CONTROL SYSTEM FOR WORK MACHINE, CONTROL MACHINE, CONTROL METHOD FOR WORK MACHINE, AND CONTROL PROGRAM FOR WORK MACHINE

Abstract

To provide a control system for a work machine, a work machine, a control method for a work machine, and a control program for a work machine which are easy to reduce burden on an operator relating to operation.SOLUTION: A control system 1 for a work machine includes an acquisition processing part 11, and a restriction processing part 12. The acquisition processing part 11 acquires a detection result of an object around the body of a work machine 3 in the state where the work machine 3 cannot be operated. The restriction processing part 12 makes the work machine 3 into a restriction state where the work machine 3 is limitedly operable when a gate lock lever 463 is operated so as to make the work machine 3 operable, when the detection result satisfies a prescribed condition.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a work machine control system, a work machine, a work machine control method, and a work machine control program, which are used in a work machine capable of detecting objects around the body of the machine. [Background technology]

[0002] As a related technique, a work machine control system (controller) that controls a work machine (hydraulic excavator) is known (see, for example, Patent Document 1). The work machine control system according to the related technique has an object detection function that restricts the operation of the work machine based on the detection result of a surroundings monitoring device that detects whether or not an object to be recognized exists within a set area set around the work machine. In other words, the work machine control system restricts the operation of the work machine when the object detection function detects the presence of an object around the work machine. The work machine control system according to the related technique switches the object detection function to a non-execution setting when the lock unit (lock lever) is switched to a locked state. Also, when the object detection function is set to a non-execution setting, if the lock unit is switched to an unlocked state and an operation signal from the operation device (operation lever) is detected, the work machine control system switches the object detection function to an execution setting. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-14737 Summary of the Invention [Problem to be solved by the invention]

[0004] In the above-mentioned related art, when the locking portion (lock lever) is switched to the unlocked state and the operating device is operated, for example, the operator needs to carefully operate the operating device to avoid the work machine suddenly moving with force.

[0005] An object of the present invention is to provide a work machine control system, a work machine, a work machine control method, and a work machine control program that can easily reduce the burden on an operator associated with operations. [Means for solving the problem]

[0006] A work machine control system according to one aspect of the present invention includes an acquisition processing unit and a restriction processing unit. The acquisition processing unit acquires detection results of objects around a body of the work machine in a state in which the work machine cannot be operated. When the detection results satisfy a predetermined condition, and a gate lock lever is operated to make the work machine operable, the restriction processing unit puts the work machine into a restricted state in which it is operable in a limited manner.

[0007] A work machine according to one aspect of the present invention includes the work machine control system and the vehicle body.

[0008] A method for controlling a work machine according to one aspect of the present invention includes obtaining detection results of objects around a body of the work machine while the work machine cannot be operated, and when the detection results satisfy predetermined conditions, placing the work machine in a restricted state in which it can be operated in a limited manner when a gate lock lever is operated to place the work machine in a state in which it can be operated.

[0009] 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. Effect of the Invention

[0010] According to the present invention, it is possible to provide a work machine control system, a work machine, a work machine control method, and a work machine control program that can easily reduce the burden on an operator associated with operations. [Brief description of the drawings]

[0011] [Figure 1]FIG. 1 is a schematic perspective view showing the overall configuration of a work machine according to a first embodiment. [Diagram 2] FIG. 2 is a schematic diagram showing a hydraulic circuit and the like of the work machine according to the first embodiment. [Diagram 3] FIG. 3 is a schematic plan view showing a monitoring area set around the work machine according to the first embodiment, as viewed from above. [Figure 4] FIG. 4 is a schematic external view of a display device on which a display screen is displayed by the work machine control system according to the first embodiment. [Diagram 5] FIG. 5 is an explanatory diagram showing a schematic operation of the work machine control system according to the first embodiment. [Figure 6] FIG. 6 is a diagram showing an example of a display screen displayed 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. [Figure 8] FIG. 8 is an explanatory diagram showing a schematic operation of the work machine control system according to the second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

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

[0013] (Embodiment 1) [1] Overall structure As shown in Fig. 1, the work machine 3 according to this embodiment is equipped with a traveling section 31, a rotating section 32, and a working section 33 on a machine body 30. Moreover, as shown in Fig. 2, the work machine 3 is further equipped with a work machine control system 1 (hereinafter also simply referred to as the "control system 1"). In addition, as shown in Figs. 1 and 2, the machine body 30 is further equipped with a display device 2, a drive device 34, an operation device 35, a sound output section 36, etc.

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

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

[0016] The work machine 3 is equipped with an engine 40 (see FIG. 2) that serves as a power source. In this embodiment, as an example, the engine 40 is a diesel engine. The engine 40 is driven by fuel (here, diesel) supplied from a fuel tank. In the work machine 3, for example, a hydraulic pump 41 (see FIG. 2) is driven by the engine 40, and hydraulic oil is supplied from the hydraulic pump 41 to hydraulic actuators (including a hydraulic motor 43, a hydraulic cylinder 44, etc.) of each part of the machine body 30, thereby driving the machine body 30. Such a work machine 3 is controlled, for example, by a user (operator) riding on the driving section 321 of the machine body 30 operating an operating lever or the like of an operating device 35.

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

[0018] Here, the driving section 321 of the machine body 30 is equipped with a display device 2, an operation device 35, a sound output section 36, etc., and the user can operate the operation device 35 while viewing various information related to the work machine 3 displayed on the display device 2. As an example, information related to the operating state of the work machine 3, such as the cooling water temperature and hydraulic oil temperature, is displayed on the display screen of the display device 2, allowing the user to check information related to the operating state of the work machine 3 required for operating the operation device 35 on the display device 2.

[0019] The traveling unit 31 has a traveling function and is configured to be able to travel (including turn) on the ground. The traveling unit 31 has, for example, a pair of left and right crawlers 311 and a blade 312. The traveling unit 31 further has a hydraulic motor 43 (hydraulic actuator) for driving the crawlers 311 and the like.

[0020] The swivel unit 32 is located above the travel unit 31, and is configured to be rotatable relative to the travel unit 31 about a rotation axis along the up-down direction D1. The swivel unit 32 has a hydraulic motor (hydraulic actuator) for rotation, etc. In addition to a driving unit 321, an engine 40, a hydraulic pump 41, etc. are mounted on the swivel unit 32. Furthermore, a boom bracket 322 to which the working unit 33 is attached is provided at the front end of the swivel unit 32.

[0021] The working unit 33 is configured to be able to perform one or more tasks. The working unit 33 is supported by the boom bracket 322 of the swivel unit 32, and performs tasks. The working unit 33 has a bucket 331. The bucket 331 is a type of attachment (working tool) attached to the machine body 30 of the work machine 3, and is made up of any tool selected from multiple types of attachments depending on the content of the work. As an example, the bucket 331 is removably attached to the machine body 30, and is replaced depending on the content of the work. In addition to the bucket 331, attachments for the work machine 3 include various tools such as a breaker, an auger, a crusher, a fork, a fork claw, a steel frame cutter, an asphalt cutter, a grass cutter, a ripper, a mulcher, a tiltrotator, and a tamper.

[0022] The working unit 33 further includes a boom 332, an arm 333, and a hydraulic actuator (including the hydraulic cylinder 44 and the hydraulic motor), etc. The bucket 331 is attached to the tip of the arm 333.

[0023] The boom 332 is rotatably supported by the boom bracket 322 of the swivel section 32. Specifically, the boom 332 is supported by the boom bracket 322 so as to be rotatable about a rotation axis along the horizontal direction. The boom 332 has a shape that extends upward from a base end supported by the boom bracket 322. The arm 333 is connected to the tip of the boom 332. The arm 333 is supported by the boom 332 so as to be rotatable about a rotation axis along the horizontal direction.

[0024] The working unit 33 operates by receiving power from an engine 40 as a power source. Specifically, a hydraulic pump 41 is driven by the engine 40, 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 (a bucket 331, a boom 332, and an arm 333).

[0025] Particularly in this embodiment, the working unit 33 has a multi-joint structure in which the boom 332 and the arm 333 are configured to be rotatable individually. In other words, by each of the boom 332 and the arm 333 rotating about a rotation axis along the horizontal direction, the multi-joint working unit 33 including the boom 332 and the arm 333 can, for example, be extended or folded as a whole.

