Work machine control system, work machine, work machine control method, and work machine control program

Abstract

To provide a work machine control system capable of reducing concentration loss of an operator, a work machine, a control method of the work machine, and a control program of the work machine.SOLUTION: A work machine control system 1 includes an acquisition processing unit 11, a determination processing unit 13, and an alarm processing unit 15. The acquisition processing unit 11 acquires a detection result of objects around a machine body of the work machine 3. The determination processing unit 13 determines whether the work machine 3 can be operated. The alarm processing unit 15 performs a series of processing of alarm output. The alarm processing unit 15 is configured to prohibit the alarm output when the work machine 3 is determined as operable after the first situation. The first situation is a situation where the work machine 3 is determined as inoperable, and the detection result satisfies a predetermined 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 that are used in a work machine that is capable of detecting objects around the machine body. [Background technology]

[0002] As a related technology, a work machine control system (work machine surroundings monitoring device) that determines whether or not a person is present around a work machine (excavator) is known (see, for example, Patent Document 1). When this work machine control system determines that the gate lock lever is in a locked state and the work machine is not in an operable state (workable state), and also determines that a person is present around the work machine, it sets the value of the person detection flag to "1" (on), but the alarm processing unit (alarm control means) does not output an alarm at this point. Thereafter, when the gate lock lever is unlocked and the work machine switches to an operable state, the work machine control system causes the alarm processing unit to output an alarm if the value of the person detection flag is "1," regardless of whether or not a person is present around the work machine at that time.

[0003] Thus, in a work machine control system according to the related art, if it is determined that the work machine is in an inoperable state and that a person is present around the work machine, the alarm processing unit outputs an alarm when it is subsequently determined that the work machine is in an operable state. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2014-181509 Summary of the Invention [Problem to be solved by the invention]

[0005] In the related art described above, even if the operator recognizes that there is a person around the work machine and sets the gate lock lever to the unlocked state, an alarm is output once the work machine is ready to be operated. Therefore, for an operator who is working carefully while keeping an eye on people around the work machine, the alarm can be bothersome and distracting, which can lead to a decrease in concentration.

[0006] 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 alleviate a decline in the operator's concentration. [Means for solving the problem]

[0007] A work machine control system according to one aspect of the present invention includes an acquisition processing unit, a determination processing unit, and an alarm processing unit. The acquisition processing unit acquires detection results of objects around the body of the work machine. The determination processing unit determines whether the work machine is in a state where it can be operated or not. The alarm processing unit outputs an alarm. The alarm processing unit prohibits the output of the alarm when it is determined that the work machine is in a state where it can be operated after a first situation. The first situation is a situation in which it is determined that the work machine is in a state where it cannot be operated, and the detection results satisfy a predetermined condition.

[0008] A work machine according to one aspect of the present invention includes the work machine control system and the vehicle body.

[0009] A method for controlling a work machine according to one embodiment of the present invention includes obtaining detection results of objects around the body of a work machine, determining whether the work machine is in a state where it can be operated or not, and prohibiting the output of an alarm when it is determined that the work machine is in a state where it can be operated after the first situation, in a case where a first situation is defined as a situation where it is determined that the work machine is in a state where it can not be operated and the detection results satisfy predetermined conditions.

[0010] 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. [Effects of the Invention]

[0011] 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 declines in the operator's concentration. [Brief explanation of the drawings]

[0012] [Figure 1] FIG. 1 is a schematic perspective view showing the overall configuration of a work machine according to a first embodiment. [Figure 2] FIG. 2 is a schematic diagram showing a hydraulic circuit and the like of the work machine according to the first embodiment. [Figure 3] FIG. 3 is a schematic plan view of the work machine according to the first embodiment, seen from above, that schematically shows a monitoring area set around the work machine, etc. [Figure 4] FIG. 4 is a schematic external view of a display device on which a display screen is displayed by the work machine control system according to the first embodiment. [Figure 5] FIG. 5 is an explanatory diagram showing the general operation of the work machine control system according to the first embodiment. [Figure 6] FIG. 6 is a flowchart showing an example of operation in the first mode of the work machine control system according to the first embodiment. [Figure 7] FIG. 7 is a flowchart showing an example of operation in the second mode of the work machine control system according to the first embodiment. [Figure 8] FIG. 8 is a diagram showing an example of a display screen displayed by the work machine control system according to the first embodiment. [Figure 9] FIG. 9 is a schematic diagram showing a hydraulic circuit and the like of a work machine according to the second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0013] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. The following embodiments are examples of specific embodiments of the present invention and are not intended to limit the technical scope of the present invention.

[0014] (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 swivel section 32, and a working section 33 on a machine body 30. The work machine 3 is further equipped with a work machine control system 1 (hereinafter simply referred to as the "control system 1") as shown in Fig. 2. In addition, the machine body 30 is further equipped with a display device 2, a drive device 34, an operation device 35, a sound output unit 36, etc. as shown in Figs. 1 and 2.

[0015] In this embodiment, the main function of the control system 1 is to output an alarm in response to the results of detecting an object around the body 30 of the work machine 3. In other words, the control system 1 can also be called a periphery monitoring system for the work machine 3, and the function of controlling the operation of the work machine 3 itself is not essential.

[0016] In this disclosure, the term "work machine" refers to various types of work machinery, and examples include work vehicles such as backhoes (including hydraulic excavators, mini excavators, etc.), wheel loaders, and carriers. The work machine 3 is equipped with a working unit 33 configured to be able to perform one or more tasks. The work machine 3 is not limited to a "vehicle," and may be, for example, a work vessel, a work air vehicle such as a drone or multicopter, or the like. Furthermore, the work machine 3 is not limited to a construction machine (construction equipment), and may be, for example, an agricultural machine (farm equipment) such as a rice transplanter, tractor, or combine harvester. In this embodiment, unless otherwise specified, the work machine 3 is a riding-type backhoe that is capable of performing tasks such as excavation, leveling, trench digging, and loading.

[0017] Furthermore, in this embodiment, for ease of explanation, the vertical direction when the work machine 3 is in a usable state is defined as the up-down direction D1. Furthermore, when the swivel unit 32 is in a non-swivel state, the front-to-rear direction D2 and the left-to-right direction D3 are defined based on the direction as seen by the user (operator) aboard the work machine 3 (the driving unit 321 thereof). In other words, all directions used in this embodiment are directions defined based on the machine body 30 of the work machine 3, with the direction in which the machine body 30 moves when the work machine 3 moves forward being "forward" and the direction in which the machine body 30 moves when the work machine 3 moves backward being "rear". Similarly, the direction in which the front end of the machine body 30 moves when the work machine 3 turns right being "rightward", and the direction in which the front end of the machine body 30 moves when the work machine 3 turns left being "leftward". However, these directions are not intended to limit the direction in which the work machine 3 is used (the direction in use).

[0018] The work machine 3 is equipped with an engine 40 (see Figure 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 (light oil in this case) supplied from a fuel tank. In the work machine 3, for example, the engine 40 drives a hydraulic pump 41 (see Figure 2), and hydraulic oil is supplied from the hydraulic pump 41 to hydraulic actuators (including hydraulic motors 43 and hydraulic cylinders 44, etc.) in various parts of the machine body 30, thereby driving the machine body 30. Such a work machine 3 is controlled, for example, by a user (operator) aboard the driving section 321 of the machine body 30 operating an operating lever or the like of an operating device 35.

[0019] In this embodiment, as described above, it is assumed that the work machine 3 is a riding-type backhoe, and therefore the working unit 33 is driven in accordance with the operation of a user (operator) riding in the driving unit 321 to perform work such as excavation work. The driving unit 321 on which the user rides is provided on the swivel unit 32.

