Work machine control system and work machine control method

Abstract

To detect the presence or absence of a work target with higher accuracy.SOLUTION: A work machine control system includes a three-dimensional measurement device 20 for measuring a work target of the work machine 1, a detection device 25 for detecting the work target, and a work machine control unit 87 as an intervention control unit that performs intervention control of the work machine 1 when the work target is detected by both the three-dimensional measurement device 20 and the detection device 25.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present disclosure relates to a control system and a control method for a work machine. [Background technology]

[0002] In order to realize automation of work by a work machine, an example of a work machine that can accurately measure the relative position with respect to a work object is disclosed in Patent Document 1. In Patent Document 1, the relative position between a wheel loader and a work object is measured based on measurement data from a three-dimensional measurement device. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-132068 Summary of the Invention [Problem to be solved by the invention]

[0004] In automating work, it is desirable for a work machine to detect the presence or absence of a work object with high accuracy. However, three-dimensional measurement devices are susceptible to disturbances such as dust, rain, lighting, and direct sunlight.

[0005] An aspect of the present disclosure aims to detect the presence or absence of a work object with higher accuracy. [Means for solving the problem]

[0006] According to an aspect of the present disclosure, there is provided a work machine control system including a three-dimensional measuring device that measures a work object of the work machine, a detection device that detects the work object, and an intervention control unit that performs intervention control of the work machine when the work object is detected by both the three-dimensional measuring device and the detection device.

[0007] According to an aspect of the present disclosure, there is provided a control method for a work machine, which performs intervention control of the work machine when a work object is detected by both a three-dimensional measuring device that measures the work object of the work machine and a detection device that detects the work object. [Effects of the Invention]

[0008] According to aspects of the present disclosure, the presence or absence of a work object can be detected with higher accuracy. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a side view showing an example of a work machine according to this embodiment. [Figure 2] FIG. 2 is a schematic diagram showing the operation of the work machine according to this embodiment. [Figure 3] FIG. 3 is a schematic diagram showing the loading operation mode of the work machine according to this embodiment. [Figure 4] FIG. 4 is a functional block diagram showing the control system of the work machine according to this embodiment. [Figure 5] FIG. 5 is a diagram illustrating the operation of raising the working machine. [Figure 6] FIG. 6 is a diagram illustrating the operation of loading the excavated material of the work machine onto the loading destination. [Figure 7] FIG. 7 is a diagram illustrating the operation of lowering the work machine. [Figure 8] FIG. 8 is a diagram illustrating an example of processing based on the determination result. [Figure 9] FIG. 9 is a flowchart showing a control method for a work machine according to this embodiment. [Figure 10] FIG. 10 is a flowchart showing a method for detecting a work object by the detection device. [Figure 11] FIG. 11 is a block diagram illustrating an example of a computer system. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings, but the present disclosure is not limited thereto. The components of the embodiments described below can be combined as appropriate. Also, some components may not be used. The control system for a work machine is a system that detects with high accuracy the presence or absence of a work object for the work machine. The control system for a work machine is implemented by combining various parts of the work machine.

[0011] (Embodiment) [Wheel loader] FIG. 1 is a side view showing an example of a wheel loader 1 according to this embodiment. The work machine 1 performs a predetermined operation on a work object at a work site. In this embodiment, the work machine 1 is described as a wheel loader 1, which is a type of articulated work machine. The predetermined operation includes excavation and loading. The work object includes an excavation object and a loading object onto which the excavated material is loaded. The wheel loader 1 performs excavation work, which excavates an excavation object, and loading work, which loads the excavated material into a loading object. The loading operation is a concept that includes discharge work, which discharges the excavated material into a discharge object. Examples of the excavation object include at least one of natural ground, a rocky mountain, coal, and a wall surface. Natural ground is a mountain made of earth and sand, and a rocky mountain is a mountain made of rocks or stones. Examples of the loading object include at least one of a transport vehicle, a predetermined area at the work site, a hopper, a belt conveyor, and a crusher.

[0012] As shown in FIG. 1, the wheel loader 1 includes a vehicle body 2, a cab 3 in which a driver's seat is provided, a traveling device 4 that causes the vehicle body 2 to travel, a transmission device 30, a work implement 10 supported by the vehicle body 2, an angle sensor 50 that detects the angle of the work implement 10, a three-dimensional measuring device 20 that measures a work object in front of the vehicle body 2, a detection device 25 that detects a work object in front of the vehicle body 2, a buzzer 7 provided around the cab 3, lamps 8 provided around the cab 3, and a control device 80.

[0013] The vehicle body 2 includes a front vehicle body portion 2F and a rear vehicle body portion 2R. The front vehicle body portion 2F and the rear vehicle body portion 2R are connected via a joint mechanism 9 so as to be able to bend.

[0014] The cab 3 is supported on the vehicle body 2. At least a portion of the wheel loader 1 is operated by a driver sitting in the cab 3.

[0015] The traveling device 4 supports the vehicle body 2. The traveling device 4 is capable of traveling on the ground surface RS. The traveling device 4 has wheels 5. The wheels 5 rotate by driving force generated by an engine mounted on the vehicle body 2. The wheels 5 include two front wheels 5F attached to the front body section 2F and two rear wheels 5R attached to the rear body section 2R. Tires 6 are attached to the wheels 5. The tires 6 include front tires 6F attached to the front wheels 5F and rear tires 6R attached to the rear wheels 5R. The front wheels 5F and the front tires 6F are rotatable around a rotation axis FX. The rear wheels 5R and the rear tires 6R are rotatable around a rotation axis RX. When the vehicle body 2 travels in a straight line, the rotation axis FX and the rotation axis RX are parallel to each other.

[0016] In the following description, the direction parallel to the rotation axis FX of the front wheel 5F will be referred to as the vehicle width direction, the direction perpendicular to the contact surface of the front tire 6F that contacts the ground RS will be referred to as the up-down direction, and the direction perpendicular to both the vehicle width direction and the up-down direction will be referred to as the front-rear direction.

[0017] The traveling device 4 has a drive device 4A, a brake device 4B, and a steering device 4C. The drive device 4A generates a drive force for accelerating the wheel loader 1. The drive device 4A includes an internal combustion engine such as a diesel engine. The drive force generated by the drive device 4A is transmitted to the wheels 5 via the transmission device 30, causing the wheels 5 to rotate. The brake device 4B generates a braking force for slowing down or stopping the wheel loader 1. The steering device 4C is capable of adjusting the traveling direction of the wheel loader 1. The traveling direction of the wheel loader 1 includes the orientation of the front vehicle body 2F. The steering device 4C adjusts the traveling direction of the wheel loader 1 by bending the front vehicle body 2F using a hydraulic cylinder.