[0026] Like the working unit 33, each of the traveling unit 31 and the swivel unit 32 receives power from the engine 40 as a power source and operates. That is, the swivel unit 32 and the traveling unit 31 operate when hydraulic oil is supplied from the hydraulic pump 41 to the hydraulic motor 43 of the traveling unit 31 and the hydraulic motor of the swivel unit 32, etc.

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

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

[0029] Fig. 2 shows a schematic diagram of the hydraulic circuit and the electric circuit (electrical connection relationship) of the work machine 3 according to this embodiment. In Fig. 2, solid lines indicate high-pressure oil passages (for hydraulic oil), dotted lines indicate low-pressure oil passages (for pilot oil), and dashed arrows indicate paths of electric signals.

[0030] As shown in FIG. 2, the work machine 3 is equipped with a hydraulic pump 41, a hydraulic motor 43 (not shown in FIG. 2), and a hydraulic cylinder 44, as well as a pilot pump 42, a remote control valve 45, a first restriction section 46, a second restriction section 47, a directional control valve (control valve) 48, and a flow rate restriction section 49.

[0031] Hydraulic oil from a hydraulic pump 41 driven by an engine 40 is supplied to a hydraulic motor 43 of the traveling unit 31, a hydraulic motor of the rotating unit 32, a hydraulic cylinder 44 of the working unit 33, etc. This drives hydraulic actuators such as the hydraulic motor 43 and the hydraulic cylinder 44.

[0032] Here, the flow rate of hydraulic oil supplied from the hydraulic pump 41 is not fixed, but can be changed (varied) by appropriate means. The work machine 3 according to this embodiment is equipped with a flow rate restricting unit 49, which is capable of adjusting the flow rate of hydraulic oil. As an example, in this embodiment, the hydraulic pump 41 is a variable displacement pump that can change the amount of hydraulic oil discharged per one rotation of the drive shaft.

[0033] The flow rate restricting unit 49 has a control signal input port 491, an electromagnetic proportional valve 492, and an engine control unit 493. The control signal input port 491 is a port to which a control signal for adjusting the discharge amount (flow rate) of the hydraulic oil of the hydraulic pump 41 consisting of a variable displacement pump is input. Specifically, pilot oil serving as a control signal is supplied from the pilot pump 42 to the control signal input port 491, and the discharge amount of the hydraulic oil of the hydraulic pump 41 changes according to the supply amount (pilot pressure) of the pilot oil. The electromagnetic proportional valve 492 is an electromagnetic proportional control valve provided on a supply path of the pilot oil to the control signal input port 491, and adjusts the pilot pressure input to the control signal input port 491. The electromagnetic proportional valve 492 is connected to the control system 1, and adjusts the pilot pressure input to the control signal input port 491 according to a control signal (supply current) from the control system 1, thereby changing the discharge amount of the hydraulic oil of the hydraulic pump 41. The engine control unit 493 controls the rotation speed of the engine 40. In other words, the engine control unit 493 changes the discharge amount of hydraulic oil from the hydraulic pump 41 by controlling the rotation speed of the hydraulic pump 41 .

[0034] In this way, the flow rate limiting unit 49 is capable of adjusting the flow rate of the hydraulic oil discharged from the hydraulic pump 41 by controlling at least one of the flow rate of the hydraulic pump 41 that supplies the hydraulic oil, the rotation speed of the engine 40 that drives the hydraulic pump 41, and the pilot pressure. The flow rate limiting unit 49 may change the flow rate of the hydraulic oil discharged from the hydraulic pump 41 continuously and steplessly, or may change it stepwise (for example, in two steps, five steps, or ten steps, etc.).

[0035] Hydraulic actuators such as the hydraulic motor 43 and the hydraulic cylinder 44 are provided with a pilot-type directional control valve 48 capable of switching the direction and flow rate of hydraulic oil from the hydraulic pump 41. The directional control valve 48 is driven by the supply of pilot oil, which serves as an input command, from the pilot pump 42.

[0036] Here, for example, a remote control valve 45 is provided in a supply path of pilot oil to a directional control valve 48 corresponding to a hydraulic cylinder 44 of the working unit 33. The remote control valve 45 outputs a work operation command for the working unit 33 in response to the operation of an operating device 35 (operation lever). The work operation command instructs the deployment operation, contraction operation, etc. of the working unit 33. In addition, the flow rate of pilot oil supplied from the pilot pump 42 to the remote control valve 45 can be adjusted by a first limiting unit 46 and a second limiting unit 47. The first limiting unit 46 has a first control valve 461, a gate lock switch 462, and a gate lock lever 463. The second limiting unit 47 has a second control valve 471.

[0037] Moreover, the first control valve 461 and the second control valve 471 are both composed of electromagnetic control valves (solenoid valves) and are inserted in series between the remote control valve 45 and the pilot pump 42. The first control valve 461 is connected to a power source via a gate lock switch 462 and operates in response to a current supplied from the power source. The second control valve 471 is connected to the control system 1 and operates in response to a control signal (current supplied) from the control system 1. The first control valve 461 and the second control valve 471 are assumed here to be (electromagnetic) proportional control valves, but are not limited thereto and may be, for example, an opening / closing valve capable of switching between opening and closing of a flow path.

[0038] The first control valve 461 and the second control valve 471 open the flow path of the pilot oil when both are energized, that is, when a current is supplied as a control signal, and block the flow path of the pilot oil when both are de-energized, that is, when the current as a control signal is cut off. Therefore, by cutting off the supply current (control signal) to at least one of the first control valve 461 and the second control valve 471, the hydraulic actuator (hydraulic cylinder 44, etc.) corresponding to the remote control valve 45 becomes inoperable, and the hydraulic actuator is forcibly stopped regardless of the operation of the operating device 35.

[0039] Similarly, a remote control valve is provided in a supply path of pilot oil to a directional control valve corresponding to the hydraulic motor 43 of the traveling unit 31. This remote control valve outputs a travel operation command for the traveling unit 31 in response to the operation of the operating device 35 (operation lever). The travel operation command instructs the traveling motion (forward or backward, etc.) of the traveling unit 31. Furthermore, a remote control valve is provided in a supply path of pilot oil to a directional control valve corresponding to the hydraulic motor of the swivel unit 32. This remote control valve outputs a swing operation command for the swivel unit 32 in response to the operation of the operating device 35 (operation lever). The swing operation command instructs the swing motion (left swing or right swing, etc.) of the swivel unit 32. A first control valve 461 and a second control valve 471 are also inserted between these remote control valves and the pilot pump 42.

[0040] The gate lock switch 462 is linked to the gate lock lever 463. The gate lock lever 463 is disposed in the driving section 321 of the machine body 30, and receives an operation input by a user (operator). In the present embodiment, as an example, the gate lock lever 463 can be operated along the up-down direction D1. When the gate lock lever 463 is in the "up position" which is the upper end position of the movable range, the gate lock switch 462 is "off", and when the gate lock lever 463 is in the "down position" which is the lower end position of the movable range, the gate lock switch 462 is "on". The gate lock switch 462 is connected to the control system 1, and the on / off of the gate lock switch 462 is monitored by the control system 1.

[0041] Therefore, when the gate lock lever 463 is in the "down position", the first control valve 461 is energized, and the hydraulic actuator (hydraulic cylinder 44, etc.) is driven by operation of the operation device 35. In contrast, when the gate lock lever 463 is in the "up position", the first control valve 461 is deenergized, and the hydraulic actuator is forcibly stopped without operation of the operation device 35. Therefore, to drive the hydraulic actuator (hydraulic cylinder 44, etc.), the user (operator) needs to operate the gate lock lever 463 to the "down position".

[0042] Furthermore, since each of the swivel unit 32 and the traveling unit 31 is operated by hydraulic oil being supplied from the hydraulic pump 41 to a hydraulic actuator (hydraulic motor 43, etc.), when the gate lock lever 463 is in the "up position", the swivel unit 32 and the traveling unit 31 are also disabled. In other words, when the gate lock lever 463 is in the "up position", the working unit 33, the swivel unit 32 and the traveling unit 31 are all forcibly disabled from being driven.