[0020] Here, the driving section 321 of the machine body 30 is equipped with a display device 2, an operating device 35, a sound output section 36, etc., and the user can operate the operating 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 on the display device 2 information related to the operating state of the work machine 3 that is necessary for operating the operating device 35.

[0021] 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 traveling hydraulic motor 43 (hydraulic actuator) for driving the crawlers 311.

[0022] The swivel unit 32 is located above the travel unit 31 and is configured to be swivelable 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 swivel and the like. In addition to a driving unit 321, the swivel unit 32 is equipped with an engine 40, a hydraulic pump 41 and the like. Furthermore, a boom bracket 322 to which the working unit 33 is attached is provided at the front end of the swivel unit 32.

[0023] 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 (work tool) that is attached to the body 30 of the work machine 3, and is any tool selected from multiple types of attachments depending on the type of task. As an example, the bucket 331 is detachably attached to the body 30 and is replaced depending on the type of task. In addition to the bucket 331, attachments for the work machine 3 include various tools such as a breaker, auger, crusher, fork, fork claw, steel frame cutter, asphalt cutter, brush cutter, ripper, mulcher, tiltrotator, and tamper.

[0024] The working unit 33 further includes a boom 332, an arm 333, and a hydraulic actuator (including a hydraulic cylinder 44, a hydraulic motor, etc.). The bucket 331 is attached to the tip of the arm 333.

[0025] The boom 332 is rotatably supported by the boom bracket 322 of the swivel unit 32. Specifically, the boom 332 is supported by the boom bracket 322 so as to be rotatable around a rotation axis that extends in the horizontal direction. The boom 332 has a shape that extends upward from a base end supported by the boom bracket 322. The arm 333 is connected to the tip of the boom 332. The arm 333 is supported relative to the boom 332 so as to be rotatable around a rotation axis that extends in the horizontal direction.

[0026] 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 (bucket 331, boom 332, and arm 333).

[0027] Particularly in this embodiment, the working unit 33 has an articulated structure in which the boom 332 and the arm 333 are configured to be independently rotatable. In other words, by rotating each of the boom 332 and the arm 333 around a horizontal rotation axis, the articulated working unit 33 including the boom 332 and the arm 333 can be extended or folded as a whole.

[0028] Like the working unit 33, the traveling unit 31 and the swivel unit 32 each operate by receiving power from the engine 40 as a power source. 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.

[0029] 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, multiple cameras (three in this case) including a left camera 341, a right camera 342, and a rear camera 343 are mounted on the swivel 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 images captured by each camera are output to the control system 1. FIG. 3 is a plan view of the work machine 3 viewed from above, and schematically shows 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, right camera 342, and rear camera 343).

[0030] 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 section 321 so as to capture images of a monitoring area A1 that is to the left, right, and rear as seen from the operator in the driving section 321 of the swivel section 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 an image of the small area A11 (left area) that is to the left as seen from the operator in the driving section 321. Similarly, the right camera 342 captures an image of the small area A12 (right area) that is to the right as seen from the operator in the driving section 321, and the rear camera 343 captures an image of the small area A13 (rear area) that is rear as seen from the operator in the driving section 321. This makes it possible to cover the sides (left and right) and rear, which tend to be blind spots for the operator, with the left camera 341, right camera 342 and rear camera 343.

[0031] Fig. 2 schematically shows the hydraulic circuit and electrical circuit (electrical connection relationships) of the work machine 3 according to this embodiment. In Fig. 2, solid lines indicate high-pressure oil passages (for hydraulic oil), dotted lines indicate low-pressure oil passages (for pilot oil), and dashed arrows indicate electrical signal paths.

[0032] 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 unit 46, a second restriction unit 47, a directional control valve (control valve) 48, a flow rate restriction unit 49, etc.

[0033] 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 swivel 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.

[0034] Here, the flow rate of hydraulic oil supplied from the hydraulic pump 41 is not fixed but can be changed (variable) by appropriate means. The work machine 3 according to this embodiment is equipped with a flow rate restricting unit 49, which can adjust 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.

[0035] 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 into which a control signal is input for adjusting the discharge rate (flow rate) of hydraulic oil from the hydraulic pump 41, which is a variable displacement pump. Specifically, pilot oil, which serves as a control signal, is supplied from the pilot pump 42 to the control signal input port 491, and the discharge rate of the hydraulic oil from the hydraulic pump 41 changes depending on the supply rate (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 depending on a control signal (supply current) from the control system 1, thereby changing the discharge rate of hydraulic oil from the hydraulic pump 41. The engine control unit 493 controls the rotation speed of the engine 40. That is, 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 .

[0036] In this way, the flow rate restricting unit 49 can adjust 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 restricting unit 49 may change the flow rate of the hydraulic oil discharged from the hydraulic pump 41 continuously and without steps, or may change it in steps (for example, 2 steps, 5 steps, or 10 steps).

[0037] Hydraulic actuators such as the hydraulic motor 43 and the hydraulic cylinder 44 are provided with a pilot-type directional control valve 48 that can switch 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.

[0038] 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 operation of the operating device 35 (operation lever). The work operation command instructs the extension operation, retraction 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.

[0039] Moreover, the first control valve 461 and the second control valve 471 are both 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. Here, the first control valve 461 and the second control valve 471 are (electromagnetic) proportional control valves, but are not limited to this and may be, for example, an on-off valve that can switch between opening and closing a flow path.

[0040] Both the first control valve 461 and the second control valve 471 open the flow path of pilot oil when they are in an energized state, that is, when current is being supplied as a control signal, and block the flow path of pilot oil when they are in a de-energized state, that is, when current is being cut off as a control signal. Therefore, when the supply current (control signal) to at least one of the first control valve 461 and the second control valve 471 is cut off, 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.

[0041] Similarly, a remote control valve is provided in a supply path for 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 operation of the operating device 35 (operation lever). The travel operation command commands the traveling motion (forward or backward, etc.) of the traveling unit 31. Furthermore, a remote control valve is also provided in a supply path for pilot oil to a directional control valve corresponding to the hydraulic motor of the slewing unit 32. This remote control valve outputs a swing operation command for the slewing unit 32 in response to operation of the operating device 35 (operation lever). The swing operation command commands the swing motion (left swing, right swing, etc.) of the slewing 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.

[0042] The gate lock switch 462 is linked to a gate lock lever 463. The gate lock lever 463 is disposed on the driving section 321 of the machine body 30, and receives operation input from a user (operator). In the present embodiment, as an example, the gate lock lever 463 can be operated in the up-down direction D1. When the gate lock lever 463 is in the "up position," which is the upper end position of its 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 its 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 state of the gate lock switch 462 is monitored by the control system 1.

[0043] 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."

[0044] Furthermore, since the swivel unit 32 and the traveling unit 31 each operate when hydraulic oil is supplied from the hydraulic pump 41 to a hydraulic actuator (hydraulic motor 43, etc.), when the gate lock lever 463 is in the "raised position", the swivel unit 32 and the traveling unit 31 also become inoperable. In other words, when the gate lock lever 463 is in the "raised position", the working unit 33, swivel unit 32, and traveling unit 31 are all forcibly placed in an inoperable state.

[0045] 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. 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 a cut-off lever.

[0046] 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.

[0047] 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 electrical signal. The sound output unit 36 ​​is connected to the control system 1, and outputs sound such as a beep or voice in response to a sound control signal from the control system 1. In this embodiment, the sound output unit 36 ​​is provided in the driving unit 321 of the machine body 30, similar to the display device 2. The sound output unit 36 ​​may be provided integrally with the display device 2.

[0048] 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 explained in more detail in the section "[2] Configuration of the Control System."