[0018] In this embodiment, the traveling device 4 is operated by a driver seated in the cab 3. A traveling operation device 40 for operating the traveling device 4 is arranged in the cab 3. The driver operates the traveling operation device 40 to operate the traveling device 4. The traveling operation device 40 includes an accelerator pedal, a brake pedal, a steering lever, and a shift lever 41 for switching between forward and reverse travel. Operating the accelerator pedal increases the traveling speed of the wheel loader 1. Operating the brake pedal decreases the traveling speed of the wheel loader 1 or stops the wheel loader 1. Operating the steering lever causes the wheel loader 1 to turn. Operating the shift lever 41 switches the wheel loader 1 between forward and reverse travel.

[0019] The transmission device 30 transmits the driving force generated by the drive device 4A to the wheels 5.

[0020] The work implement 10 is controlled by a control device 80. The work implement 10 has a boom 11 rotatably connected to the front vehicle body 2F, and a bucket 12 rotatably connected to the boom 11.

[0021] The boom 11 is operated by power generated by a boom cylinder 13. The boom 11 is raised or lowered by extension or contraction of the boom cylinder 13. The boom cylinder 13 has a boom control valve (not shown) that controls the flow rate and direction of hydraulic oil supplied from a hydraulic pump (not shown).

[0022] The bucket 12 is a work member having a tip 12B including a cutting edge. The bucket 12 is positioned forward of the front wheels 5F. The bucket 12 is connected to the tip of the boom 11. The bucket 12 is connected to a bucket cylinder 14 via a bell crank 15 and a link 16. The bucket 12 is operated by power generated by the bucket cylinder 14. The bucket cylinder 14 has a bucket control valve (not shown) that controls the flow rate and direction of hydraulic oil supplied from a hydraulic pump. The bucket 12 performs a dumping operation or a tilting operation as the bucket cylinder 14 extends and retracts. The dumping operation ejects the excavated material from the bucket 12. The tilting operation causes the bucket 12 to scoop up the excavated material.

[0023] The angle sensor 50 is mounted on the work implement 10 and detects the attitude of the work implement 10. The angle sensor 50 detects the angle of the work implement 10. The angle sensor 50 includes a boom angle sensor 51 that detects the angle of the boom 11 and a bucket angle sensor 52 that detects the angle of the bucket 12. The boom angle sensor 51 detects the angle of the boom 11 with respect to a reference axis of a vehicle body coordinate system defined on the front part 2F of the vehicle body, for example. The bucket angle sensor 52 detects the angle of the bucket 12 with respect to the boom 11. The angle sensor 50 may be a potentiometer, a stroke sensor that detects the stroke of a hydraulic cylinder, an inertial measurement unit, or an inclinometer. The angle data indicating the angle of the work implement 10 is output to a position data calculation unit 83 and a determination unit 91, which will be described later.

[0024] The three-dimensional measuring device 20 is mounted on the wheel loader 1. The three-dimensional measuring device 20 measures a work object located in front of the front part 2F of the vehicle body. The work object includes a loading object onto which excavated material excavated by the work implement 10 is loaded. The three-dimensional measuring device 20 measures the relative position from the three-dimensional measuring device 20 to each of a plurality of measurement points on the surface of the work object, thereby measuring the three-dimensional shape of the work object. The three-dimensional measuring device 20 includes a stereo camera 22, which is a type of photo measurement device. The stereo cameras 22 are arranged on the right and left sides of the vehicle body 2 in the vehicle width direction. In the following explanation, the stereo camera 22 on one side will be explained.

[0025] The stereo camera 22 captures an image of the front. The stereo camera 22 captures an image of the work object and measures the work object. In this embodiment, the stereo camera 22 measures the work object including at least a loading object such as a transport vehicle LS. The measurement data of the stereo camera 22 includes image data of the work object. The image data is composed of a plurality of pixels. The image data is an example of measurement data.

[0026] The stereo camera 22 has a pair of a first camera 22A and a second camera 22B. The first camera 22A and the second camera 22B are arranged with a gap between them. The first image data acquired by the first camera 22A and the second image data acquired by the second camera 22B are output to the control device 80. The first image data and the second image data are two-dimensional image data.

[0027] The detection device 25 is mounted on the wheel loader 1. The detection device 25 is arranged at a different position from the three-dimensional measuring device 20. The detection device 25 detects a detection target ahead of the front vehicle body 2F. The detection device 25 measures the three-dimensional shape of the detection target. The detection device 25 includes a non-contact sensor 26. The non-contact sensor 26 is arranged on the wheel loader 1. The non-contact sensor 26 detects objects around the wheel loader 1 in a non-contact manner. The non-contact sensor 26 detects objects by scanning the periphery of the wheel loader 1. The non-contact sensor 26 includes a radar device that detects objects by scanning the periphery of the wheel loader 1 with radio waves such as millimeter waves. The detection data of the non-contact sensor 26 includes presence / absence data indicating the presence or absence of an object, and position data indicating the position of the object. The detection data of the non-contact sensor 26 is output to the control device 80.

[0028] The buzzer 7 is disposed near the driver's cab 3. The buzzer 7 is a buzzer device that outputs an alarm sound. The buzzer 7 outputs the determination result of the determination unit 91. The buzzer 7 outputs an alarm sound when the determination unit 91 determines that a transport vehicle LS has been detected by either one of the vehicles.

[0029] The lamp 8 is arranged near the driver's cab 3. The lamp 8 outputs the determination result of the determination unit 91. When the determination unit 91 determines that a transport vehicle LS has been detected by either one of the devices, the lamp 8 flashes. When the determination unit 91 determines that a transport vehicle LS has been detected by both devices, the lamp 8 lights up. When the determination unit 91 determines that a transport vehicle LS has not been detected by either device, the lamp 8 is turned off.