[0043] In short, when the gate lock switch 462 is off, it is in a "locked state" in which the operation of the work machine 3 is restricted (including prohibited), and when it is on, it is in an "unlocked state" in which the operation of the work machine 3 is not restricted. And when the gate lock lever 463 is in the "up position" and the gate lock switch 462 is in a locked state (off), the operation of the work machine 3 is forcibly restricted without the operation of the operating device 35. The gate lock lever 463 is a lever that is operated when locking the operation of the work machine 3 in this way, and is synonymous with the cut-off lever.

[0044] The operation device 35 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). The operation device 35 receives various operations from the user, for example, by outputting an electrical signal (operation signal) in response to the user's operation.

[0045] The sound output unit 36 ​​outputs sound (including voice) to the user (operator). The sound output unit 36 ​​includes a buzzer, a speaker, or the like, and outputs sound upon receiving an electric signal. The sound output unit 36 ​​is connected to the control system 1, and outputs sound such as a beep or voice in response to a sound control signal from the control system 1. In this embodiment, the sound output unit 36 ​​is provided in the driving unit 321 of the machine body 30, similar to the display device 2. The sound output unit 36 ​​may be provided integrally with the display device 2.

[0046] The control system 1 mainly comprises a computer system having one or more processors, such as a CPU (Central Processing Unit), and one or more memories, such as a ROM (Read Only Memory) and a RAM (Random Access Memory), and executes various processes (information processing). In this embodiment, the control system 1 is an integrated controller that controls the entire work machine 3, and is composed of, for example, an electronic control unit (ECU). However, the control system 1 may be provided separately from the integrated controller, or may be mainly composed of one processor or multiple processors. The control system 1 will be described in detail in the section "[2] Configuration of the control system".

[0047] The display device 2 is disposed in the driving section 321 of the machine body 30, and is a user interface for receiving operation inputs by a user (operator) and outputting various information to the user. The display device 2 receives various operations by the user, for example, by outputting an electrical signal in response to the user's operation. This allows the user (operator) to visually check the display screen Dp1 (see FIG. 4) displayed on the display device 2, and also allows the user (operator) to operate the display device 2 as necessary.

[0048] 2, the display device 2 includes a control unit 21, an operation unit 22, and a display unit 23. The display device 2 is configured to be able to communicate with the control system 1, and is able to send and receive data between the display device 2 and the control system 1. In this embodiment, as an example, the display device 2 is a dedicated device used in the work machine 3.

[0049] The control unit 21 controls the display device 2 in accordance with data from the control system 1. Specifically, the control unit 21 outputs an electrical signal in response to a user's operation received by the operation unit 22, and displays a display screen Dp1 generated by the control system 1 on the display unit 23.

[0050] The operation unit 22 is a user interface for accepting operation input by a user (operator) to the display screen Dp1 displayed on the display unit 23. The operation unit 22 accepts various operations by the user U1 (see FIG. 4), for example, by outputting an electric signal according to the operation of the user U1. As an example in the present embodiment, the operation unit 22 includes a plurality of (six here) mechanical push button switches 221-226 as shown in FIG. 4. These plurality of push button switches 221-226 are arranged close to the display area (lower in the example of FIG. 4) so ​​as to follow the periphery of the display area of ​​the display unit 23. These plurality of push button switches 221-226 are associated with items displayed on the display screen Dp1 described later, and by operating any one of the plurality of push button switches 221-226, any one of the items on the display screen Dp1 is operated (selected).

[0051] Furthermore, the operation unit 22 may include a touch panel, an operation dial, etc. In this case as well, an operation on the operation unit 22 causes an operation (selection) of any item on the display screen Dp1.

[0052] The display unit 23 is a user interface for presenting information to the user U1 (operator), such as a liquid crystal display or an organic EL display that displays various information. The display unit 23 presents various information to the user by display. In the present embodiment, as an example, the display unit 23 is a full-color liquid crystal display with a backlight, and has a "landscape-long" display area that is long in the horizontal direction, as shown in FIG. 4.

[0053] In addition to the above-mentioned configuration, the machine body 30 is further equipped with a communication terminal, a fuel tank, a battery, etc. Furthermore, the machine body 30 is equipped with various sensors (including cameras) for detecting detection targets in the monitoring area around the work machine 3, such as a camera that captures images of the periphery of the machine body 30.

[0054] [2] Control system configuration Next, the configuration of the control system 1 according to this embodiment will be described with reference to Fig. 2. The control system 1 controls each part of the machine body 30 (including the traveling section 31, the rotating section 32, the working section 33, etc.). In this embodiment, the control system 1 is a component of the work machine 3, and constitutes the work machine 3 together with the machine body 30, etc. In other words, the work machine 3 according to this embodiment includes at least the control system 1 and the machine body 30.

[0055] As shown in Fig. 2, the control system 1 includes an acquisition processing unit 11, a restriction processing unit 12, a determination processing unit 13, a detection processing unit 14, a notification processing unit 15, and a release processing unit 16. In this embodiment, as an example, the control system 1 is mainly configured as a computer system having one or more processors, and these multiple functional units (the acquisition processing unit 11, etc.) are realized by the one or more processors executing a work machine control program. These multiple functional units included in the control system 1 may be provided in a distributed manner across multiple housings, or may be provided in a single housing.

[0056] The control system 1 is configured to be able to communicate with devices provided in each part of the machine body 30. That is, at least the display device 2, the left camera 341, the right camera 342, the rear camera 343, the sound output unit 36, the gate lock switch 462, the second control valve 471, the solenoid proportional valve 492, and the engine control unit 493 are connected to the control system 1. As a result, the control system 1 can control the display device 2 and the sound output unit 36, and obtain images captured by the left camera 341, the right camera 342, and the rear camera 343, etc. Here, the control system 1 may directly exchange various information (data) with each device, or indirectly via a repeater or the like. The control system 1 and the devices provided in each part of the machine body 30 can communicate with each other by a communication method such as CAN (Controller Area Network), for example.

[0057] The acquisition processing unit 11 executes an acquisition process for acquiring the detection result of the object Ob1 around the body 30 of the work machine 3 in a state where at least the work machine 3 cannot be operated. Specifically, in this embodiment, the detection processing unit 14 detects the object Ob1 around the body 30 based on the output of the left camera 341, the right camera 342, and the rear camera 343. Therefore, the acquisition processing unit 11 acquires the detection result of the object Ob1 around the body 30 from the detection processing unit 14. In this embodiment, as an example, the object Ob1 is a "person." In other words, when the work machine 3 moves or the "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 processing unit 14 detects the "person" as the object Ob1. When multiple objects Ob1 exist in the monitoring area A1, the detection processing unit 14 may also detect the number (number of people) of objects Ob1.

[0058] The "state in which the work machine 3 cannot be operated" here means a state in which the work machine 3 is not driven by operation of the operating device 35, and includes at least a state in which the gate lock lever 463 is in the "up position" and the gate lock switch 462 is off. Furthermore, the "state in which the work machine 3 cannot be operated" includes, for example, a state in which the ignition of the work machine 3 is off (i.e., the engine 40 is stopped) and a state in which the main power supply of the work machine 3 is off. Conversely, the "state in which the work machine 3 can be operated" means a state in which the work machine 3 is driven by operation of the operating device 35, and includes at least a state in which the gate lock lever 463 is in the "down position" and the gate lock switch 462 is on. Furthermore, the "state in which the work machine 3 can be operated" includes, for example, a state in which the ignition of the work machine 3 is on (i.e., the engine 40 is running) and a state in which the main power supply of the work machine 3 is on. As an example in this embodiment, a state in which the gate lock lever 463 is in the "raised position" is defined as a "state in which the work machine 3 cannot be operated", and a state in which the gate lock lever 463 is in the "lowered position" is defined as a "state in which the work machine 3 can be operated".

[0059] That is, the acquisition processing unit 11 has a function of acquiring detection results of an object Ob1 around the machine body 30 at least when the gate lock lever 463 is in the "up position". However, in this embodiment, the acquisition processing unit 11 acquires detection results of an object Ob1 around the machine body 30 not only in a state in which the work machine 3 cannot be operated, but also in a state in which the work machine 3 can be operated. In other words, regardless of whether the gate lock lever 463 is in the "up position" or the "down position", the acquisition processing unit 11 acquires detection results of an object Ob1 around the machine body 30 from the detection processing unit 14 periodically or irregularly. When distinguishing between detection results acquired in a "state in which the work machine 3 cannot be operated" and detection results acquired in a "state in which the work machine 3 can be operated", the former are called "detection results when stopped" and the latter are called "detection results when normal".