[0049] The display device 2 is disposed in the driving section 321 of the machine body 30, and is a user interface for receiving operation inputs from a user (operator) and outputting various information to the user. The display device 2 receives various operations from the user, for example, by outputting electrical signals in response to the user's operations. This allows the user (operator) to view the display screen Dp1 (see FIG. 4) displayed on the display device 2, and also allows the user (operator) to operate the display device 2 as necessary.

[0050] 2, the display device 2 includes a control unit 21, an operation unit 22, and a display unit 23. The display device 2 is configured to be able to communicate with the control system 1, and is able to send and receive data to and from the control system 1. In this embodiment, as an example, the display device 2 is a dedicated device used in the work machine 3.

[0051] The control unit 21 controls the display device 2 in accordance with data from the control system 1. Specifically, the control unit 21 outputs an electrical signal in response to a user operation received by the operation unit 22, and displays a display screen Dp1 generated by the control system 1 on the display unit 23.

[0052] The operation unit 22 is a user interface for accepting operation inputs by a user (operator) to a 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 electrical signal in response to an operation by the user U1. In the present embodiment, as an example, the operation unit 22 includes a plurality of (six in this case) 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 (below 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, which will be described later, and by operating any of the plurality of push button switches 221-226, any item on the display screen Dp1 is operated (selected).

[0053] 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.

[0054] 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 types of information. The display unit 23 presents various types of information to the user by displaying them. In this embodiment, as an example, the display unit 23 is a full-color liquid crystal display with a backlight, and has a "horizontally elongated" display area that is long in the horizontal direction, as shown in FIG. 4.

[0055] 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 area around the machine body 30.

[0056] [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 swivel section 32, the working section 33, etc.). In this embodiment, the control system 1 is a component of the work machine 3, and together with the machine body 30, etc., constitutes the work machine 3. In other words, the work machine 3 according to this embodiment comprises at least the control system 1 and the machine body 30.

[0057] As shown in Fig. 2, the control system 1 includes an acquisition processing unit 11, a switching processing unit 12, a determination processing unit 13, a detection processing unit 14, and an alarm processing unit 15. 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 (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 separately in multiple housings, or may be provided in a single housing.

[0058] The control system 1 is configured to be able to communicate with devices provided in various parts of the vehicle body 30. That is, the control system 1 is connected to 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. This allows the control system 1 to control the display device 2 and the sound output unit 36, etc., and to acquire images captured by the left camera 341, the right camera 342, and the rear camera 343, etc. Here, the control system 1 may exchange various information (data) with each device directly or indirectly via a repeater or the like. The control system 1 and the devices provided in various parts of the vehicle body 30 can communicate with each other using a communication method such as CAN (Controller Area Network), for example.

[0059] The acquisition processing unit 11 executes acquisition processing to acquire detection results of an object Ob1 around the body 30 of the work machine 3. Specifically, in this embodiment, the detection processing unit 14 detects the object Ob1 around the body 30 based on the outputs of the left camera 341, the right camera 342, and the rear camera 343. Therefore, the acquisition processing unit 11 acquires detection results 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." That is, if the work machine 3 moves, or a "person" around the work machine 3 moves, and as a result, a "person" enters the monitoring area A1 around the work machine 3, the detection processing unit 14 detects the "person" as object Ob1. If multiple objects Ob1 are present in the monitoring area A1, the detection processing unit 14 may also detect the number of objects Ob1 (number of people).

[0060] In this embodiment, the acquisition processing unit 11 periodically or irregularly acquires the detection results of the object Ob1 around the body 30 from the detection processing unit 14 regardless of whether the gate lock lever 463 is in the "up position" or the "down position."

[0061] The switching processing unit 12 executes a mode switching process for switching the operation mode of the alarm processing unit 15. In the present embodiment, as an example, a plurality of operation modes including a first mode and a second operation mode are prepared as the operation mode of the alarm processing unit 15. The switching processing unit 12 switches the operation mode of the alarm processing unit 15 by alternatively selecting one of the plurality of operation modes. For example, when the operation mode of the alarm processing unit 15 is the first mode, if the switching processing unit 12 selects the second mode, the operation mode of the alarm processing unit 15 switches from the first mode to the second mode. Similarly, when the operation mode of the alarm processing unit 15 is the second mode, if the switching processing unit 12 selects the first mode, the operation mode of the alarm processing unit 15 switches from the second mode to the first mode.

[0062] Here, the switching processing unit 12 switches the operation mode of the alarm processing unit 15 in response to an operation by the user (operator). As an example, with a setting screen displayed on the display device 2 as the display screen Dp1, the user operates the display device 2 to select an arbitrary operation mode (first mode or second mode) on the setting screen. When the display device 2 accepts such an operation, the switching processing unit 12 switches the operation mode of the alarm processing unit 15 to the arbitrary operation mode selected by the user. The currently selected operation mode can also be confirmed on the setting screen displayed on the display device 2.

[0063] The determination processing unit 13 executes determination processing to determine whether the work machine 3 is in a "state in which it cannot be operated" or a "state in which it can be operated." Here, "a state in which it cannot be operated" means a state in which the work machine 3 is not driven by operation of the operating device 35, and includes a state in which at least the gate lock lever 463 is in the "up position" and the gate lock switch 462 is off. Furthermore, "a state in which it 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, "a state in which it can be operated" means a state in which the work machine 3 is driven by operation of the operating device 35, and includes a state in which at least the gate lock lever 463 is in the "down position" and the gate lock switch 462 is on. Furthermore, "a state in which it 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.

[0064] 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. In this embodiment, as an example, a state in which the gate lock lever 463 is in a locked state in the "up position" or the ignition is off is considered to be a "state in which the work machine 3 cannot be operated." On the other hand, a state in which the gate lock lever 463 is in an unlocked state in the "down position" and the ignition is on is considered to be a "state in which the work machine 3 can be operated." In other words, 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, that the work machine 3 is in a "state in which the work machine 3 cannot be operated." Furthermore, if the ignition of the work machine 3 is off, the determination processing unit 13 uniformly determines that the work machine 3 is in a "state in which the work machine 3 cannot be operated," regardless of the state of the gate lock lever 463. In short, in this embodiment, the judgment processing unit 13 judges that the work machine 3 is in a state where it cannot be operated if the gate lock lever 463 is in a locked state or the ignition is off, and judges that the work machine 3 is in a state where it can be operated if the gate lock lever 463 is in an unlocked state and the ignition is on.

[0065] In this embodiment, the determination processing unit 13 also determines whether or not a predetermined condition is satisfied with respect to the detection result of the object Ob1 around the airframe 30. That is, the determination processing unit 13 determines whether or not the detection result acquired by the acquisition processing unit 11 from the detection processing unit 14 satisfies the predetermined condition.

[0066] The "predetermined condition" here refers to a condition imposed on the detection result in order to output an alarm (to execute alarm processing), and includes, for example, the presence of an object Ob1 in the monitoring area A1 around the aircraft 30. Furthermore, the "predetermined condition" may include, in addition to or instead of the presence of the object Ob1 in the monitoring area A1, the object Ob1 having a specific attribute, the object Ob1 being present in the monitoring area A1 for a predetermined period of time or more, or a specific position around the aircraft 30 (for example, a position in the operator's blind spot or a position within a certain distance from the aircraft 30). Examples of the "specific attribute" here include the object Ob1 being in motion, the object Ob1 being a person other than a worker (an ordinary person), the object Ob1 (here, a "person") being unaware of the presence of the aircraft 30 because it has its back to the aircraft 30, or the presence of a predetermined number of objects Ob1. In this embodiment, the presence of the object Ob1 (here, a "person") in the monitoring area A1 is, for example, the "predetermined condition."

[0067] Furthermore, the determination processing unit 13 outputs the determination result to at least the warning processing unit 15. In other words, the warning processing unit 15 receives, from the determination processing unit 13, the determination result of whether the work machine 3 is in a "state in which it cannot be operated" or a "state in which it is possible to operate the work machine 3" (also referred to as the first determination result), and the determination result of whether the detection result satisfies a predetermined condition (also referred to as the second determination result).