[0030] [Operation] FIG. 2 is a schematic diagram showing the operation of the wheel loader 1 according to this embodiment. The wheel loader 1 operates in a plurality of work modes. The work modes include an excavation work mode in which an excavation target is excavated with the bucket 12 of the work implement 10, and a loading work mode in which the excavated material scooped up with the bucket 12 in the excavation work mode is loaded onto a loading target. The excavation target is, for example, a mound of natural ground DS on the ground surface RS. The loading target is, for example, a vessel BE of a transport vehicle LS that can travel on the ground surface RS. The transport vehicle LS is, for example, a dump truck.

[0031] In the excavation operation mode, the wheel loader 1 moves forward toward the ground DS without an excavated material being held in the bucket 12. The driver operates the travel operation device 40 to move the wheel loader 1 forward and approach the ground DS, as shown by arrow M1 in FIG. 2. The control device 80 controls the work implement 10 so that the ground DS is excavated with the bucket 12. The ground DS is excavated by the bucket 12, and the excavated material is scooped up by the bucket 12.

[0032] The wheel loader 1 moves backward away from the pile of ground DS with the excavated material held in the bucket 12. The driver operates the travel operation device 40 to move the wheel loader 1 backward away from the pile of ground DS, as shown by arrow M2 in Figure 2.

[0033] Next, the loading operation mode is performed. In the loading operation mode, the wheel loader 1 moves forward toward the transport vehicle LS with an excavated material held in the bucket 12. The driver operates the travel operation device 40 to move the wheel loader 1 forward while swinging it, as shown by arrow M3 in FIG. 2, to approach the transport vehicle LS. At this time, the three-dimensional measurement device 20 mounted on the wheel loader 1 measures the transport vehicle LS. The control device 80 controls the work implement 10 based on the measurement data of the three-dimensional measurement device 20 so that the excavated material held in the bucket 12 is loaded into the vessel BE of the transport vehicle LS. In other words, while the wheel loader 1 is moving forward to approach the transport vehicle LS, the control device 80 controls the work implement 10 so that the boom 11 performs a raising operation. After the boom 11 performs the raising operation and the bucket 12 is positioned above the vessel BE, the control device 80 controls the work implement 10 so that the bucket 12 performs a dumping operation. The excavated material is discharged from the bucket 12 that has been subjected to the dumping operation and loaded into the vessel BE.

[0034] After the excavated material has been loaded into the vessel BE, the wheel loader 1 moves backward away from the transport vehicle LS with the excavated material no longer held in the bucket 12. The driver operates the travel operation device 40 to move the wheel loader 1 backward while turning, as shown by arrow M4 in FIG. 2, away from the transport vehicle LS.

[0035] The operator and the control device 80 repeat the above-described operations until the vessel BE is filled with excavated material or until excavation of the natural ground DS is completed.

[0036] Figure 3 is a schematic diagram showing the loading operation mode of the wheel loader 1 according to this embodiment. The driver operates the travel operation device 40 to move the wheel loader 1 forward while turning, bringing it closer to the transporter vehicle LS. As shown in Figure 3(A), the three-dimensional measuring device 20 measures the three-dimensional shape of the transporter vehicle LS and its relative position with respect to the transporter vehicle LS. The control device 80 detects the distance Db between the wheel loader 1 and the transporter vehicle LS and the height Hb of the upper end BEt of the vessel BE based on the measurement data from the three-dimensional measuring device 20.

[0037] As shown in FIG. 3(B), when the wheel loader 1 is moving forward to approach the transport vehicle LS, the control device 80 raises and operates the boom 11 while controlling the angle of the bucket 12 based on the measurement data of the three-dimensional measuring device 20 so that the bucket 12 is positioned above the upper end BEt of the vessel BE and so that the excavated material held in the bucket 12 does not spill out of the bucket 12.

[0038] 3(C), after the boom 11 performs the raising operation and the bucket 12 is positioned above the vessel BE, the control device 80 controls the work implement 10 so that the bucket 12 performs the dumping operation. As a result, the excavated material is discharged from the bucket 12 and loaded into the vessel BE.

[0039] After FIG. 3(C), the driver operates the travel operation device 40 to move the wheel loader 1 backward while turning it, moving it away from the transporter vehicle LS.

[0040] [Control device] FIG. 4 is a functional block diagram showing a control system 200 for a wheel loader 1 according to this embodiment. The control device 80 includes a computer system. The control device 80 controls the wheel loader 1. The control device 80 is connected to the work implement 10, the three-dimensional measuring device 20, the detection device 25, the angle sensor 50, the travel operation device 40, the buzzer 7, and the lamp 8. The control device 80 has a measurement data acquisition unit 81, a detection data acquisition unit 84, a memory unit 82, a position data calculation unit 83, a target calculation unit 86, a work implement control unit 87 as an intervention control unit, a determination unit 91, and an output control unit 92. The buzzer 7 is an example of an output unit. The lamp 8 is an example of an output unit. The work implement control unit 87 is an example of an intervention control unit. The position data calculation unit 83 is an example of a position calculation unit.

[0041] The control system 200 is an example of an abnormality determination system and includes a work machine 10, a three-dimensional measuring device 20, an angle sensor 50, a travel operation device 40, a buzzer 7, a lamp 8, and a control device 80.

[0042] The control device 80 calculates parameters related to the loading target based on the measured three-dimensional shape of the loading target. The parameters related to the loading target include at least one of the distance to the loading target, the position of the top end of the loading target, and the height of the loading target. The control device 80 performs intervention control on the work machine 10 based on the calculated parameters.

[0043] The measurement data acquisition unit 81 acquires measurement data from the three-dimensional measuring device 20. In this embodiment, the measurement data acquisition unit 81 acquires first image data from the first camera 22A of the stereo camera 22, and acquires second image data from the second camera 22B. The image data of the work object acquired by the measurement data acquisition unit 81 is output to the object calculation unit 86.

[0044] The detection data acquisition unit 84 acquires detection data from the detection device 25. In this embodiment, the detection data acquisition unit 84 acquires detection data from the non-contact sensor 26. A known method can be used to determine the presence or absence of a transporter vehicle LS including a vessel BE from the detection data, and one example of this will be described later with reference to FIG. 10. The detection data acquired by the detection data acquisition unit 84 is output to a determination unit 91.

[0045] In this embodiment, the detection data acquisition unit 84 can detect the presence or absence of the transport vehicle LS based on whether or not a detection point exists within a predetermined area. The predetermined area is a position within the scanning range of the non-contact sensor 26 where the transport vehicle LS is estimated to be present. The predetermined area may be defined, for example, according to the relative positional relationship between the wheel loader 1 and the transport vehicle LS, or the distance Db between the wheel loader 1 and the transport vehicle LS.

