In this case, the restraint processing unit 12 restrains only "forward" of the multiple motion patterns, and allows motions of the traveling unit 31 other than "forward" ("backward movement," "pivot turn," and "spin turn").

[0095] Furthermore, as shown in FIG. 6, if the turning angle is "90 degrees" to the left (indicated as "turn 90 degrees left" in FIG. 6), the set direction of the monitoring area A1 as seen from the traveling unit 31 is to the right of the traveling unit 31 (to the side of the right traveling body 312). In this case, if a detection object Ob1 is present within the monitoring area A1, the direction of the detection object Ob1 is to the right as seen from the traveling unit 31. In this case, the restraint processing unit 12 restrains only "pivot turning" and "spin turning" from among the multiple operation patterns, and allows operations of the traveling unit 31 other than "pivot turning" and "spin turning" ("forward" and "reverse").

[0096] Furthermore, as shown in FIG. 6, if the turning angle is "90 degrees" to the right (indicated as "turn 90 degrees right" in FIG. 6), the set direction of the monitoring area A1 as seen from the traveling unit 31 is to the left side of the traveling unit 31 (to the side of the left traveling body 311). In this case, if a detection object Ob1 is present within the monitoring area A1, the direction in which the detection object Ob1 exists is to the left side as seen from the traveling unit 31. In this case, the restraint processing unit 12 restrains only "pivot turning" and "spin turning" from among the multiple operation patterns, and allows operations of the traveling unit 31 other than "pivot turning" and "spin turning" ("forward" and "reverse").

[0097] In this way, when a detection object Ob1 is present to the side of the traveling unit 31, the restraint processing unit 12 restrains the turning operation (including "pivot turning" and "spin turning") of the traveling unit 31. In other words, when a detection object Ob1 is present to the side of the traveling unit 31, even if the traveling unit 31 moves forward or backward, there is little chance that the machine body 30 will come into contact with the detection object Ob1. Therefore, in such a case, by restraining only the turning operation of the traveling unit 31 and allowing other traveling operations of the traveling unit 31, the degree of freedom in operating the traveling unit 31 is improved and the operator is less likely to feel bothered.

[0098] FIG. 7 is a flowchart showing an example of a process related to a process for restraining the traveling operation of the traveling unit 31 in the control method.

[0099] 7, the check processing unit 12 of the control system 1 determines whether or not the detection target Ob1 is present in the monitoring area A1 based on the detection result of the detection device 5 (S1). If the detection target Ob1 is present in the monitoring area A1 (S1: Yes), the check processing unit 12 shifts the processing to step S2. On the other hand, if the detection target Ob1 is not present in the monitoring area A1 (S1: No), the control system 1 repeatedly executes step S1.

[0100] In step S2, the check processing unit 12 of the control system 1 determines the actual direction of the detected object Ob1 as seen from the traveling unit 31 based on the detection result of the detection device 5 and the rotation angle of the rotating unit 32 (output of the rotation angle sensor 34).

[0101] Then, in step S3, the restraint processing unit 12 restrains the operation of the traveling unit 31 based on the direction of the actual detection object Ob1 identified in this way. At this time, the operation of the traveling unit 31 is restrained only for the operation pattern, out of the multiple operation patterns, that corresponds to the direction of the actual detection object Ob1.

[0102] The control system 1 repeatedly executes the processes of steps S1 to S3 above. However, the flowchart shown in Fig. 7 is merely an example, and processes may be added or omitted as appropriate, and the order of processes may be changed as appropriate.

[0103] [4] Variation Below, we will list some modified examples of embodiment 1. The modified examples explained below can be applied in appropriate combinations.

[0104] The control system 1 in the present disclosure includes a computer system. The computer system is primarily composed of one or more processors and one or more memories as hardware. The functions of the control system 1 in the present disclosure are realized by the processor executing a program recorded in the memory of the computer system. The program may be pre-recorded in the memory of the computer system, provided via a telecommunications line, or provided by being recorded on a non-transitory recording medium such as a memory card, optical disk, or hard disk drive that is readable by the computer system. In addition, some or all of the functional units included in the control system 1 may be configured with electronic circuits.

[0105] Furthermore, it is not essential for the control system 1 that at least some of the functions of the control system 1 are concentrated in one housing, and the components of the control system 1 may be distributed across multiple housings. Conversely, in the first embodiment, functions distributed across multiple devices (for example, the control system 1 and the display device 2) may be concentrated in one housing. Furthermore, at least some of the functions of the control system 1 may be realized by the cloud (cloud computing) or the like.

[0106] Furthermore, the work machine 3 is not limited to a ride-on type, and may be, for example, an unmanned vehicle that is driven in accordance with remote control by a user (operator) from outside the work machine 3. In this case, it is preferable that a terminal capable of wireless communication with the work machine 3 is equipped with functions equivalent to, for example, the display device 2 and sound output unit 36.

[0107] Furthermore, the power source of the work machine 3 is not limited to a diesel engine, and may be, for example, an engine other than a diesel engine, or may be a motor (electric motor), or a hybrid power source including an engine and a motor (electric motor).

[0108] The display device 2 is not limited to a dedicated device, but may be a general-purpose terminal such as a laptop computer, a tablet terminal, a smartphone, etc. Furthermore, the display unit 23 is not limited to a device that directly displays a display screen, such as a liquid crystal display or an organic EL display, but may be configured to display a display screen by projection, such as a projector.