[0068] 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 determines 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 is present in the monitoring area A1. Specifically, in this embodiment, the detection processing unit 14 periodically or irregularly acquires outputs from the left camera 341, right camera 342, and rear camera 343 from the left camera 341, right camera 342, and rear camera 343. 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) from the left camera 341, right camera 342, and rear camera 343.

[0069] 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 (a "person" in this embodiment) is captured in the image based on the features. If the object Ob1 is captured in the image, the detection processing unit 14 determines in which of the images captured by the left camera 341, the right camera 342, and the rear camera 343 the object Ob1 is captured. In other words, the detection processing unit 14 distinguishes whether the object Ob1 is present 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, and detects the object Ob1.

[0070] The alarm processing unit 15 outputs an alarm, i.e., issues a warning. Here, the alarm processing unit 15 executes alarm processing to output (issue) an alarm based on the detection result of the detection processing unit 14, i.e., the detection result of the object Ob1 in the monitoring area A1 around the machine body 30. In the present disclosure, "notification" refers to outputting an alarm to the user (operator) by various means, including, for example, sound (including voice), display (including lighting of an indicator light), vibration (vibration function), transmission to another terminal, or writing to a non-transitory recording medium. However, the alarm processing unit 15 basically issues a warning in a manner that allows the user (operator) to recognize the alarm in real time.

[0071] The alarm processing unit 15, as a basic operation, determines whether to output an alarm based on the determination result (second determination result) of whether the detection result of the detection processing unit 14 satisfies a predetermined condition. Specifically, if the detection result satisfies the predetermined condition while the work machine 3 is in operation, that is, if an object Ob1 is present in the monitoring area A1 around the machine body 30, the alarm processing unit 15 outputs an alarm. On the other hand, if the detection result does not satisfy the predetermined condition while the work machine 3 is in operation, that is, if an object Ob1 is not present in the monitoring area A1 around the machine body 30, the alarm processing unit 15 does not output an alarm. As an example in the present embodiment, if an object Ob1 is present in the monitoring area A1 around the machine body 30, the alarm processing unit 15 displays that fact on the display unit 23 of the display device 2 and outputs an alarm sound from the sound output unit 36. The alarm sound may be a simple beep or a voice message such as "please be careful." Furthermore, the content of the warning (display content and warning sound) may change depending on the detection results of the detection processing unit 14 (the position of the object Ob1, the distance from the machine body 30 to the object Ob1, etc.).

[0072] In this embodiment, as described above, the operation mode of the alarm processing unit 15 is alternatively selected from a plurality of operation modes including a first mode and a second mode. In the first mode, the alarm processing unit 15 prohibits the output of an alarm when it is determined that the work machine 3 is in a state where it can be operated after the first situation has occurred. Here, the first situation is defined as a situation where it is determined that the work machine 3 is in a state where it cannot be operated, and the detection results satisfy a predetermined condition. On the other hand, in the second mode, the alarm processing unit 15 outputs an alarm under the first situation, and continues to output the alarm when it is determined that the work machine 3 is in a state where it can be operated after the first situation has occurred. Here, the first situation is defined as a situation where it is determined that the work machine 3 is in a state where it cannot be operated, and the detection results satisfy a predetermined condition.

[0073] In this way, in the control system 1 according to this embodiment, a situation in which it is determined (by the determination processing unit 13) that "the work machine 3 is in a state in which it cannot be operated" and the detection results (by the detection processing unit 14) satisfy predetermined conditions is defined as a first situation. Then, at least after the first situation, when the gate lock lever 463 is operated to the "down position" (unlocked state), for example, and the determination processing unit 13 determines that "the work machine 3 is in a state in which it can be operated," the operation of the alarm processing unit 15 differs between the first mode and the second mode. Specifically, if it is determined that "the work machine 3 is in a state in which it can be operated" after the first situation, the alarm processing unit 15 prohibits the output of an alarm in the first mode, whereas in the second mode it continues to output the alarm (which was output in the first situation).

[0074] Here, "prohibiting alarm output" means not outputting (not allowing an alarm to be output). Therefore, when "prohibiting alarm output" is performed from a state in which an alarm has already been output, the alarm processing unit 15 transitions to a state in which no alarm is output by halting (stopping) the alarm output. Also, when "prohibiting alarm output" is performed from a state in which no alarm was originally output (i.e., the alarm has been stopped), the alarm processing unit 15 continues the state in which no alarm is output (i.e., the alarm has been stopped).

[0075] Furthermore, "continuing the output of an alarm" here means maintaining the state of outputting an alarm. Therefore, when "continuing the output of an alarm" is selected from a state in which an alarm has already been output, the alarm processing unit 15 continues to perform the operation of outputting an alarm without suspending (stopping) the output of the alarm.

[0076] [3] Control method for work machine An example of a control method for the work machine 3 (hereinafter simply referred to as a "control method") that is mainly executed by the control system 1 will be described below with reference to FIGS.

[0077] The control method according to this embodiment is executed by a control system 1 whose main component is a computer system, and in other words, is embodied in a work machine control program (hereinafter simply referred to as a "control program"). In other words, the control program according to this embodiment is a computer program for causing one or more processors to execute each process related to the control method. Such a control program may be executed, for example, by the control system 1 and the display device 2 working together.

[0078] 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).

[0079] [3.1] General operation Here, we will first explain the control method according to this embodiment, that is, the general operation of the alarm processing unit 15 of the control system 1 according to this embodiment in each of the first mode and the second mode, with reference to Fig. 5. As shown in Fig. 5, when focusing on two items, work possibility and human presence, it is clear that the operation after the first situation differs between the first mode and the second mode. Here, "work possibility" includes two states: "a state in which the work machine 3 cannot be operated" (represented as "operation not possible" in Fig. 5), and "a state in which the work machine 3 can be operated" (represented as "operation possible" in Fig. 5). "Human presence" includes two states: "a state in which the detection result satisfies a predetermined condition" (represented as "human presence" in Fig. 5), and "a state in which the detection result does not satisfy a predetermined condition" (represented as "human absence" in Fig. 5).

[0080] In this embodiment, as described above, a situation in which the gate lock lever 463 is in the "up position," making it impossible to operate the work machine 3, and the detection result satisfies a predetermined condition due to the presence of an object Ob1 in the monitoring area A1 around the machine body 30, is defined as a "first situation." In the first situation, the alarm processing unit 15 of the control system 1 outputs an alarm in both the first mode and the second mode (denoted as "alarm issued" in FIG. 5). Here, in the first mode, if it is determined that the "work machine 3 is in a state in which it can be operated" because the gate lock lever 463 is operated to the "down position" after the first situation, the alarm processing unit 15 of the control system 1 prohibits the output of an alarm (denoted as "no alarm" in FIG. 5). On the other hand, in the second mode, if it is determined that the "work machine 3 is in a state in which it can be operated" after the first situation, the alarm processing unit 15 of the control system 1 continues to output an alarm (denoted as "alarm issued" in FIG. 5).

[0081] In short, the control method according to this embodiment comprises obtaining the detection results of the object Ob1 around the machine body 30 of the work machine 3, and determining whether the work machine 3 is in a state where it can be operated or not. In this control method, a situation where it is determined that the work machine 3 is in a state where it can not be operated and the detection results satisfy predetermined conditions is defined as a first situation. If the operation mode of the alarm processing unit 15 is in the first mode, the control method further comprises prohibiting the output of an alarm when it is determined that the work machine 3 is in a state where it can be operated after the first situation. On the other hand, if the operation mode of the alarm processing unit 15 is in the second mode, the control method further comprises outputting an alarm under the first situation, and continuing to output the alarm when it is determined that the work machine 3 is in a state where it can be operated after the first situation.