[0060] When the detection result acquired in a state in which the work machine 3 cannot be operated (detection result when stopped) satisfies a predetermined condition, and the gate lock lever 463 is operated to put the work machine 3 in a state in which it can be operated, the restriction processing unit 12 executes restriction processing to put the work machine 3 into a restricted state in which it can be operated in a limited manner. In other words, when the detection result acquired by the acquisition processing unit 11 in a state in which the work machine 3 cannot be operated (a state in which the gate lock lever 463 is in the "up position") satisfies a predetermined condition, when the gate lock lever 463 is operated from the "up position" to the "down position", the restriction processing unit 12 puts the work machine 3 into a restricted state in which it can be operated in a limited manner.

[0061] The "predetermined condition" here is a condition imposed on the detection result (detection result at the time of stopping) in order to put the work machine 3 into a restricted state in which it can be operated in a limited manner (to execute the restriction process), and includes, for example, the presence of an object Ob1 in the monitoring area A1 around the machine body 30. Furthermore, the "predetermined condition" may include, for example, in addition to or instead of the presence of the object Ob1 in the monitoring area A1, that the object Ob1 has a specific attribute, that the object Ob1 exists in the monitoring area A1 for a predetermined time or more, or that the object Ob1 exists in a specific position around the machine body 30 (for example, a position in the blind spot of the operator, or a position within a certain distance from the machine body 30). The "specific attribute" here includes, for example, that the object Ob1 is moving, that the object Ob1 is other than a worker (a general person), or that a predetermined number or more of objects Ob1 exist. In this embodiment, as an example, the presence of an object Ob1 (here, a "person") in the monitoring area A1 is set as the "predetermined condition".

[0062] Furthermore, the "restricted state" referred to here means a state in which the work machine 3 can be operated in a limited manner, not a state in which the work machine 3 cannot be operated at all, but a state in which the work machine 3 can be operated with some kind of restriction. As an example, the "restricted state" includes a state in which the work machine 3 can be operated only for a certain time, a state in which the work machine 3 can be operated only within a certain distance, a state in which the operating speed of a hydraulic actuator is restricted, a state in which the movable range of a hydraulic actuator is restricted, a state in which an operation target (such as a specific hydraulic actuator) is restricted, a state in which specific operations such as swinging and deploying of the work machine 3 are prohibited, or combinations of these.

[0063] In short, when the gate lock lever 463 is operated from the "up position" to the "down position" when the detection result during stoppage satisfies a predetermined condition due to the presence of an object Ob1 (here, a "person") in the monitoring area A1 while the work machine 3 cannot be operated, the restriction processing unit 12 puts the work machine 3 into a restricted state. This switches the state of the work machine 3 from a state in which it cannot be driven even if the operating device 35 is operated to a state in which it can be driven in response to the operation of the operating device 35, although some restrictions are imposed.

[0064] The determination processing unit 13 performs the determination of whether the "work machine 3 cannot be operated" or "is in a state where the work machine 3 can be operated" and the determination of whether the detection result at the time of stoppage satisfies a predetermined condition. That is, the determination processing unit 13 determines whether the gate lock lever 463 is in the "up position" or the "down position" based on at least an input signal from the gate lock switch 462. If the gate lock switch 462 is off, the determination processing unit 13 determines that the gate lock lever 463 is in the "up position", that is, the "work machine 3 cannot be operated". In addition, the determination processing unit 13 outputs the determination result to at least the restriction processing unit 12. As a result, the restriction processing unit 12 sets the work machine 3 to a restricted state where it can be operated in a limited manner when the gate lock lever 463 is operated to the "down position" when the detection result at the time of stoppage satisfies a predetermined condition.

[0065] The detection processing unit 14 detects an object Ob1 in a monitoring area A1 around the machine body 30. That is, the detection processing unit 14 judges the presence or absence (presence or absence) of the object Ob1 in the monitoring area A1, and outputs a detection result indicating whether or not the object Ob1 exists in the monitoring area A1. Specifically, in this embodiment, the detection processing unit 14 acquires the outputs of the left camera 341, the right camera 342, and the rear camera 343 from the left camera 341, the right camera 342, and the rear camera 343 periodically or irregularly. That is, the detection processing unit 14 acquires image data of the monitoring area A1 (each of the small areas A11, A12, A13) around the work machine 3. The data acquired by the detection processing unit 14 is stored in, for example, a memory or the like. Then, the detection processing unit 14 detects the object Ob1 in the monitoring area A1 based on the outputs (image data) of the left camera 341, the right camera 342, and the rear camera 343.

[0066] Specifically, the detection processing unit 14 performs image processing on the acquired image data to extract features in the image, and determines whether or not an object Ob1 (in this embodiment, a person) is captured in the image based on the features. If the object Ob1 is captured in the image, the detection processing unit 14 determines whether the object Ob1 is captured in an image captured by the left camera 341, the right camera 342, or the rear camera 343. In other words, the detection processing unit 14 detects the object Ob1 by distinguishing whether the object Ob1 exists in the small area A11 captured by the left camera 341, the small area A12 captured by the right camera 342, or the small area A13 captured by the rear camera 343.

[0067] The notification processing unit 15 executes a notification process for making a notification based on the detection result of the detection processing unit 14, that is, the detection result of the object Ob1 in the monitoring area A1 around the machine body 30. In the present disclosure, "notification" means notifying the user (operator) by various means, and includes, for example, sound (including voice), display (including lighting of an indicator light), transmission to another terminal, or writing to a non-transitory recording medium. In the present embodiment, as an example, when the object Ob1 exists in the monitoring area A1 around the machine body 30, the notification processing unit 15 causes the display unit 23 of the display device 2 to display that fact and causes the sound output unit 36 ​​to output a notification sound. The notification sound may be a simple beep sound or a voice such as "Please be careful". Furthermore, the notification content (display content and notification sound) may change according to the detection result of the detection processing unit 14 (the position of the object Ob1, the distance from the machine body 30 to the object Ob1, etc.).

[0068] The release processing unit 16 executes release processing to end the restricted state when at least one of the detection items related to the detection results (when stopped) and the operation items related to the operation state of the work machine 3 satisfy the release condition in the restricted state. When the restriction processing unit 12 executes the restriction processing and the work machine 3 is in the restricted state, if at least one of the detection items and the operation items satisfy the release condition, the release processing unit 16 ends the restricted state. When the restricted state ends, the state of the work machine 3 (or the control system 1) transitions to a "state in which the work machine 3 cannot be operated" or a "state in which the work machine 3 can be operated." As an example in this embodiment, after the end of the restricted state, the work machine 3 transitions to a state in which it cannot be operated.

[0069] The "detection items" referred to here are various items related to the detection results when the vehicle is stopped, and include, for example, the detection results when the vehicle is stopped, such as the presence or absence of the object Ob1, and the operating status of the left camera 341, the right camera 342, and the rear camera 343 related to the detection of the object Ob1. Examples of the release conditions related to the detection items include the fact that the same object Ob1 is detected multiple times in the detection results when the vehicle is stopped, that the object Ob1 is moving in a direction approaching the vehicle 30, that the object Ob1 is present in a specific position around the vehicle 30 (for example, a position that is a blind spot for the operator, or a position within a certain distance from the vehicle 30), or that an abnormality (failure) has occurred in the detection means (camera, etc.). The abnormality in the detection means refers to an abnormality (failure, etc.) in any of the left camera 341, the right camera 342, the rear camera 343, or the lighting device that illuminates the monitoring area A1, and means a state in which the object Ob1 cannot be detected normally.

[0070] The "operation items" referred to here are various items related to the operational state of the work machine 3, and include, for example, specific operational statuses of the operation device 35. Examples of release conditions related to the operation items include an emergency stop operation being performed in the operation device 35, a sudden operation being performed in the operation device 35 that leads to sudden driving of the work machine 3 or a sudden stop of the work machine 3, or the operator's hand being released from the operation lever of the operation device 35, etc.