[0109] Furthermore, the restriction processing executed by the restriction processing unit 122 may be processing that restricts the operation of the work machine 3, and is not limited to processing that prohibits (makes inoperable) the operation of the work machine 3. The restriction processing may be, for example, processing that reduces the operating speed (vehicle speed) of the traveling unit 31, processing that causes the traveling unit 31 to travel along a detour route that avoids the detected object Ob1, processing that restricts the permitted traveling area of ​​the traveling unit 31, or the like.

[0110] Furthermore, in addition to or instead of the detection device 5, the machine body 30 may be equipped with various sensors (including cameras) for detecting a detection target Ob1 in the monitoring area A1 around the work machine 3, such as multiple cameras that capture images of the periphery of the machine body 30. As an example, cameras that capture images behind, to the left, and to the right of the rotating part 32 may be mounted on the rotating part 32.

[0111] In addition, the detection object Ob1 may include, in addition to or instead of a "person," a moving object such as a vehicle (including other work machinery), a structure such as a wall or pillar, a plant, an animal, a step, a ditch, or other obstacle.

[0112] [Appendix to the invention] The following is a summary of the invention extracted from the above-described embodiment. Note that the configurations and processing functions described in the following supplementary notes can be selected and combined as desired.

[0113] <Appendix 1> A control method for a work machine comprising: a traveling section; a swivel section located above the traveling section and swivelable around a rotation axis extending in a vertical direction relative to the traveling section; and a detection device disposed on the swivel section and detecting a detection target in a monitoring area around the swivel section, and restraining the operation of the traveling unit based on both the detection result of the detection device and the rotation angle of the rotating unit. A method for controlling a work machine.

[0114] <Appendix 2> When the object to be detected is present in the monitoring area, the operation of the traveling unit is restrained based on the direction of the object to be detected as seen from the traveling unit, which is determined from the detection result of the detection device and the rotation angle of the rotating unit. 2. A method for controlling a work machine as set forth in claim 1.

[0115] <Appendix 3> When the direction of the object to be detected as seen from the traveling unit corresponds to the direction of movement of the traveling unit, the operation of the traveling unit is restrained. 3. A method for controlling a work machine as set forth in appendix 2.

[0116] <Appendix 4> the direction in which the object to be detected exists as seen from the traveling unit is determined according to at least the set direction of the monitoring area as seen from the traveling unit; 4. A method for controlling a work machine according to claim 2 or 3.

[0117] <Appendix 5> The movement of the traveling unit is classified into a plurality of movement patterns, Among the plurality of operation patterns, the operation of the traveling unit is restrained for an operation pattern corresponding to the detection result of the detection device and the turning angle of the turning unit. A control method for a work machine according to any one of Supplementary Notes 1 to 4.

[0118] <Appendix 6> the traveling unit includes at least a left traveling body and a right traveling body, The plurality of movement patterns are defined by combinations of drive directions of the left running body and the right running body. 6. A method for controlling a work machine as set forth in appendix 5.

[0119] <Appendix 7> When the object to be detected is present to the side of the traveling unit, the turning operation of the traveling unit is restrained. A control method for a work machine according to any one of Supplementary Notes 1 to 6.

[0120] <Appendix 8> A control method for a work machine according to any one of appendices 1 to 7, A control program for a work machine to be executed by one or more processors. [Explanation of symbols]

[0121] 1. Work machine control system 3. Work machinery 5. Detection Device 12 Check and balance processing section 30 aircraft 31 Running part 32 Swivel section 311 Left running body 312 Right running body A1 Surveillance Area Ob1 Detected object

Claims

1. A control method for a work machine comprising: a traveling section; a swivel section located above the traveling section and swivelable around a rotation axis extending in a vertical direction relative to the traveling section; and a detection device disposed on the swivel section and detecting a detection target in a monitoring area around the swivel section, and restraining the operation of the traveling unit based on both the detection result of the detection device and the rotation angle of the rotating unit. A method for controlling a work machine.

2. When the object to be detected is present in the monitoring area, the operation of the traveling unit is restrained based on the direction of the object to be detected as seen from the traveling unit, which is determined from the detection result of the detection device and the rotation angle of the rotating unit. A method for controlling a work machine according to claim 1.

3. When the direction of the object to be detected as seen from the traveling unit corresponds to the direction of movement of the traveling unit, the operation of the traveling unit is restrained. The method for controlling a work machine according to claim 2.

4. the direction in which the object to be detected exists as seen from the traveling unit is determined according to at least the set direction of the monitoring area as seen from the traveling unit; A control method for a work machine according to claim 2 or 3.

5. The movement of the traveling unit is classified into a plurality of movement patterns, Among the plurality of operation patterns, the operation of the traveling unit is restrained for an operation pattern corresponding to the detection result of the detection device and the turning angle of the turning unit. A control method for a work machine according to any one of claims 1 to 3.

6. the traveling unit includes at least a left traveling body and a right traveling body, The plurality of movement patterns are defined by combinations of drive directions of the left running body and the right running body. A method for controlling a work machine according to claim 5.

7. When the object to be detected is present to the side of the traveling unit, the turning operation of the traveling unit is restrained. A control method for a work machine according to any one of claims 1 to 3.

8. A control method for a work machine according to any one of claims 1 to 3, A control program for a work machine for execution by one or more processors.

9. a rotating unit located above the traveling unit and rotatable around a rotation axis extending in a direction perpendicular to the traveling unit; and a detection device disposed on the rotating unit and configured to detect a detection target in a monitoring area around the rotating unit, and a restraint processing unit that restrains the operation of the traveling unit based on both the detection result of the detection device and the turning angle of the turning unit. Control systems for work machines.

10. A work machine control system according to claim 9; a body including the traveling unit and the turning unit, Work machinery.

Images