[0046] The storage unit 82 stores work machine data. The work machine data includes, for example, design data including CAD (Computer Aided Design) data of the work machine 10, or specification data. The work machine data includes external shape data of the work machine 10, including dimensional data of the work machine 10.

[0047] In this embodiment, the work machine data includes boom length, bucket length, and bucket outer shape. Boom length refers to the distance between the boom rotation axis and the bucket rotation axis. Bucket length refers to the distance between the bucket rotation axis and the tip 12B of the bucket 12. The boom rotation axis refers to the rotation axis of the boom 11 relative to the front vehicle body 2F, and includes the connecting pin that connects the front vehicle body 2F and the boom 11. The bucket rotation axis refers to the rotation axis of the bucket 12 relative to the boom 11, and includes the connecting pin that connects the boom 11 and the bucket 12. The bucket outer shape includes the shape and dimensions of the bucket 12. The dimensions of the bucket 12 include the bucket width, which indicates the distance between the left and right ends of the bucket 12, the height of the opening of the bucket 12, and the length of the bucket bottom.

[0048] The position data calculation unit 83 calculates position data indicating the attitude of the work implement 10 based on the detection results of the angle sensor 50. More specifically, the position data calculation unit 83 calculates the position data of the work implement 10 based on the angle data of the work implement 10 detected by the angle sensor 50 and the work implement data of the work implement 10 stored in the memory unit 82. The position data of the work implement 10 includes, for example, position data of each part of the bucket 12 in the vehicle body coordinate system. The position data of the work implement 10 calculated by the position data calculation unit 83 is output to the determination unit 91.

[0049] The target calculation unit 86 calculates the position of the loading target of the wheel loader 1 based on the measurement results of the three-dimensional measuring device 20. More specifically, the target calculation unit 86 calculates three-dimensional data of the work target measured by the three-dimensional measuring device 20 based on the measurement data acquired by the measurement data acquisition unit 81. The work target is the transport vehicle LS including the vessel BE. The three-dimensional data of the work target indicates the three-dimensional shape of the transport vehicle LS. The three-dimensional data of the transport vehicle LS calculated by the target calculation unit 86 is output to the work implement control unit 87 and the determination unit 91.

[0050] The target calculation unit 86 performs stereo processing based on the image data acquired by the first camera 22A and the image data acquired by the second camera 22B to measure the three-dimensional shape of the work target. The target calculation unit 86 performs stereo processing on the image data (first image data and second image data) to calculate the distances from the stereo camera 22 to multiple measurement points on the surface of the work target that are captured in each pixel. The target calculation unit 86 calculates three-dimensional data in, for example, a vehicle body coordinate system based on the distances to each measurement point.

[0051] In this embodiment, the target calculation unit 86 calculates parameters related to the transport vehicle LS based on the three-dimensional data of the transport vehicle LS. The parameters related to the transport vehicle LS include the position (height) Hb of the upper end BEt of the transport vehicle LS (vessel BE) relative to the ground surface RS, and the distance Db from the wheel loader 1 to the transport vehicle LS. The distance Db from the wheel loader 1 to the transport vehicle LS is, for example, the distance between the tip 12B of the bucket 12 and the closest point indicating the part of the transport vehicle LS that is closest to the tip 12B of the bucket 12 in the horizontal direction.

[0052] The work implement control unit 87 performs intervention control to control the operation of the work implement 10 that loads the excavated material onto the work target, based on the three-dimensional data of the work target calculated by the target calculation unit 86. In this embodiment, the work implement control unit 87 controls the operation of the work implement 10 that loads the excavated material onto the vessel BE, based on the calculated three-dimensional data of the transporter vehicle LS. The work implement control unit 87 controls the operation of the work implement 10 that loads the excavated material onto the vessel BE, based on height data that indicates the height Hb of the upper end BEt of the vessel BE and distance data that indicates the distance Db from the wheel loader 1 to the transporter vehicle LS.

[0053] Control of the operation of the work implement 10 by the work implement control unit 87 includes control of the operation of at least one of the boom cylinder 13 and the bucket cylinder 14. More specifically, the work implement control unit 87 outputs a control signal to the boom control valve to control the flow rate and direction of hydraulic oil supplied to the boom cylinder 13, thereby controlling the raising and lowering operation of the boom 11. The work implement control unit 87 outputs a control signal to the bucket control valve to control the flow rate and direction of hydraulic oil supplied to the bucket cylinder 14, thereby controlling the raising and lowering operation of the bucket 12.

[0054] The intervention control includes control for raising the bucket 12 of the work implement 10 relative to the loading target. The intervention control may include control for raising the bucket 12 of the work implement 10 relative to the loading target, control for loading the excavated material in the bucket 12 of the work implement 10 into the loading destination, and control for lowering the bucket 12 of the work implement 10.

[0055] The operation of the work machine 10 that is the target of intervention control will be described using Figures 5 to 7. In Figures 5 to 7, A1 denotes the predetermined angle range of the work machine 10. A2 denotes the measurement range of the three-dimensional measurement device 20, in other words, the imaging range of the stereo camera 22 (the field of view of the optical system of the stereo camera 22). In the measurement range A2 of the three-dimensional measurement device 20, not only the transport vehicle LS but also, for example, the work machine 10, the ground surface RS, or objects around the transport vehicle LS exist as work targets. A3 denotes the detection range of the detection device 25, in other words, the scanning range (scanning area of ​​the non-contact sensor 26) of the non-contact sensor 26. In the scanning area A3 of the non-contact sensor 26, which is the detection range of the detection device 25, not only the transport vehicle LS but also, for example, the work machine 10 exists as work targets. The non-contact sensor 26 is installed in a position different from that of the three-dimensional measurement device 20. For example, the non-contact sensor 26 is installed on the front axle.

[0056] Fig. 5 is a diagram illustrating the operation of lifting the bucket 12. In Fig. 5, the bucket 12 of the work implement 10 is lifted up to the vessel BE of the transport vehicle LS. When lifting the bucket 12, the vessel BE needs to be present in the vicinity of the bucket 12.

[0057] Fig. 6 is a diagram illustrating the operation of loading the excavated material in the bucket 12 into a loading destination. In Fig. 6, the excavated material in the bucket 12 of the work implement 10 is being loaded into a vessel BE of a transport vehicle LS. When loading the excavated material in the bucket 12, the vessel BE needs to be present near the bucket 12.