[0082] Here, as shown in Fig. 5, the operation related to alarm output when it is determined that the work machine 3 is in a state where it can be operated after the first situation is determined independent of the detection result of the detection processing unit 14. In other words, there is no difference in the operation related to alarm output depending on whether the detection result when it is determined that the work machine 3 is in a state where it can be operated after the first situation satisfies a predetermined state (people present) or does not satisfy a predetermined condition (people not present). For example, in the first mode, output of an alarm is prohibited regardless of whether the detection result when it is determined that the work machine 3 is in a state where it can be operated after the first situation satisfies the predetermined state or does not satisfy the predetermined condition.

[0083] [3.2] First mode Next, details of the control method according to this embodiment when the operation mode of the alarm processing unit 15 is in the first mode, that is, specific operations of the control system 1, will be described with reference to the flowchart of FIG.

[0084] As a premise, when the gate lock lever 463 is in the "down position" and the "work machine 3 can be operated," the control system 1 determines whether or not to output an alarm depending on the determination result (second determination result) of whether or not the detection result of the detection processing unit 14 satisfies a predetermined condition. In this state, if the detection result satisfies the predetermined condition, that is, if an object Ob1 is present in the monitoring area A1 around the machine body 30, the alarm processing unit 15 outputs an alarm. On the other hand, if the detection result does not satisfy the predetermined condition, that is, if an object Ob1 is not present in the monitoring area A1 around the machine body 30, the alarm processing unit 15 does not output an alarm. Also, in this state, the control system 1 sets the value of a detection flag prepared in a non-volatile memory or the like to "0" (off) as an initial value.

[0085] 6, the control system 1 starts processing from step S2 onwards, triggered by the gate lock lever 463 being operated from the "lowered position" to the "raised position" (S1: Yes). Here, the determination processing unit 13 of the control system 1 determines whether the gate lock lever 463 is in the "raised position" or the "lowered position" based on the on / off state of the gate lock switch 462, and determines that the gate lock lever 463 has been operated to the "raised position" (S1: Yes) when the gate lock switch 462 switches from on to off. Here, when the gate lock lever 463 is in the "raised position", the gate lock switch 462 turns 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 work machine 3 cannot be operated".

[0086] 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 is present 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.

[0087] In step S3, the determination processing unit 13 of the control system 1 determines whether the 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 detection result satisfies the predetermined condition (S3: Yes), and shifts the processing 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 detection result does not satisfy the predetermined condition (S3: No), and shifts the processing to step S6.

[0088] In step S4, the determination processing unit 13 of the control system 1 sets the value of the detection flag to "1" (ON). Here, the detection flag value "1" (ON) indicates that an object Ob1 (person) is present in the monitoring area A1, and the detection flag value "0" (OFF) indicates that an object Ob1 (person) is not present in the monitoring area A1.

[0089] In step S5, the alarm processing unit 15 of the control system 1 outputs an alarm that the detection result of the detection processing unit 14 satisfies a predetermined condition, that is, that an object Ob1 is present in the monitoring area A1 around the machine body 30. At this time, the alarm processing unit 15 causes the display unit 23 of the display device 2 to display detection result information I1 and I2 (see FIG. 8 ), and also causes the sound output unit 36 ​​to output an alarm sound. Therefore, the operator (user U1) can recognize that an object Ob1 is present around the machine body 30.

[0090] That is, if it is determined that the work machine 3 is in a "state in which it cannot be operated" (S1: Yes) and the detection result satisfies a predetermined condition (S3: Yes), it is determined that the work machine 3 is in a first situation, and the detection flag is turned on (S4). Furthermore, the alarm processing unit 15 of the control system 1 outputs an alarm in the first situation. As a result, in the first situation, although the operator (user U1) is in a state in which he or she cannot operate the work machine 3, he or she can recognize that an object Ob1 is present around the machine body 30 due to the alarm (at least the alarm sound from the sound output unit 36).

[0091] In step S6, it is determined whether the gate lock lever 463 has been operated from the "up position" to the "down position." At this time, 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" based on the on / off state of the gate lock switch 462. When the gate lock switch 462 switches from off to on, it determines that the gate lock lever 463 has been operated to the "down position" (S6: Yes), and shifts the processing to step S7. Here, when the gate lock lever 463 is in the "down position," the gate lock switch 462 turns on, the first control valve 461 of the first restriction unit 46 on the primary pressure side of the pilot oil passage becomes open, and the "work machine 3 can be operated." On the other hand, when the determination processing unit 13 determines that the gate lock lever 463 has not been operated to the "down position" (S6: No), it shifts the processing to step S2.

[0092] In this way, after the first situation in which it is determined that the work machine 3 is in a "state in which the work machine 3 cannot be operated," the "state in which the work machine 3 cannot be operated" is maintained until the gate lock lever 463 is operated to the "down position" by the user (operator). In short, the determination processing unit 13 can determine that the work machine 3 is in a state in which it can be operated only after the first situation when there is at least an operation by the user of the work machine 3. Therefore, if it is determined that the work machine 3 is in a state in which it can be operated after the first situation (S6: Yes), this means that at least the user has intentionally operated the work machine 3 to put it in a state in which it can be operated. In other words, the work machine 3 will not be determined to be in a state in which it can be operated without the user intending to do so after the first situation.

[0093] In step S7, the alarm processing unit 15 of the control system 1 prohibits the output of an alarm. If it is determined in step S3 that the detection result satisfies the predetermined condition (S3: Yes) and thus it is determined that the first situation exists, in step S7 the alarm processing unit 15 halts (stops) the output of the alarm, thereby transitioning to a state in which no alarm is output. On the other hand, if it is determined in step S3 that the detection result does not satisfy the predetermined condition (S3: No) and thus it is determined that the first situation does not exist, in step S7 the alarm processing unit 15 continues the state in which no alarm is output (i.e., the alarm is stopped).

[0094] In step S8, the alarm processing unit 15 of the control system 1 determines whether the value of the detection flag is "1" (on). That is, if the detection result is determined to satisfy the predetermined condition in step S3 (S3: Yes) and the detection flag is set to on (S4), the alarm processing unit 15 determines that the value of the detection flag is "1" (on) (S8: Yes) and shifts the processing to step S9. On the other hand, if the detection result is determined not to satisfy the predetermined condition in step S3 (S3: No) and the detection flag remains off, the alarm processing unit 15 determines that the value of the detection flag is "0" (off) (S8: No) and shifts the processing to step S10.

[0095] In step S9, the alarm processing unit 15 of the control system 1 presents information in a manner different from the alarm output in step S5. In this embodiment, in step S5, the alarm processing unit 15 displays the detection result information I1 and I2 on the display unit 23 of the display device 2 and outputs an alarm sound from the sound output unit 36, whereas in step S9, the alarm processing unit 15 only displays the detection result information I1 and I2 on the display unit 23 of the display device 2. The detection result information I1 and I2 displayed on the display unit 23 of the display device 2 will be described in detail in the section "[3.4] Display Screen." In other words, in step S9, at least no alarm sound is output from the sound output unit 36. In this way, when it is determined that the work machine 3 is in a state where it can be operated after the first situation, the alarm processing unit 15 presents information in a manner different from the alarm. Therefore, the operator (user U1) can recognize the presence of object Ob1 around the machine body 30 through the presented information (here, the display), but is freed from the annoyance of an alarm (here, the alarm sound).