[0071] That is, the release processing unit 16 ends the restricted state when the detection items and / or operation items as described above satisfy the release conditions in the restricted state, and switches the state of the work machine 3 (or the control system 1) to a state in which the work machine 3 cannot be operated. In the present embodiment, as an example, the determination of whether the release conditions are satisfied is executed by the determination processing unit 13, and the release processing unit 16 executes a release process to end the restriction process in response to the determination result of the determination processing unit 13 regarding the release conditions. Here, the release conditions only need to be determined for at least one of the detection items and the operation items, and the release conditions may be set only for the detection items, the release conditions may be set only for the operation items, or the release conditions may be set for both the detection items and the operation items. When the release conditions are set for both the detection items and the operation items, the release processing unit 16 may end the restricted state if the release conditions of either the detection items or the operation items are satisfied, or may end the restricted state only when the release conditions of both the detection items and the operation items are satisfied.

[0072] In addition, in this embodiment, the release processing unit 16 forcibly ends the restricted state not only when the detection item and / or operation item satisfy the release condition, but also when the permissible time has elapsed since the start of the restricted state. That is, the restricted state ends when the permissible time has elapsed. In this embodiment, as an example, even if the permissible time has elapsed, after the end of the restricted state, the working machine 3 transitions to a state in which it cannot be operated. The "permissible time" here is the upper limit of the time during which the restricted state can be sustained, and may be a fixed time that is set regardless of the operating status of the working machine 3, or may be a variable-length time whose length changes depending on the operating details of the working machine 3 (for example, the operating speed of the hydraulic actuator, etc.). In addition, the release processing unit 16 may count the permissible time only while the working machine 3 is actually operating, and may stop counting the permissible time while the working machine 3 is stopped. In this embodiment, as an example, the permissible time is a fixed time (for example, 1 second, 2 seconds, or 5 seconds, etc.).

[0073] [3] Control method for work machine An example of a control method for the work machine 3 executed mainly by the control system 1 (hereinafter simply referred to as a "control method") will be described below with reference to Figs. 5 to 7.

[0074] The control method according to this embodiment is executed by a control system 1 having a computer system as its main component, and in other words is embodied in a work machine control program (hereinafter simply referred to as a "control program"). In other words, the control program according to this embodiment is a computer program for causing one or more processors to execute each process related to the control method. Such a control program may be executed, for example, by the control system 1 and the display device 2 in cooperation with each other.

[0075] Here, the control system 1 executes the various processes described below relating 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 40 of the work machine 3 (ignition on). On the other hand, the control system 1 ends the various processes described below relating to the control method when a specific, preset end operation is performed. The end operation is, for example, an operation to stop the engine 40 of the work machine 3 (ignition off).

[0076] [3.1] General operation First, the control method according to this embodiment, that is, the general operation of the control system 1 according to this embodiment, will be described with reference to Fig. 5. If one considers that there are three states (modes) of the work machine 3 (or the control system 1), namely, a "state in which the work machine 3 cannot be operated", a "state in which the work machine 3 can be operated", and a "restricted state", these three modes transition as shown in Fig. 5. Strictly speaking, the "restricted state" is also a type of "state in which the work machine 3 can be operated" in which the gate lock lever 463 is in the "down position", but in Fig. 5, a distinction is made between the "state in which the work machine 3 can be operated" and the "restricted state".

[0077] The control method according to this embodiment is premised on the premise that, because the gate lock lever 463 is in the "up position" and the gate lock switch 462 is off, an object Ob1 in the vicinity of the machine body 30 can be detected even in a state in which the work machine 3 cannot be operated. In other words, if the gate lock lever 463 is in the "up position", the detection processing unit 14 of the control system 1 continues the process of detecting an object Ob1 in the vicinity of the machine body 30, even though the work machine 3 cannot be operated.

[0078] Here, the control method according to this embodiment includes obtaining a detection result of an object Ob1 around the machine body 30 of the work machine 3 in a state in which the work machine 3 cannot be operated, and, when the detection result satisfies a predetermined condition, placing the work machine 3 in a restricted state in which it can be operated in a limited manner when the gate lock lever 463 is operated to place the work machine 3 in a state in which it can be operated. In other words, the acquisition processing unit 11 of the control system 1 obtains a detection result of an object Ob1 around the machine body 30 (detection result when stopped) in a state in which the gate lock lever 463 is in the "up position" and the work machine 3 cannot be operated. Then, when this detection result satisfies a predetermined condition, when the gate lock lever 463 is operated from the "up position" to the "down position", the restriction processing unit 12 of the control system 1 places the work machine 3 in a restricted state in which it can be operated in a limited manner.

[0079] Furthermore, the control method according to this embodiment further includes terminating the restricted state when at least one of the detection items related to the detection results (when stopped) and the operation items related to the operation state of the work machine 3 satisfies a release condition in the restricted state. In other words, the release processing unit 16 of the control system 1 terminates the restricted state when at least one of the detection items and the operation items satisfies the release condition. Furthermore, the restricted state also terminates when the allowed time has elapsed, so even if the release condition is not satisfied, the restricted state will terminate if the allowed time has elapsed after the start of the restricted state. Then, after the end of the restricted state, the work machine 3 transitions to a state in which it cannot be operated.

[0080] As a result, when the gate lock lever 463 is operated to the "raised position" in a "state in which the work machine 3 can be operated", the state (mode) of the work machine 3 (or the control system 1) transitions to a "state in which the work machine 3 cannot be operated". Conversely, in a "state in which the work machine 3 cannot be operated", when the detection result does not satisfy the predetermined condition and the gate lock lever 463 is operated to the "lowered position", the state (mode) of the work machine 3 (or the control system 1) transitions to a "state in which the work machine 3 can be operated".

[0081] Furthermore, in the "state in which the work machine 3 cannot be operated", if the detection result satisfies a predetermined condition and the gate lock lever 463 is operated to the "down position", the state (mode) of the work machine 3 (or the control system 1) transitions to the "restricted state". In the "restricted state", if at least one of the detection item and the operation item satisfies the release condition or the allowed time has elapsed, the "restricted state" ends and the state (mode) of the work machine 3 (or the control system 1) transitions to the "state in which the work machine 3 cannot be operated".

[0082] [3.2] Display screen Next, the configuration of the display screen Dp1 displayed on the display unit 23 of the display device 2 by the control method according to this embodiment will be described with reference to Fig. 6. In the drawings showing the display screen Dp1 displayed on the display unit 23 of the display device 2 such as Fig. 6, the dashed dotted lines, leader lines and reference symbols representing areas are all added merely for the purpose of explanation and are not actually displayed on the display device 2.

[0083] As shown in FIG. 6, the display screen Dp1 displays captured images Im11, Im12, and Im13 of the monitoring area A1, and detection result information I1, I2, and the like that indicate the detection results of the detection processing unit 14. In FIG. 6, only an area R1 of the display screen Dp1 in which captured images Im11, Im12, and Im13 of the monitoring area A1 are displayed is shown, and areas other than the area R1 are omitted from the illustration. The captured image Im11 is an image of the small area A11 to the left of the driving unit 321 captured by the left camera 341, and the captured image Im12 is an image of the small area A12 to the right of the driving unit 321 captured by the right camera 342. The captured image Im13 is an image of the small area A13 behind the driving unit 321 captured by the rear camera 343.

[0084] The control system 1 displays in real time the captured images Im11, Im12, and Im13 acquired by the detection processing unit 14. An icon Im10 that resembles the aircraft 30 as viewed from the information is displayed in the center of the area R1. The icon Im10 diagrammatically represents the positional relationship of the imaging ranges (small areas A11, A12, and A13) of the left camera 341, right camera 342, and rear camera 343 as viewed from the aircraft 30.

[0085] The detection result information I1 is a band-shaped (frame-shaped) image that highlights the captured image including the object Ob1 among the captured images Im11, Im12, and Im13. The detection result information I2 is an image that indicates the direction in which the object Ob1 exists as viewed from the driving unit 321. In the example of FIG. 6, it is assumed that the object Ob1 (here, a "person") exists in the small area A11 to the left of the driving unit 321, which is captured by the left camera 341. Therefore, the captured image Im11 among the captured images Im11, Im12, and Im13 is highlighted by the detection result information I1, and the detection result information I2 indicating that the object Ob1 exists to the left of the driving unit 321 is displayed below the captured image Im11.