[0058] Fig. 7 is a diagram illustrating the operation of lowering the bucket 12. In Fig. 7, the bucket 12 of the work implement 10 is lowered from a height Hb of the vessel BE of the transport vehicle LS. When the bucket 12 is lowered, the vessel BE needs to be present in the vicinity of the bucket 12.

[0059] The work machine control unit 87 performs intervention control of the work machine 10 when the transport vehicle LS is detected by both the three-dimensional measurement device 20 and the detection device 25. In this embodiment, the work machine control unit 87 performs intervention control of the work machine 10 when the transport vehicle LS is detected by both the stereo camera 22 and the non-contact sensor 26. The work machine control unit 87 performs intervention control based on the position of the loading target calculated by the target calculation unit 86. The work machine control unit 87 stops the lifting of the work machine 10 when the loading target is not detected by both the three-dimensional measurement device 20 and the detection device 25. In this embodiment, the work machine control unit 87 stops the lifting of the work machine 10 when the loading target is not detected by both the stereo camera 22 and the non-contact sensor 26.

[0060] The work machine control unit 87 may stop at least one of the lifting, loading, and lowering of the work machine 10 when a loading target is not detected by both the three-dimensional measuring device 20 and the detection device 25. In the present embodiment, the work machine control unit 87 may stop at least one of the lifting, loading, and lowering of the work machine 10 when a loading target is not detected by both the stereo camera 22 and the non-contact sensor 26.

[0061] In this embodiment, the wheel loader 1 has a transmission control unit 88 and a travel control unit 89.

[0062] The transmission control unit 88 outputs a control signal for controlling the transmission device 30 .

[0063] The traveling control unit 89 controls the operation of the traveling device 4 based on the operation of the traveling operation device 40 by the driver. The traveling control unit 89 outputs a driving command to operate the traveling device 4. The traveling control unit 89 outputs an accelerator command to operate the drive device 4A. The traveling control unit 89 outputs a brake command to operate the brake device 4B. The traveling control unit 89 outputs a steering command to operate the steering device 4C.

[0064] The determination unit 91 determines whether the delivery vehicle LS has been detected by both the three-dimensional measuring device 20 and the detection device 25. In this embodiment, the determination unit 91 determines whether the delivery vehicle LS has been detected by both the stereo camera 22 and the non-contact sensor 26. More specifically, the determination unit 91 determines whether the target calculation unit 86 has calculated three-dimensional data of the delivery vehicle LS based on the measurement data and whether the delivery vehicle LS has been detected based on the detection data.

[0065] 8 is a diagram illustrating an example of processing based on the determination result. When both the stereo camera 22 and the non-contact sensor 26 detect the transport vehicle LS, in other words, when both the three-dimensional measuring device 20 and the detection device 25 detect the transport vehicle LS, intervention control is activated. In this case, a message indicating that the detection was successful is displayed. For example, the lamp 8 may be turned on to indicate that the detection was successful.

[0066] If the three-dimensional measuring device 20 detects the transport vehicle LS but the detection device 25 does not, or if the three-dimensional measuring device 20 does not detect the transport vehicle LS but the detection device 25 detects the transport vehicle LS, intervention control is not activated. In this case, a message is displayed indicating that the detection is abnormal. For example, the lamp 8 may be flashed to indicate that the detection is abnormal.

[0067] If neither the stereo camera 22 nor the non-contact sensor 26 detects the transport vehicle LS, in other words, if neither the three-dimensional measuring device 20 nor the detection device 25 detects the transport vehicle LS, intervention control is not activated. In this case, a message indicating that the transport vehicle LS has not been detected is displayed. For example, the lamp 8 may be turned off to indicate that the transport vehicle LS has not been detected.

[0068] In this embodiment, the determination unit 91 may make a determination when the boom angle of the work implement 10 is equal to or greater than the angle threshold θ. For example, the determination may be made when the boom angle of the work implement 10 is equal to or greater than the angle threshold θ that places the work implement 10 outside the scanning range of the non-contact sensor 26. The determination may also be made when the boom angle is equal to or greater than the angle threshold θ that is greater than the predetermined range A1. When the bucket 12 is positioned below the vessel BE of the haulage vehicle LS, the radio waves emitted by the non-contact sensor 26 are reflected by the surface of the bucket 12 and do not reach the haulage vehicle LS. This may result in the haulage vehicle LS not being detected correctly. Therefore, the determination unit 91 makes a determination when the boom angle of the work implement 10 is equal to or greater than the angle threshold θ when the bucket 12 is raised.

[0069] The output control unit 92 controls the output of the determination result of the determination unit 91. When the determination unit 91 determines that detection has occurred on either one side, the output control unit 92 controls the output of an alarm sound from the buzzer 7. When the determination unit 91 determines that detection has occurred on either one side, the output control unit 92 controls the lamp 8 to flash. When the determination unit 91 determines that detection has occurred on both sides, the output control unit 92 controls the lamp 8 to light up.

[0070] [Control method] Figure 9 is a flowchart showing a control method for the wheel loader 1 according to this embodiment. As an example, loading work will be described. During loading work, the driver activates a transport vehicle detection mode via an operation unit (not shown). In the loading work mode, the stereo camera 22, which is the three-dimensional measuring device 20, and the non-contact sensor 26, which is the detection device 25, detect the work target.

[0071] The transporter vehicle LS is measured by the stereo camera 22 (step S11). More specifically, the stereo camera 22 measures the area ahead. The measurement data of the stereo camera 22 is output to the control device 80. The control device 80 acquires image data captured by the stereo camera 22 using the measurement data acquisition unit 81. The image data of the work target acquired by the measurement data acquisition unit 81 is output to the target calculation unit 86. The control device 80 calculates the position of the loading target of the wheel loader 1 using the target calculation unit 86 based on the measurement results of the stereo camera 220. The control device 80 proceeds to step S12.

[0072] The non-contact sensor 26 detects the transporter vehicle LS (step S12). More specifically, the non-contact sensor 26 scans the area ahead using radio waves. The detection data of the non-contact sensor 26 is output to the control device 80. The control device 80 acquires the detection data detected by the non-contact sensor 26 using the detection data acquisition unit 84. The detection data of the detection target acquired by the detection data acquisition unit 84 is output to the determination unit 91. The control device 80 proceeds to step S13.