[0096] In step S10, the alarm processing unit 15 of the control system 1 determines whether a predetermined time has elapsed since the alarm output was prohibited (S8). The predetermined time is the time for which the alarm output prohibition process continues, and is set to, for example, several seconds (3 seconds, 5 seconds, etc.). At this time, the alarm processing unit 15 compares the time that has elapsed since the alarm output prohibition (S8) with the predetermined time, and if the elapsed time reaches the predetermined time, it determines that the predetermined time has elapsed (S10: Yes) and shifts the process to step S11. On the other hand, if the elapsed time has not reached the predetermined time, it determines that the predetermined time has not elapsed (S10: No), and shifts the process to step S7.

[0097] In step S11, the value of the detection flag is reset to "0" (off). That is, if the value of the detection flag is set to "1" (on) in step S4, the value of the detection flag is reset in step S11. This causes the control system 1 to end the series of operations.

[0098] The control system 1 repeatedly executes the processes of steps S1 to S11. However, the flowchart shown in Fig. 6 is merely an example, and processes may be added or omitted as appropriate, and the order of processes may be changed as appropriate. For example, instead of step S10, the alarm processing unit 15 may transition to step S11 in response to a predetermined operation by the user (operator).

[0099] As described above, the control method according to this embodiment includes prohibiting the output of an alarm when it is determined that the work machine 3 is in a state where it can be operated after the first situation. Here, the first situation is a situation where it is determined that the work machine 3 is in a state where it cannot be operated, and the detection results satisfy a predetermined condition. Therefore, for example, if the operator (user U1) recognizes that an object Ob1 (person) is present around the work machine 3 and then sets the gate lock lever 463 to the unlocked state, no alarm will be output even if the work machine 3 is in a state where it can be operated. This makes it possible to prevent an operator who is working carefully while paying attention to people around the work machine 3 from being bothered by an alarm and being distracted by the alarm, which could lead to a decrease in concentration. As a result, it is possible to provide a work machine control system 1, a work machine 3, a control method for a work machine 3, and a work machine control program that can easily reduce a decrease in the operator's concentration.

[0100] [3.3] Second mode Next, details of the control method according to this embodiment when the operation mode of the alarm processing unit 15 is in the second mode, that is, specific operations of the control system 1, will be described with reference to the flowchart of FIG.

[0101] As a premise, when the gate lock lever 463 is in the "down position" and the "work machine 3 can be operated," the control system 1 determines whether or not to output an alarm depending on the determination result (second determination result) of whether or not the detection result of the detection processing unit 14 satisfies a predetermined condition. In this state, if the detection result satisfies the predetermined condition, that is, if an object Ob1 is present in the monitoring area A1 around the machine body 30, the alarm processing unit 15 outputs an alarm. On the other hand, if the detection result does not satisfy the predetermined condition, that is, if an object Ob1 is not present in the monitoring area A1 around the machine body 30, the alarm processing unit 15 does not output an alarm. Also, in this state, the control system 1 sets the value of a detection flag prepared in a non-volatile memory or the like to "0" (off) as an initial value.

[0102] 7, the control system 1 starts the processing from step S22 onwards when the gate lock lever 463 is operated from the "lowered position" to the "raised position" (S21: Yes), which is a trigger. Here, the processing of steps S21 to S26 is the same as the processing of steps S1 to S6 in the flowchart of FIG. 6, and therefore a detailed description of the processing of steps S21 to S26 will be omitted.

[0103] That is, in step S26, the determination processing unit 13 of the control system 1 determines that the gate lock switch 462 has been switched from off to on, and that the gate lock lever 463 has been operated to the "down position" (S26: Yes), and shifts the processing to step S27. On the other hand, if the determination processing unit 13 determines that the gate lock lever 463 has not been operated to the "down position" (S26: No), it shifts the processing to step S22.

[0104] In this way, after the first situation in which it is determined that the work machine 3 is in a "state in which the work machine 3 cannot be operated," the "state in which the work machine 3 cannot be operated" is maintained until the gate lock lever 463 is operated to the "down position" by the user (operator). In short, the determination processing unit 13 can determine that the work machine 3 is in a state in which it can be operated only after the first situation when there is at least an operation by the user of the work machine 3. Therefore, if it is determined that the work machine 3 is in a state in which it can be operated after the first situation (S26: Yes), this means that at least the user has intentionally operated the work machine 3 to put it in a state in which it can be operated. In other words, the work machine 3 will not be determined to be in a state in which it can be operated without the user intending to do so after the first situation.

[0105] In step S27, the alarm processing unit 15 of the control system 1 determines whether the value of the detection flag is "1" (on). That is, if it is determined in step S23 that the detection result satisfies the predetermined condition (S23: Yes) and the detection flag is set to on (S24), the alarm processing unit 15 determines that the value of the detection flag is "1" (on) (S27: Yes) and moves the process to step S28. On the other hand, if it is determined in step S23 that the detection result does not satisfy the predetermined condition (S23: No) and the detection flag remains off, the alarm processing unit 15 determines that the value of the detection flag is "0" (off) (S27: Yes), and the control system 1 ends the series of operations.

[0106] In step S28, the alarm processing unit 15 of the control system 1 continues to output the alarm. That is, if it is determined in step S23 that the detection result satisfies the predetermined condition (S23: Yes) and thus it is determined that the first situation exists, the alarm processing unit 15 continues the operation of outputting the alarm in step S28. On the other hand, if it is determined in step S23 that the detection result does not satisfy the predetermined condition (S23: No) and thus it is determined that the first situation does not exist, the value of the detection flag is determined to be "0" (off) (S27: Yes), and therefore the process of continuing to output the alarm is not executed.

[0107] In step S29, the alarm processing unit 15 of the control system 1 determines whether a predetermined time has elapsed since the alarm output was continued (S28). The predetermined time is the time for which the alarm output continues, and is set to, for example, several seconds (3 seconds, 5 seconds, etc.). At this time, the alarm processing unit 15 compares the time that has elapsed since the alarm output was continued (S28) with the predetermined time, and if the elapsed time reaches the predetermined time, it determines that the predetermined time has elapsed (S29: Yes), and shifts the processing to step S30. On the other hand, if the elapsed time has not reached the predetermined time, it determines that the predetermined time has not elapsed (S29: No), and shifts the processing to step S28.

[0108] In step S30, the value of the detection flag is reset to "0" (off). That is, if the value of the detection flag is set to "1" (on) in step S24, the value of the detection flag is reset in step S30. Then, the control system 1 proceeds to step S27.

[0109] The control system 1 repeatedly executes the processes of steps S21 to S30. However, the flowchart shown in Fig. 7 is merely an example, and processes may be added or omitted as appropriate, and the order of processes may be changed as appropriate. For example, instead of step S29, the alarm processing unit 15 may transition to step S30 in response to a predetermined operation by the user (operator).

[0110] As described above, the control method according to this embodiment includes outputting an alarm in a first situation, and continuing to output the alarm when it is determined that the work machine 3 is in a state where it can be operated after the first situation has occurred. Here, the first situation is a situation where it is determined that the work machine 3 is in a state where it cannot be operated, and the detection results satisfy a predetermined condition. Therefore, for example, it is easy to prevent an operator (user U1) from unlocking the gate lock lever 463 and transitioning the work machine 3 to a state where it can be operated without recognizing that there is a person around the work machine 3. Therefore, for example, it is possible to lower the level of attention required of the operator to prevent the work machine 3 from suddenly moving forcefully. As a result, it is possible to provide a work machine control system 1, a work machine 3, a control method for a work machine 3, and a work machine control program that easily reduce the burden on the operator related to operation.