[0086] It is preferable that the display manner of the detection result information I1, I2 is changed depending on the position of the object Ob1 in the monitoring area A1. For example, the display manner of the detection result information I1, I2, such as the display color, size, or display pattern (including blinking pattern, etc.), is changed depending on the position of the object Ob1 in the monitoring area A1. For example, the closer the object Ob1 is to the aircraft 30, the more the display manner of the detection result information I1, I2 is changed to a more conspicuous display color. As an example, when the object Ob1 approaches the aircraft 30, the display color of the detection result information I1, I2 changes from yellow to red.

[0087] In this way, the display screen Dp1 not only displays the captured images Im11, Im12, and Im13 of the monitoring area A1, but also displays the detection result of the object Ob1 in the monitoring area A1 as detection result information I1 and I2. Therefore, the operator (user U1) can easily check the presence or absence (existence) of the object Ob1 in the monitoring area A1 by looking at the display screen Dp1. This allows the operator (user U1) to check the situation of the sides and rear of the work machine 3, which are likely to be blind spots from the driving unit 321, on the display screen Dp1 displayed on the display device 2. Therefore, compared to a configuration in which only the detection result information I1 and I2 are displayed, when the object Ob1 exists in the monitoring area A1, the situation of the object Ob1 can be easily grasped in detail on the display screen Dp1.

[0088] [3.3] Specific actions Next, details of the control method according to this embodiment, that is, the specific operation of the control system 1, will be described with reference to the flowchart of FIG.

[0089] As a premise, when the gate lock lever 463 is in the "lowered position" and in a "state in which the work machine 3 can be operated", the control system 1 is able to operate the work machine 3 in response to the operation of the operating device 35 without particularly restricting the operation of the work machine 3. On the other hand, when the gate lock lever 463 is operated from the "lowered position" to the "raised position", the control system 1 starts processing as exemplified in the flowchart of FIG.

[0090] That is, as shown in Fig. 7, the control system 1 starts the processing of step S2 and thereafter, triggered by the gate lock lever 463 being operated from the "down position" to the "up position" (S1: Yes). Here, the determination processing unit 13 of the control system 1 determines whether the gate lock lever 463 is in the "up position" or the "down position" depending on whether the gate lock switch 462 is on or off, and determines that the gate lock lever 463 has been operated to the "up position" (S1: Yes) when the gate lock switch 462 is switched from on to off. Here, when the gate lock lever 463 is in the "up position", the gate lock switch 462 is turned off, and the first control valve 461 of the first restriction unit 46 on the primary pressure side of the pilot oil passage is shut off, resulting in a "state in which the working machine 3 cannot be operated".

[0091] In step S2, the acquisition processing unit 11 of the control system 1 acquires the detection result of the object Ob1 around the aircraft 30 from the detection processing unit 14. That is, the detection processing unit 14 outputs the detection result indicating whether or not the object Ob1 exists in the monitoring area A1 based on the outputs of the left camera 341, the right camera 342, and the rear camera 343. The acquisition processing unit 11 acquires the detection result from the detection processing unit 14 (when stopped).

[0092] In step S3, the determination processing unit 13 of the control system 1 determines whether the stop-time detection result satisfies a predetermined condition. At this time, if an object Ob1 (here, a "person") is present in the monitoring area A1, the determination processing unit 13 determines that the stop-time detection result satisfies the predetermined condition (S3: Yes), and shifts the process to step S4. On the other hand, if an object Ob1 (here, a "person") is not present in the monitoring area A1, the determination processing unit 13 determines that the stop-time detection result does not satisfy the predetermined condition (S3: No), and shifts the process to step S10.

[0093] In step S4, the notification processing unit 15 of the control system 1 notifies the operator of the detection result of the detection processing unit 14, that is, the presence of the object Ob1 in the monitoring area A1 around the machine body 30. At this time, the notification processing unit 15 displays the detection result information I1, I2 (see FIG. 6) on the display unit 23 of the display device 2 and outputs a notification sound from the sound output unit 36. Therefore, the operator (user U1) can recognize that the object Ob1 exists around the machine body 30. However, when the gate lock lever 463 is in the "up position", that is, in the "state in which the work machine 3 cannot be operated", for example, the notification processing unit 15 does not need to output the notification sound from the sound output unit 36. As a result, the operator (user U1) can recognize that the object Ob1 exists around the machine body 30 from the display, but is freed from the annoyance of the notification sound.

[0094] In step S5, it is determined whether the gate lock lever 463 has been operated from the "upper position" to the "lower position". At this time, the determination processing unit 13 of the control system 1 determines whether the gate lock lever 463 is in the "upper position" or the "lower position" depending on whether the gate lock switch 462 is on or off, and when the gate lock switch 462 switches from off to on, it determines that the gate lock lever 463 has been operated to the "lower position" (S5: Yes) and shifts the predetermined process to step S6. On the other hand, when the determination processing unit 13 determines that the gate lock lever 463 has not been operated to the "lower position" (S5: No), it shifts the predetermined process to step S2.

[0095] In step S6, the restriction processing unit 12 of the control system 1 executes restriction processing and initiates a restricted state in which the work machine 3 can be operated in a limited manner. In other words, when the detection result acquired in a state in which the work machine 3 cannot be operated (detection result when stopped) satisfies a predetermined condition (S3: Yes), and the gate lock lever 463 is operated to bring the work machine 3 into a state in which it can be operated (S5: Yes), the restriction processing unit 12 brings the work machine 3 into a restricted state in which it can be operated in a limited manner.

[0096] At this time, the restriction processing unit 12 may set the work machine 3 in a restricted state in which it can be operated only for a certain period of time, but in this embodiment, the restriction processing unit 12 sets the work machine 3 in an operable state after imposing restrictions on the operation of the work machine 3 itself. That is, in the restricted state, the work machine 3 is operated in a state in which the operation mode of the work machine 3 is restricted. This makes it possible to operate the work machine 3 more carefully than in a configuration in which the work machine 3 operates perfectly only for a certain period of time. This makes it easier to avoid the work machine 3 approaching or coming into contact with an object Ob1 present around the machine body 30.

[0097] More specifically, in the restricted state, at least the operating speed of the work machine 3 is restricted. That is, in this embodiment, the restriction processing unit 12 realizes the restricted state by slowing down at least the operating speed (of the hydraulic actuator, etc.) of the work machine 3 as the operating mode of the work machine 3. For example, when the operating speed of the work machine 3 changes according to the amount of operation of the operation lever of the operating device 35, the restriction processing unit 12 restricts the operating speed of the work machine 3 as a whole so that the operating speed is about several tens of percent (for example, 20% or 50%) of the operating speed of the work machine 3 in normal times for the same amount of operation. This prohibits sudden operations of the work machine 3, making it easier to avoid the work machine 3 approaching or coming into contact with the object Ob1 present around the vehicle body 30. Furthermore, by slowing down the operating speed of the work machine 3 compared to normal times, it also leads to alerting the operator (user U1) to the presence of the object Ob1 around the vehicle body 30.

[0098] Specifically, the operating speed is limited by controlling at least one of the flow rate of the hydraulic pump 41 that supplies hydraulic oil, the rotation speed of the engine 40 that drives the hydraulic pump 41, and the pilot pressure. In this embodiment, the limitation processing unit 12 limits the operating speed of the work machine 3 to a limited state in step S6 by controlling at least one of the flow rate of the hydraulic pump 41, the rotation speed of the engine 40 that drives the hydraulic pump 41, and the pilot pressure.

[0099] In other words, the restriction processing unit 12 controls the solenoid proportional valve 492 of the flow rate restriction unit 49 to reduce the pilot pressure input to the control signal input port 491 and reduce the tilt angle of the swash plate of the hydraulic pump 41. When the tilt angle of the swash plate of the hydraulic pump 41 decreases, the discharge amount (flow rate) of the hydraulic oil from the hydraulic pump 41 decreases, and the operating speed of the hydraulic actuator driven by the hydraulic oil decreases. If the hydraulic pump 41 is a variable displacement pump, the restriction processing unit 12 can easily reduce the operating speed of the work machine 3 by such control.