[0073] The control device 80 determines whether the stereo camera 22 has detected the delivery vehicle LS using the determination unit 91 (step S13). If the determination unit 91 determines that the stereo camera 22 has detected the delivery vehicle LS (Yes in step S13), the control device 80 proceeds to step S14. If the determination unit 91 does not determine that the stereo camera 22 has detected the delivery vehicle LS (No in step S13), the control device 80 proceeds to step S16.

[0074] The control device 80 determines whether the non-contact sensor 26 has detected the transport vehicle LS using the determination unit 91 (step S14). If the determination unit 91 determines that the non-contact sensor 26 has detected the transport vehicle LS (Yes in step S14), the control device 80 proceeds to step S15. If the determination unit 91 does not determine that the non-contact sensor 26 has detected the transport vehicle LS (No in step S14), the control device 80 proceeds to step S16.

[0075] The control device 80 activates intervention control (step S15). The control device 80 controls the work machine 10 using the work machine control unit 87 based on the height Hb of the vessel BE and the distance Db to the transport vehicle LS calculated by the target calculation unit 86. The control device 80 ends the processing.

[0076] As described with reference to FIG. 3 , when the wheel loader 1 is moving forward to approach the transporter vehicle LS, the work implement control unit 87 raises the boom 11 while controlling the angle of the bucket 12 based on the distance Db to the transporter vehicle LS and the height Hb of the upper end BEt of the vessel BE calculated by the target calculation unit 86, so that the bucket 12 is positioned above the upper end BEt of the vessel BE and so that the excavated material held in the bucket 12 does not spill out of the bucket 12. The work implement control unit 87 positions the bucket 12 above the vessel BE. Then, the work implement control unit 87 controls the work implement 10 so that the bucket 12 performs a dumping operation. In this way, the excavated material is discharged from the bucket 12 and loaded into the vessel BE.

[0077] When step S15 is executed, the control device 80 may cause the output control unit 92 to turn on the lamp 8.

[0078] The control device 80 deactivates the intervention control (step S16). The control device 80 stops the control of the work machine 10 by the work machine control unit 87. When step S16 is executed, the control device 80 may cause the output control unit 92 to output a sound from the buzzer 7. The control device 80 may cause the output control unit 92 to flash the lamp 8. The control device 80 ends the processing.

[0079] Fig. 10 is a flowchart showing a method for detecting a work object using the non-contact sensor 26, which is the detection device 25. The process in Fig. 10 is executed when the process in step S12 in Fig. 9 is executed. When the process in Fig. 10 starts, the counts of the detection time and the non-detection time are cleared.

[0080] In the loading operation mode, the angle sensor 50 detects the angle of the work implement 10. The angle of the work implement 10 includes the angle of the boom 11 detected by the boom angle sensor 51 and the angle of the bucket 12 detected by the bucket angle sensor 52. Angle data indicating the angle of the work implement 10 is output to the position data calculation unit 83.

[0081] The control device 80 determines whether the boom angle is equal to or greater than the angle threshold value θ (step S21). The control device 80 calculates the position data of the work machine 10 using the position data calculation unit 83, based on the angle data of the work machine 10 and the work machine data of the work machine 10 stored in the memory unit 82. If the control device 80 determines that the boom angle is equal to or greater than the angle threshold value θ (Yes in step S21), it proceeds to step S22. If the control device 80 does not determine that the boom angle is equal to or greater than the angle threshold value θ (No in step S21), it executes the processing of step S21 again.

[0082] The control device 80 determines whether or not there is a detection point within the area (step S22). If the control device 80 determines using the detection data acquisition unit 84 that there is a detection point within the scanning area A3 of the non-contact sensor 26 (Yes in step S22), the control device 80 proceeds to step S23. If the control device 80 does not determine using the detection data acquisition unit 84 that there is a detection point within the scanning area A3 of the non-contact sensor 26 (No in step S22), the control device 80 proceeds to step S26.

[0083] The control device 80 updates the detection time by the detection data acquisition unit 84 (step S23). The control device 80 proceeds to step S24.

[0084] The control device 80 determines whether the presence of a detection point has continued for a predetermined time or longer (step S24). The predetermined time is an arbitrary time. If the control device 80 determines using the detection data acquisition unit 84 that the presence of a detection point has continued for a predetermined time or longer (Yes in step S24), the control device 80 proceeds to step S25. If the control device 80 does not determine using the detection data acquisition unit 84 that the presence of a detection point has continued for a predetermined time or longer (No in step S24), the control device 80 executes the processing of step S21 again.

[0085] The control device 80 determines that the transporter vehicle LS has been detected by the detection data acquisition unit 84 (step S25). The control device 80 determines that the transporter vehicle LS has been detected by the detection data acquisition unit 84. The control device 80 ends the process.

[0086] If it is not determined that there is a detection point within the scanning area A3 of the non-contact sensor 26 (No in step S22), the control device 80 updates the no-detection time using the detection data acquisition unit 84 (step S26). The control device 80 proceeds to step S27.

[0087] The control device 80 determines whether or not the absence of a detection point has continued for a predetermined time or longer (step S27). If the control device 80 determines that the absence of a detection point has continued for a predetermined time or longer using the detection data acquisition unit 84 (Yes in step S27), the control device 80 proceeds to step S28. If the control device 80 does not determine that the absence of a detection point has continued for a predetermined time or longer using the detection data acquisition unit 84 (No in step S27), the control device 80 executes the process of step S21 again.

[0088] The control device 80 determines that no detection has been made by the detection data acquisition unit 84 (step S28). The control device 80 determines that the transporter vehicle LS has not been detected by the detection data acquisition unit 84. The control device 80 ends the processing.

[0089] [Computer System] FIG. 11 is a block diagram showing an example of a computer system 1000. The control device 80 described above is configured by the computer system 1000. The computer system 1000 includes a processor 1001 such as a CPU (Central Processing Unit), a main memory 1002 including a nonvolatile memory such as a ROM (Read Only Memory) and a volatile memory such as a RAM (Random Access Memory), a storage 1003, and an interface 1004 including an input / output circuit. The functions of the control device 80 described above are stored as a program in the storage 1003. The processor 1001 reads the program from the storage 1003, loads it into the main memory 1002, and executes the above-described processing in accordance with the program. The program may be distributed to the computer system 1000 via a network.