[0111] Incidentally, in this embodiment, when at least the operating mode of the alarm processing unit 15 is in the second mode, an alarm is output not only in the first situation but also in the second situation, in the same way as in the first situation. Here, the second situation is a situation in which it is determined that the work machine 3 is in a state in which it can be operated and the detection results satisfy predetermined conditions. In other words, the alarm processing unit 15 outputs an alarm even in the second situation when the second situation is a situation in which it is determined that the work machine 3 is in a state in which it can be operated and the detection results satisfy predetermined conditions. As a result, even when the "work machine 3 is in a state in which it can be operated," if, for example, an object Ob1 is present in the monitoring area A1 around the machine body 30, the alarm processing unit 15 can output an alarm and notify the user (operator).

[0112] Furthermore, the alarm processing unit 15 continues to output an alarm even when it is determined that the work machine 3 is in a state where it cannot be operated after the second situation. In other words, the alarm processing unit 15 will continue to output an alarm even when it is determined that the work machine 3 is in a state where it cannot be operated after the second situation, just as it does when it is determined that the work machine 3 is in a state where it cannot be operated after the first situation. Therefore, in cases such as when an object Ob1 is present in the monitoring area A1 around the machine body 30, the alarm processing unit 15 can output an alarm and notify the user (operator).

[0113] In this embodiment, the alarm processing unit 15 outputs an alarm in the second situation in the same manner as in the first situation, not only when the operation mode of the alarm processing unit 15 is in the second mode, but also when it is in the first mode. Furthermore, when the operation mode of the alarm processing unit 15 is in the first mode, the alarm processing unit 15 continues to output an alarm when it is determined that the work machine 3 is in an inoperable state after the second situation occurs.

[0114] [3.4] 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. 8. In the drawings showing the display screen Dp1 displayed on the display unit 23 of the display device 2, such as Fig. 8, the dashed dotted lines, lead lines, and reference symbols representing areas are added merely for the purpose of explanation and are not actually displayed on the display device 2.

[0115] As shown in Fig. 8, the display screen Dp1 displays captured images Im11, Im12, and Im13 of the monitoring area A1, as well as detection result information I1, I2, and the like that represent the detection results of the detection processing unit 14. Fig. 8 shows only an area R1 of the display screen Dp1 in which captured images Im11, Im12, and Im13 of the monitoring area A1 are displayed, and areas other than area R1 are not shown. The captured image Im11 is an image of the small area A11 to the left of the driving section 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 section 321 captured by the right camera 342. The captured image Im13 is an image of the small area A13 behind the driving section 321 captured by the rear camera 343.

[0116] 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 seen from the information is displayed in the center of the area R1. The icon Im10 schematically 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 seen from the aircraft 30.

[0117] The detection result information I1 is a band-shaped (frame-shaped) image that highlights the captured image that includes 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 is located as viewed from the driving section 321. The example in FIG. 8 assumes that the object Ob1 (here, a "person") is located in a small area A11 to the left of the driving section 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 detection result information I2 indicating that the object Ob1 is located to the left of the driving section 321 is displayed below the captured image Im11.

[0118] The display manner of the detection result information I1, I2 is preferably changed depending on the position of the object Ob1 in the monitoring area A1. For example, the display manner, such as the display color, size, or display pattern (including a blinking pattern) 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 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.

[0119] In this way, the display screen Dp1 not only displays 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 confirm 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 confirm the situation to 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 is present in the monitoring area A1, the situation of the object Ob1 can be more easily grasped in detail on the display screen Dp1.

[0120] [4] Variation Below, we will list some modified examples of embodiment 1. The modified examples explained below can be applied in appropriate combinations.

[0121] The control system 1 in the present disclosure includes a computer system. The computer system is primarily composed of one or more processors and one or more memories as hardware. The functions of the control system 1 in the present disclosure are realized by the processor executing a program recorded in the memory of the computer system. The program may be pre-recorded in the memory of the computer system, provided via a telecommunications line, or provided by being recorded on a non-transitory recording medium such as a memory card, optical disk, or hard disk drive that is readable by the computer system. In addition, some or all of the functional units included in the control system 1 may be configured with electronic circuits.

[0122] Furthermore, it is not essential for the control system 1 that at least some of the functions of the control system 1 are concentrated in one housing, and the components of the control system 1 may be distributed across multiple housings. Conversely, in the first embodiment, functions distributed across multiple devices (for example, the control system 1 and the display device 2) may be concentrated in one housing. Furthermore, at least some of the functions of the control system 1 may be realized by the cloud (cloud computing) or the like.

[0123] 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).

[0124] The display device 2 is not limited to a dedicated device, but may be a general-purpose terminal such as a laptop computer, a tablet terminal, a smartphone, etc. Furthermore, the display unit 23 is not limited to a device that directly displays a display screen, such as a liquid crystal display or an organic EL display, but may be configured to display a display screen by projection, such as a projector.

[0125] Furthermore, modes other than push button switches, touch panels, and operation dials may be adopted as the mode of inputting information to the operation unit 22. For example, the operation unit 22 may adopt modes such as a keyboard, a pointing device such as a mouse, voice input, gesture input, or input of an operation signal from another terminal.

[0126] Furthermore, the manner in which the alarm is output by the alarm processing unit 15 is not limited to displaying on the display unit 23 of the display device 2 and outputting an alarm sound from the sound output unit 36. For example, the alarm processing unit 15 may output an alarm by either displaying on the display unit 23 of the display device 2 or by sounding an alarm from the sound output unit 36, or may output an alarm by other means such as vibration (vibration function), transmission to another terminal or writing to a non-transitory recording medium, or a combination of these. Even in such a case, when it is determined that the work machine 3 is in a state in which it can be operated after the first situation, it is preferable that the alarm processing unit 15 presents information in a manner different from an alarm.

[0127] Furthermore, the sensors for detecting object Ob1 in the monitoring area A1 around the machine body 30 are not limited to the left camera 341, right camera 342, and rear camera 343, and may include one, two, four or more cameras (image sensors). Furthermore, object Ob1 in the monitoring area A1 may be detected by a camera that can capture images in all directions as seen from the work machine 3, such as a spherical camera (360-degree camera). Furthermore, the sensors for detecting object Ob1 in the monitoring area A1 may include sensors such as a human presence sensor, a sonar sensor, radar, or LiDAR (Light Detection and Ranging) in addition to or instead of a camera. Here, the sensor that detects object Ob1 in the monitoring area A1 may be a three-dimensional sensor that measures the distance to object Ob1 using a Time Of Flight (TOF) method, which measures the distance to a ranging point based on the round-trip time it takes for light or sound to reach and return from a ranging point.

[0128] Furthermore, the detection processing unit 14 that detects (detects) the 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 results of the object Ob1 around the machine body 30 of the work machine 3 from outside the control system 1 (detection system).

[0129] In addition to or instead of a "person," the object Ob1 may also include moving objects such as vehicles (including other work machines), structures such as walls and pillars, plants, animals, steps, ditches, or other obstacles.

[0130] Furthermore, the actuators of each part of the machine body 30 are not limited to hydraulic actuators, but may be, for example, pneumatic actuators driven by air pressure such as compressed air, or electric actuators driven by a power supply, or a combination of these.

[0131] Furthermore, switching the operation mode of the alarm processing unit 15 is not an essential function for the control system 1, and the switching processing unit 12 can be omitted as appropriate. In other words, the alarm processing unit 15 may be configured to operate in only one of the first and second operation modes. Furthermore, the alarm processing unit 15 may have other operation modes in addition to or instead of at least one of the first and second modes. As an example of the other operation modes, the alarm processing unit 15 may have a third mode in which no alarm is output under a first situation, but an alarm is output when it is determined that the work machine 3 is in a state in which it can be operated after the first situation. Furthermore, the alarm processing unit 15 may have a fourth mode in which an alarm is always output based only on the determination result of whether or not the detection result satisfies a predetermined condition (second determination result), regardless of the first determination result (determination result of whether the work machine 3 is in a "state in which it cannot be operated" or a "state in which it can be operated"). Furthermore, the alarm processing unit 15 may have a fifth mode in which output of an alarm is always prohibited regardless of either the first determination result or the second determination result.