[0100] Similarly, the restriction processing unit 12 can control the rotation speed of the engine 40 by the engine control unit 493 of the flow rate restriction unit 49, and reduce the rotation speed of the engine 40 (the rotation speed of the hydraulic pump 41). As a result, when the rotation speed of the hydraulic pump 41 is reduced, the discharge amount (flow rate) of the hydraulic oil of the hydraulic pump 41 is reduced, and the operating speed of the hydraulic actuator driven by the hydraulic oil is reduced. In short, by switching the rotation speed of the engine 40 from the high idle rotation speed to the low idle rotation speed, the restriction processing unit 12 can easily reduce the operating speed of the work machine 3. Moreover, in this case, the fluctuation in the sound of the engine 40 can also alert the operator (user U1) to the presence of an object Ob1 around the machine body 30.

[0101] Similarly, the restriction processing unit 12 can reduce the flow rate of the pilot oil supplied from the pilot pump 42 to the remote control valve 45 by controlling the second control valve 471 of the second restriction unit 47, thereby reducing the pilot pressure. The reduction (reducing) of the pilot pressure reduces the opening amount of the spool of the directional control valve 48, and in the case where the control of the hydraulic pump 41 is LS (Load Sensing) control, when the opening amount of the spool decreases, the flow rate of the hydraulic pump 41 decreases in order to keep the LS differential pressure constant, and the operating speed of the hydraulic actuator driven by the hydraulic oil decreases. In addition, even if the control of the hydraulic pump 41 is negative control, as the opening amount of the spool decreases, the opening of the spool to the open center flow path connected to the tank increases, and the negative control pressure detected downstream increases. As a result, the flow rate of the hydraulic pump 41 decreases, and the operating speed of the hydraulic actuator driven by the hydraulic oil decreases. Furthermore, in the case of positive control, for example, when the gate lock lever 463 is in the "up position", the operation of the operating device 35 is detected and the flow rate of the hydraulic pump 41 is reduced, and even if the gate lock lever 463 is operated to the "down position", the reduction in the flow rate of the hydraulic pump 41 is maintained. By such control, the restriction processing unit 12 can easily reduce the operating speed of the work machine 3.

[0102] In step S7, the determination processing unit 13 of the control system 1 determines whether or not at least one of the detection items and the operation items satisfies the release condition. At this time, if there is an abnormality in the detection means such as the left camera 341, the right camera 342, or the rear camera 343, and the object Ob1 cannot be detected normally, the determination processing unit 13 determines that the detection items satisfy the release condition (S7: Yes) and shifts the process to step S9. On the other hand, if neither the detection items nor the operation items satisfy the release condition (S7: No), the determination processing unit 13 shifts the process to step S8.

[0103] In step S8, the release processing unit 16 of the control system 1 determines whether or not the allowable time has elapsed since the start of the restricted state (S6). At this time, the release processing unit 16 compares the elapsed time from the start of the restricted state (S6) with the allowable time, and if the elapsed time reaches the allowable time, it determines that the allowable time has elapsed (S8: Yes), and shifts the process to step S9. On the other hand, if the elapsed time has not reached the allowable time, it determines that the allowable time has not elapsed (S8: No), and shifts the process to step S7.

[0104] In step S9, the release processing unit 16 of the control system 1 ends the restricted state. That is, after the start of the restricted state (S6), if the detection item and / or the operation item satisfy the release condition (S7: Yes) or if the permissible time has elapsed (S8: Yes), the release processing unit 16 ends the restricted state. At this time, the release processing unit 16 releases the restriction on the operation mode (operation speed) of the work machine 3 imposed by the restriction processing unit 12. Specifically, if the restriction processing unit 12 reduces the flow rate of the hydraulic pump 41, the release processing unit 16 increases the flow rate of the hydraulic pump 41 (for example, to a maximum value). Also, if the restriction processing unit 12 reduces the rotation speed of the engine 40, the release processing unit 16 increases the rotation speed of the engine 40, and if the restriction processing unit 12 reduces the pilot pressure, the release processing unit 16 increases the pilot pressure.

[0105] In this embodiment, when the restricted state ends, the state (mode) of the work machine 3 (or control system 1) transitions to a "state in which the work machine 3 cannot be operated". Therefore, in step S9, the restriction on the operation mode (operating speed) of the work machine 3 by the restriction processing unit 12 is released, but the release processing unit 16 puts the work machine 3 in a "state in which the work machine 3 cannot be operated", for example, by putting the second control valve 471 of the second restriction unit 47 in a shutoff state. In other words, if the second control valve 471 is in a shutoff state, even if the gate lock lever 463 is in the "down position", the work machine 3 is put in a "state in which the work machine 3 cannot be operated", just as if the gate lock lever 463 is in the "up position".

[0106] In step S10, it is determined whether the gate lock lever 463 has been operated from the "upper position" to the "lower position". At this time, the determination processing unit 13 of the control system 1 determines whether the gate lock lever 463 is in the "upper position" or the "lower position" depending on whether the gate lock switch 462 is on or off, and when the gate lock switch 462 switches from off to on, it determines that the gate lock lever 463 has been operated to the "lower position" (S10: Yes), sets the "work machine 3 in a state in which it can be operated", and ends the series of processes. On the other hand, when the determination processing unit 13 determines that the gate lock lever 463 has not been operated to the "lower position" (S10: No), it transitions to the predetermined step S2.

[0107] However, in step S10 when it is determined that the predetermined condition is satisfied (S3: Yes), the gate lock lever 463 is already in the "lowered position" (S5: Yes). Therefore, in this case, the gate lock lever 463 is determined to have been operated to the "lowered position" (S10: Yes) when it is operated to the "lowered position" after being operated once to the "upper position". Then, the release processing unit 16 switches from a "state in which the work machine 3 cannot be operated" to a "state in which the work machine 3 can be operated" by opening the second control valve 471 of the second restriction unit 47.

[0108] The control system 1 repeatedly executes the processes of steps S1 to S10 described above. However, the flowchart shown in Fig. 7 is merely an example, and processes may be added or omitted as appropriate, and the order of the processes may be changed as appropriate.

[0109] As described above, the control method according to this embodiment includes obtaining a detection result of an object Ob1 around the machine body 30 of the work machine 3 in a state in which the work machine 3 cannot be operated, and when the detection result satisfies a predetermined condition, when the gate lock lever 463 is operated to set the work machine 3 in a state in which the work machine 3 can be operated, setting the work machine 3 in a restricted state in which it can be operated in a limited manner. Therefore, even if the gate lock lever 463 is switched to the unlocked state (lowered position), for example, when an object Ob1 exists around the machine body 30, the work machine 3 will be in a restricted state in which it can be operated in a limited manner. Therefore, even if an object Ob1 exists around the machine body 30, for example, by operating the gate lock lever 463 to the unlocked state (lowered position), the work machine 3 can be operated in a limited manner. Moreover, even if the operator (user U1) does not pay particular attention, for example, it becomes easier to avoid malfunctions such as the work machine 3 suddenly moving violently. As a result, it is possible to provide a work machine control system 1, a work machine 3, a control method for the work machine 3, and a work machine control program that can easily reduce the burden on the operator involved in operations.

[0110] Furthermore, in this embodiment, when at least one of the detection items related to the detection results and the operation items related to the operation state of the work machine 3 in the restricted state satisfies a release condition, the restricted state is terminated. Therefore, by satisfying a specific release condition, the restricted state can be forcibly terminated. Furthermore, in this embodiment, the restricted state ends when the permissible time has elapsed. Therefore, the restricted state does not continue indefinitely, but is applied at least under a time limit. Furthermore, in this embodiment, after the restricted state ends, the work machine 3 transitions to a state in which it cannot be operated. Therefore, in cases where it is undesirable to continue the operation of the work machine 3 even in the restricted state, such as due to an abnormality in the detection means, it becomes possible to forcibly stop the work machine 3 after the restricted state ends.

[0111] [4] Variations Below, we will list some modified examples of the embodiment 1. The modified examples explained below can be applied in appropriate combinations.

[0112] The control system 1 in the present disclosure includes a computer system. The computer system is mainly composed of one or more processors and one or more memories as hardware. The processor executes a program recorded in the memory of the computer system, thereby realizing the functions of the control system 1 in the present disclosure. The program may be pre-recorded in the memory of the computer system, may be provided through a telecommunication line, or may be recorded and provided in a non-transitory recording medium such as a memory card, an optical disk, or a hard disk drive that can be read by the computer system. In addition, some or all of the functional units included in the control system 1 may be configured with electronic circuits.