[0090] [effect] As described above, according to this embodiment, when a transport vehicle LS is detected by both the three-dimensional measuring device 20 and the detection device 25, intervention control of the wheel loader 1 is performed. According to this embodiment, when intervention control of the wheel loader 1 is performed, it is possible to determine with higher accuracy whether or not a transport vehicle LS is present.

[0091] In this embodiment, intervention control is stopped when one of the three-dimensional measuring device 20 and the detection device 25 detects the transport vehicle LS, but the other does not detect the transport vehicle LS. According to this embodiment, intervention control can be stopped when there is a possibility that the transport vehicle LS is not present.

[0092] In this embodiment, an alarm is output when one of the three-dimensional measuring device 20 and the detection device 25 detects the transport vehicle LS, and the other does not detect the transport vehicle LS. According to this embodiment, if there is a possibility that the transport vehicle LS is not present, an alarm can be output to notify the driver.

[0093] In this embodiment, intervention control is performed based on the calculated position of the loading target, and intervention control can be performed with high accuracy.

[0094] In this embodiment, intervention control is performed when the boom angle of the wheel loader 1 is equal to or greater than the angle threshold value θ and the transport vehicle LS is detected by both the three-dimensional measuring device 20 and the detection device 25. According to this embodiment, when the transport vehicle LS can be detected by the detection device 25, detection can be performed.

[0095] In this embodiment, when one of the three-dimensional measuring device 20 and the detection device 25 detects the transport vehicle LS and the other does not detect the transport vehicle LS, the lifting of the bucket 12 can be stopped.

[0096] In this embodiment, when one of the three-dimensional measuring device 20 and the detection device 25 detects the transport vehicle LS and the other does not detect the transport vehicle LS, at least one of the raising, loading, and lowering of the bucket 12 can be stopped.

[0097] In this embodiment, the detection device 25 is installed at a position different from that of the three-dimensional measuring device 20. According to this embodiment, the presence or absence of the transport vehicle LS can be determined with higher accuracy.

[0098] [Other embodiments] In each of the above-described embodiments, the three-dimensional measuring device 20 is not limited to the stereo camera 22, but may be, for example, a laser scanner.

[0099] The detection device 25 is not limited to a radar device that scans with millimeter waves. The non-contact sensor 26 may include a laser scanner device that detects objects by scanning the periphery of the wheel loader 1 with laser light. The non-contact sensor 26 may also include an ultrasonic sensor device that detects objects by scanning the periphery of the wheel loader 1 with ultrasonic waves.

[0100] Although the intervention control is stopped when one of the three-dimensional measuring device 20 and the detection device 25 detects the transport vehicle LS and the other does not detect the transport vehicle LS, this is not limited to this. For example, when the work machine 10 is being raised by intervention control, the operation may be continued with an alarm output.

[0101] The work site where the wheel loader 1 performs work may be a mining site, a construction site, or a building site.

[0102] The wheel loader 1 may be used for snow removal work, for work in the agriculture and livestock industry, or for work in forestry.

[0103] In the above-described embodiment, the bucket 12 may have multiple cutting edges or may have a straight cutting edge.

[0104] The working member connected to the tip of the boom 11 does not have to be the bucket 12, but may be a snow plow or snow bucket used for snow removal work, a bale grab or fork used in agricultural and livestock work, or a fork or bucket used in forestry work.

[0105] Instead of the lamp 8, the determination result may be displayed on a monitor (not shown) that is set on the wheel loader 1. The buzzer 7, lamp 8, and monitor do not have to be provided on the wheel loader 1, and the vehicle may be equipped with one or more of these. Furthermore, the buzzer 7, lamp 8, and monitor may be provided outside the wheel loader 1.

[0106] In the control system 200 according to the embodiment described above, some of the components constituting the control system 200 may be mounted inside the work machine 1, and other components may be provided outside the work machine 1. Furthermore, the control system 200 according to the embodiment described above has been described as including the work implement 10, the three-dimensional measuring device 20, the angle sensor 50, the travel operation device 40, the buzzer 7, the lamp 8, and the control device 80, but is not limited to this and may not include some of the components. As an example, the control system 200 may not include the buzzer 7 or the lamp 8.

[0107] The control device 80 according to the above-described embodiment may be configured by a single computer, or the configuration of the control device 80 may be divided among multiple computers, and the multiple computers may work together to function as the control device 80.

[0108] The work machine 1 is not limited to a wheel loader, and the control device 80 and control method described in the above embodiment can be applied to a work machine having a work implement such as a hydraulic excavator or a bulldozer. [Explanation of symbols]

[0109] 1...wheel loader (work machine), 2...body, 2F...front body, 2R...rear body, 3...driver's cab, 4...traveling gear, 4A...driver, 4B...brake device, 4C...steering gear, 5...wheel, 5F...front wheel, 5R...rear wheel, 6...tire, 6F...front tire, 6R...rear tire, 7...buzzer (output unit), 8...lamp (output unit), 9...joint mechanism, 10...work machine, 11...boom, 12...bucket, 12B...tip, 13...boom cylinder, 14...bucket cylinder, 15...bell crank, 16...link, 20...three-dimensional measuring device, 22...stereo camera, 22A...first camera, 22B...second camera, 25...detection output device, 26...non-contact sensor, 30...transmission device, 40...travel operation device, 50...angle sensor, 51...boom angle sensor, 52...bucket angle sensor, 80...control device, 81...measurement data acquisition unit, 82...storage unit, 83...position data calculation unit, 84...detection data acquisition unit, 86...object calculation unit, 87...work implement control unit, 88...transmission control unit, 89...travel control unit, 91...determination unit, 92...output control unit, 100...image data, 200...abnormality determination system, BE...vessel (loading object), DS...natural ground (excavation object), FX...rotating shaft, LS...transport vehicle, RX...rotating shaft, RS...ground surface.