[0132] Furthermore, it is not essential for the control system 1 that the predetermined condition include the presence of an object Ob1 in the monitoring area A1 around the work machine 3. Furthermore, it is not essential for the alarm processing unit 15 to output an alarm under the first situation in the first mode. Furthermore, it is not essential for the determination processing unit 13 to determine that the work machine 3 is in an inoperable state if the gate lock lever 463 of the work machine 3 is in a locked state or the ignition of the work machine 3 is off. Similarly, it is not essential for the determination processing unit 13 to determine that the work machine 3 is in an operable state if the gate lock lever 463 is in an unlocked state and the ignition is on. Furthermore, it is not essential for the alarm processing unit 15 to present information in a manner different from an alarm when it is determined that the work machine 3 is in an operable state after the first situation in the first mode. Furthermore, it is not essential for the determination processing unit 13 to be able to determine that the work machine 3 is in an operable state only after at least operation by the user of the work machine 3 after the first situation.

[0133] Furthermore, when the alarm processing unit 15 determines in the second mode that the work machine 3 is in a state in which it can be operated and the detection results satisfy predetermined conditions as the second state, it is not an essential configuration for the alarm processing unit 15 to output an alarm even in the second state. Furthermore, it is not an essential configuration for the alarm processing unit 15 to continue outputting an alarm when it is determined in the second mode that the work machine 3 is in a state in which it cannot be operated after the second state.

[0134] (Embodiment 2) As shown in Figure 9, the construction machine 3 according to this embodiment differs from the construction machine 3 according to the first embodiment in the configuration related to the operation of the operating device 35. Hereinafter, the same configuration as in the first embodiment will be assigned the same reference numerals and the description will be omitted as appropriate.

[0135] Figure 9 shows a schematic diagram of the hydraulic circuit and electrical circuit (electrical connection relationships) of the work machine 3 according to this embodiment. In Figure 9, solid lines indicate high-pressure oil passages (for hydraulic oil), dotted lines indicate low-pressure oil passages (for pilot oil), and dashed arrows indicate electrical signal paths.

[0136] As shown in Fig. 9, the work machine 3 is equipped with a plurality of control valves 401-404 in addition to a hydraulic pump 41, a hydraulic motor 43, a hydraulic cylinder 44, a pilot pump 42, a directional control valve (control valve) 48, etc. Also, in Fig. 9, illustration of a flow rate restrictor 49 and the like is omitted as appropriate. In Fig. 9, only one hydraulic cylinder 44 for driving the boom 332 is shown, but a similar hydraulic circuit is also configured for the hydraulic cylinder 44 for driving the arm 333, bucket 331, etc. Also, in Fig. 9, only the hydraulic motor 43 of the traveling section 31 is shown, but a similar hydraulic circuit is also configured for the hydraulic motor of the swing section 32.

[0137] The multiple control valves 401-404 are provided in place of the second control valve 471 serving as the second restriction unit 47 and the remote control valve 45 (see FIG. 2). Specifically, the control valves 401-404 are provided in the supply path of pilot oil to each directional control valve 48. Furthermore, a first control valve 461 is provided upstream of the pilot oil as viewed from the control valves 401-404. Each of the control valves 401-404 is an electromagnetic control valve (solenoid valve), and is inserted between each directional control valve 48 and the pilot pump 42. Each of the control valves 401-404 is connected to the control system 1 and operates in response to a control signal (supply current) from the control system 1. Specifically, the control system 1 controls the control valves 401-404 in response to the operation of the operating device 35 (operation lever), and issues commands to, for example, deploy and retract the working unit 33. Here, each of the control valves 401 to 404 is assumed to be an (electromagnetic) proportional control valve, but is not limited to this and may be, for example, an on-off valve that can switch between opening and closing a flow path.

[0138] Such directional control valves and control valves are provided not only in the hydraulic cylinder 44 for driving the boom 332 and the hydraulic motor 43 of the traveling unit 31, but also in the hydraulic circuits of the hydraulic cylinder 44 for driving the arm 333, bucket 331, etc. and the hydraulic motor of the swivel unit 32. Therefore, the traveling unit 31, swivel unit 32, and working unit 33 can be operated in response to the operation of the operating device 35.

[0139] In this embodiment, the operation device 35 is an electric operation device 35 that outputs an electric signal (operation signal) corresponding to an operation by a user (operator) to the control system 1, thereby accepting various operations by the user. In this embodiment, as an example, the operation device 35 includes a pair of operation levers 351, 352 (see FIG. 9 ). The operation lever 351 is located on the right hand side as viewed from the user (operator) sitting in the driving unit 321, and the operation lever 352 is located on the left hand side as viewed from the user sitting in the driving unit 321. Therefore, the user, for example, holds the operation lever 351 in his right hand and the operation lever 352 in his left hand, and operates the pair of operation levers 351, 352 individually to cause the work machine 3 to perform various operations.

[0140] The operation levers 351, 352 are each a stick-type operator, and when operated to tilt, for example, "forward," "backward," "left," or "right," they output an electrical signal (operation signal) corresponding to the operation. As one example, the operation device 35 outputs different operation signals in response to an operation of tilting the operation lever 351 forward, an operation of tilting the operation lever 351 to the right, an operation of tilting the operation lever 352 forward, and an operation of tilting the operation lever 352 to the right, respectively.

[0141] In this configuration, the operation (control method) of the control system 1 is the same as in embodiment 1. The configuration according to embodiment 2 can be adopted in appropriate combination with the various configurations (including modified examples) described in embodiment 1. [Explanation of symbols]

[0142] 1. Work machine control system 3. Work machinery 11 Acquisition processing unit 13. Judgment processing unit 15 Alarm processing section 30 aircraft 463 Gate lock lever A1 Surveillance Area Ob1 Object U1 user

Claims

1. an acquisition processing unit that acquires detection results of objects around the body of the work machine; a determination processing unit that determines whether the work machine is in an operable state or an inoperable state; an alarm processing unit that outputs an alarm, the alarm processing unit outputs the alarm under a first situation in which it is determined that the work machine is in a state where it cannot be operated and the detection result satisfies a predetermined condition, and prohibits output of the alarm when it is determined that the work machine is in a state where it can be operated after the first situation occurs, the predetermined condition includes the object being present in a monitoring area around the work machine. Control systems for work machines.

2. The alarm processing unit outputs the alarm under the first situation.

10. The control system for a work machine according to claim 1.

3. the determination processing unit determines that the work machine is in an inoperable state if the gate lock lever of the work machine is in a locked state or the ignition of the work machine is off, and determines that the work machine is in an operable state if the gate lock lever is in an unlocked state and the ignition is on.

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

4. the warning processing unit, when it is determined that the work machine is in a state in which it can be operated after the first situation, presents information in a manner different from the warning. A work machine control system according to any one of claims 1 to 3.

5. the determination processing unit is only able to determine that the work machine is in a state in which it can be operated after at least one operation by a user of the work machine has occurred following the first situation. A work machine control system according to any one of claims 1 to 4.

6. A work machine control system according to any one of claims 1 to 5; The airframe; Work machinery.

7. Obtaining detection results of objects around a body of the work machine; determining whether the work machine is in an operable or inoperable state; When a first situation is defined as a situation in which it is determined that the work machine is in an inoperable state and the detection result satisfies a predetermined condition, an alarm is output in the first situation, and when it is determined that the work machine is in a state in which it can be operated after the first situation has occurred, the output of the alarm is prohibited, the predetermined condition includes the object being present in a monitoring area around the work machine. A method for controlling a work machine.

8. A control method for a work machine according to claim 7, A control program for a work machine for execution by one or more processors.

Images