[0113] Furthermore, it is not essential for the control system 1 that at least some of the functions of the control system 1 are concentrated in one housing, and the components of the control system 1 may be distributed across multiple housings. Conversely, in the first embodiment, functions distributed across multiple devices (e.g., the control system 1 and the display device 2) may be concentrated in one housing. Furthermore, at least some of the functions of the control system 1 may be realized by the cloud (cloud computing) or the like.

[0114] Furthermore, the power source of the work machine 3 is not limited to a diesel engine, and may be, for example, an engine 40 other than a diesel engine, or may be a motor (electric motor), or a hybrid power source including the engine 40 and a motor (electric motor).

[0115] The display device 2 is not limited to a dedicated device, and may be, for example, a general-purpose terminal such as a laptop computer, a tablet terminal, or a smartphone. Furthermore, the display unit 23 is not limited to a mode that directly displays a display screen, such as a liquid crystal display or an organic EL display, and may be configured to display a display screen by projection, such as a projector.

[0116] Furthermore, a form other than a push button switch, a touch panel, or an operation dial may be adopted as the form of inputting information to the operation unit 22. For example, the operation unit 22 may adopt a form such as a keyboard, a pointing device such as a mouse, a voice input, a gesture input, or input of an operation signal from another terminal.

[0117] Furthermore, the restricted state may be any state in which the work machine 3 can be operated in a limited manner, and is not limited to a state in which the speed of the operation (traveling operation, turning operation, etc.) of the work machine 3 is restricted. For example, the restricted state may be a state in which the work machine 3 can be operated only within a certain time period, a state in which the work machine 3 can be operated only within a certain distance, a state in which the movable range of a hydraulic actuator is restricted, a state in which an operation target (a specific hydraulic actuator, etc.) is restricted, a state in which specific operations such as turning and deploying of the work machine 3 are prohibited, or a combination of these.

[0118] Furthermore, the sensor for detecting the object Ob1 in the monitoring area A1 around the machine body 30 is not limited to the left camera 341, the right camera 342, and the rear camera 343, and may include one, two, or four or more cameras (image sensors). Furthermore, the object Ob1 in the monitoring area A1 may be detected by a camera capable of capturing images in all directions as seen from the work machine 3, such as a spherical camera (360-degree camera). The sensor for detecting the object Ob1 in the monitoring area A1 may include, in addition to or instead of a camera, a human sensor, a sonar sensor, a radar, or a LiDAR (Light Detection and Ranging) sensor. Here, the sensor for detecting the object Ob1 in the monitoring area A1 may be a three-dimensional sensor that measures the distance to the object Ob1 by a Time Of Flight (TOF) method that measures the distance to a ranging point based on the round-trip time it takes for light or sound to reach and return to a ranging point.

[0119] Furthermore, the detection processing unit 14 that detects (detects) an object Ob1 around the machine body 30 is not an essential component of the control system 1. For example, the detection processing unit 14 may be included in a detection system separate from the control system 1, and in this case, the acquisition processing unit 11 of the control system 1 acquires the detection result of the object Ob1 around the machine body 30 of the work machine 3 from outside the control system 1 (detection system).

[0120] Furthermore, in addition to or instead of a "person," the object Ob1 may include moving objects such as vehicles (including other work machines), structures such as walls and pillars, plants, animals, steps, ditches, or other obstacles.

[0121] Furthermore, in the restricted state, it is not essential that the work machine 3 be operated in a state in which the operating mode of the work machine 3 is restricted. In other words, in the restricted state, the work machine 3 may operate perfectly, for example, only for a certain period of time. Furthermore, in the restricted state, it is not essential that at least the operating speed of the work machine 3 be restricted. Furthermore, it is not essential that the operating speed be restricted by controlling at least one of the flow rate of the hydraulic pump 41 that supplies hydraulic oil, the rotation speed of the engine 40 that drives the hydraulic pump 41, and the pilot pressure.

[0122] Furthermore, in the restricted state, when at least one of the detection items related to the detection results and the operation items related to the operation state of the work machine 3 satisfies a release condition, it is not essential to end the restricted state. It is also not essential that the restricted state ends when the permissible time has elapsed. It is also not essential that the work machine 3 transitions to a state in which it cannot be operated after the restricted state ends. It is also not essential that the notification processing unit 15 issues a notification based on the detection results of the detection processing unit 14, that is, the detection results of the object Ob1 in the monitoring area A1 around the machine body 30.

[0123] (Embodiment 2) The control system 1 according to this embodiment differs from the control system 1 according to the first embodiment in that, after the restricted state ends, the control system 1 transitions to a state in which the work machine 3 can be operated, as shown in Fig. 8. Hereinafter, configurations similar to those in the first embodiment will be given the same reference numerals and descriptions thereof will be omitted as appropriate.

[0124] That is, in this embodiment, when the detection items and / or operation items satisfy the release conditions or the permissible time has elapsed since the start of the restricted state and the restricted state has ended, the state transitions from a "state in which the work machine 3 cannot be operated" to a "state in which the work machine 3 can be operated". Therefore, when the detection result satisfies a predetermined condition in the "state in which the work machine 3 cannot be operated", the operator only needs to operate the gate lock lever 463 once from the "up position" to the "down position" ("S5: Yes" in FIG. 7), and then the state automatically transitions to a "state in which the work machine 3 can be operated" via the restricted state. As a result, if at least the permissible time has elapsed after the start of the restricted state, the state will switch to a "state in which the work machine 3 can be operated" without the operator having to operate the gate lock lever 463 again.

[0125] As a modification of the second embodiment, only when an allowable time has elapsed since the start of the restricted state, a transition to a "state in which the work machine 3 can be operated" may be made after the end of the restricted state. In other words, when the restricted state ends as a result of the detection items and / or operation items satisfying the release conditions, a transition to a "state in which the work machine 3 can be operated" occurs, as in the first embodiment.

[0126] The configuration according to the second embodiment (including the modified examples) can be adopted in appropriate combination with the various configurations (including the modified examples) described in the first embodiment. [Explanation of symbols]

[0127] 1. Control system for work machines 2 Display device 3. Work Machinery 11 Acquisition processing unit 12 Restriction Processing Unit 30 Aircraft 40 Engine 41 Hydraulic pump 463 Gate lock lever Ob1 Object

Claims

1. an acquisition processing unit that acquires detection results of objects around a body of the work machine in a state in which the work machine cannot be operated; a restriction processing unit that places the work machine in a restricted state in which it is operable in a limited manner when a gate lock lever is operated to place the work machine in a state in which it is operable when the detection result satisfies a predetermined condition; and a notification processing unit that issues a notification when the detection result satisfies the predetermined condition, regardless of the operation state of the gate lock lever. Control systems for work machines.

2. In the restricted state, the work machine is operated in a state in which an operation mode of the work machine is restricted.

2. A control system for a work machine as set forth in claim 1.

3. In the limited state, at least the operating speed of the work machine is limited.

3. A control system for a work machine as set forth in claim 2.

4. The limiting of the operating speed is performed by controlling at least one of a flow rate of a hydraulic pump that supplies hydraulic oil, a rotation speed of an engine that drives the hydraulic pump, and a pilot pressure.

4. A control system for a work machine according to claim 3.

5. when at least one of a detection item related to the detection result and an operation item related to an operation state of the work machine satisfies a release condition in the restricted state, the restricted state is terminated. A work machine control system according to any one of claims 1 to 4.

6. The restricted state ends when the permitted time has elapsed. A work machine control system according to any one of claims 1 to 5.

7. After the restricted state ends, the work machine transitions to a state in which it cannot be operated. A control system for a work machine according to any one of claims 1 to 6.

8. A work machine control system according to any one of claims 1 to 7; The airframe, Working machinery.

9. Obtaining detection results of objects around a body of the work machine in a state in which the work machine cannot be operated; When the detection result satisfies a predetermined condition, if a gate lock lever is operated to put the work machine into a state in which it can be operated, the work machine is put into a restricted state in which it can be operated in a limited manner, and when the detection result satisfies the predetermined condition, a notification is given regardless of the operation state of the gate lock lever. A method for controlling a work machine.

10. A control method for a work machine according to claim 9, A control program for a work machine for execution by one or more processors.

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