Claims

1. a three-dimensional measuring device that measures a work target that is a loading target onto which excavated material is to be loaded, for a work machine that performs excavation work and loading work in which the excavated material is to be loaded onto a loading target; a detection device for detecting the work object; an intervention control unit that intervenes and controls the operation of a work implement of a work machine when the work object is detected by both the three-dimensional measurement device and the detection device; Equipped with the three-dimensional measurement devices are stereo cameras disposed on the right and left sides of the vehicle body in a vehicle width direction, and measure the relative positions of a plurality of measurement points on the surface of the work object to measure the three-dimensional shape of the work object; the detection device is a non-contact sensor that is disposed on a front axle and scans the periphery of the work machine to detect the three-dimensional shape of an object; a measurement range of the three-dimensional measuring device is narrower than a predetermined range of a working implement of the work machine in a side view, a detection range of the detection device is narrower than a measurement range of the three-dimensional measurement device in a side view, The case where the work object is detected by both the three-dimensional measurement device and the detection device means the case where three-dimensional data of the work object is calculated based on measurement data of the three-dimensional measurement device, and the work object is detected by detection data of the detection device. Work machine control systems.

2. The intervention control unit determines whether or not the work object has been detected by both the three-dimensional measuring device and the detection device when the boom angle of the work machine is equal to or greater than an angle threshold value that is greater than the predetermined range.

2. A control system for a work machine according to claim 1.

3. the intervention control unit stops intervention control when three-dimensional data of the work object is calculated based on the measurement data of the three-dimensional measurement device and the work object is not detected by the detection data of the detection device, or when three-dimensional data of the work object is not calculated based on the measurement data of the three-dimensional measurement device and the work object is detected by the detection data of the detection device.

2. A control system for a work machine according to claim 1.

4. an output unit that outputs an alarm when three-dimensional data of the work object is calculated based on the measurement data of the three-dimensional measurement device and the work object is not detected by the detection data of the detection device, or when three-dimensional data of the work object is not calculated based on the measurement data of the three-dimensional measurement device and the work object is detected by the detection data of the detection device; The control system for a work machine according to any one of claims 1 to 3, comprising:

5. an object calculation unit that calculates the position of an object to be loaded onto the work machine based on the measurement data of the three-dimensional measurement device; Equipped with The intervention control unit performs intervention control based on the position of the loading target calculated by the target calculation unit. A control system for a work machine according to any one of claims 1 to 4.

6. the intervention control unit performs intervention control when the angle of the work implement of the work machine is equal to or greater than an angle threshold and the work object is detected by both the three-dimensional measurement device and the detection device. A control system for a work machine according to any one of claims 1 to 5.

7. the intervention control includes control to raise a work implement of the work machine relative to a loading target of the work machine, the intervention control unit stops raising of the work implement when three-dimensional data of the work object is calculated based on the measurement data of the three-dimensional measurement device and the work object is not detected by the detection data of the detection device, or when three-dimensional data of the work object is not calculated based on the measurement data of the three-dimensional measurement device and the work object is detected by the detection data of the detection device. A control system for a work machine according to any one of claims 1 to 6.

8. the intervention control includes control for raising a work implement of the work machine relative to a loading target of the work machine, control for loading an excavated object by the work implement onto the loading target, and control for lowering the work implement, the intervention control unit stops at least one of raising, loading, and lowering of the work machine when three-dimensional data of the work object is calculated based on the measurement data of the three-dimensional measurement device and the work object is not detected by the detection data of the detection device, or when three-dimensional data of the work object is not calculated based on the measurement data of the three-dimensional measurement device and the work object is detected by the detection data of the detection device. A control system for a work machine according to any one of claims 1 to 6.

9. the detection device is installed at a position different from that of the three-dimensional measurement device; A control system for a work machine according to any one of claims 1 to 8.

10. The work machine is a wheel loader, The detection device is installed on the front axle, the intervention control unit performs intervention control when the angle of the work machine is equal to or greater than an angle threshold and the work object is detected by both the three-dimensional measurement device and the detection device. A control system for a work machine according to any one of claims 1 to 9.

11. a work machine that performs excavation work and loading work in which the excavated material excavated by the excavation work is loaded onto a loading target, calculates three-dimensional data of the work target based on measurement data from a three-dimensional measurement device that measures the work target, which is the loading target onto which the excavated material is to be loaded, and when the work target is detected by detection data from a detection device that detects the work target, performs intervention control of the operation of the work equipment of the work machine; a measurement range of the three-dimensional measuring device is narrower than a predetermined range of a working implement of the work machine in a side view, a detection range of the detection device is narrower than a measurement range of the three-dimensional measurement device in a side view; A method for controlling a work machine.

12. When the three-dimensional data of the work object is calculated based on the measurement data of the three-dimensional measurement device and the work object is not detected by the detection data of the detection device, or when the three-dimensional data of the work object is not calculated based on the measurement data of the three-dimensional measurement device and the work object is detected by the detection data of the detection device, intervention control is stopped. A method for controlling a work machine according to claim 11.

13. An alarm is output when the three-dimensional data of the work object is calculated based on the measurement data of the three-dimensional measuring device and the work object is not detected by the detection data of the detection device, or when the three-dimensional data of the work object is not calculated based on the measurement data of the three-dimensional measuring device and the work object is detected by the detection data of the detection device. A control method for a work machine according to claim 11 or 12.

14. Calculating the position of the loading target of the work machine based on the measurement data of the three-dimensional measurement device; performing intervention control based on the calculated position of the loading target; A control method for a work machine according to any one of claims 11 to 13.

15. When the angle of the work implement of the work machine is equal to or greater than an angle threshold, three-dimensional data of the work object is calculated based on the measurement data of the three-dimensional measurement device, and the work object is detected by the detection data of the detection device, intervention control is performed. A control method for a work machine according to any one of claims 11 to 14.

16. the intervention control includes control to raise a work implement of the work machine relative to a loading target of the work machine, When three-dimensional data of the work object is calculated based on the measurement data of the three-dimensional measurement device and the work object is not detected by the detection data of the detection device, or when three-dimensional data of the work object is not calculated based on the measurement data of the three-dimensional measurement device and the work object is detected by the detection data of the detection device, stopping the lifting of the work machine. A control method for a work machine according to any one of claims 11 to 15.

17. the intervention control includes control for raising a work implement of the work machine relative to a loading target of the work machine, control for loading an excavated object by the work implement onto the loading target, and control for lowering the work implement, when the three-dimensional data of the work object is calculated based on the measurement data of the three-dimensional measurement device and the work object is not detected by the detection data of the detection device, or when the three-dimensional data of the work object is not calculated based on the measurement data of the three-dimensional measurement device and the work object is detected by the detection data of the detection device, stopping at least one of the raising, the loading, and the lowering of the work machine. A control method for a work machine according to any one of claims 11 to 16.

Images