System and method for controlling a work machine

Abstract

To provide a system and a method of a controlling a working machine capable of properly controlling the working machine while reducing the computational load.SOLUTION: A control system 500 of a working machine 1 including an undercarriage 2 and an upper revolving body 3 capable of swiveling relative to the undercarriage 2 includes: a detection device 200 that is attached to the upper revolving body 3 for detecting objects in the vicinity of the working machine 1; and a controller 300 that controls the operation of the undercarriage 2 and the upper revolving body 3. The controller 300 controls the operation of the undercarriage 2 based on the position of the object detected by the detection device 200 and the undercarriage stop area and controls the operation of the upper revolving body 3 based on the position of the object detected by the detection device 200 and an area of the upper revolving body different from the undercarriage stop area. The undercarriage stop area is set to a coordinate system referenced to the upper revolving body 3.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] TECHNICAL FIELD The present disclosure relates to systems and methods for controlling a work machine. [Background technology]

[0002] BACKGROUND ART In the technical field related to work machines, work machines equipped with safety devices that detect obstacles around the work machine, as disclosed in patent documents, are known. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2020-007867 Summary of the Invention [Problem to be solved by the invention]

[0004] In Patent Document 1, an upper coordinate system based on an upper rotating body and a lower coordinate system based on a lower traveling body are used, and one coordinate system is converted to the other coordinate system, which imposes a heavy load on the calculation process for the coordinate conversion. [Means for solving the problem]

[0005] A system according to a first aspect of the present disclosure is a system for controlling a work machine including a traveling body and a rotating body that can rotate relative to the traveling body. The system according to this aspect includes a detection device attached to the rotating body that detects objects present in the vicinity of the work machine, and a controller that controls the operation of the traveling body and the rotating body of the work machine. The controller controls the operation of the traveling body based on the position of the object detected by the detection device and a first set area. The controller controls the operation of the rotating body based on the position of the object detected by the detection device and a second set area that is different from the first set area. The first set area is set in a coordinate system based on the rotating body.

[0006] A method according to a second aspect of the present disclosure is a method for controlling a work machine including a traveling body and a rotating body that can rotate relative to the traveling body. The method according to this aspect includes the following processes. A first process is to detect an object present in the vicinity of the work machine using a detection device attached to the rotating body. A second process is to control the operation of the traveling body based on the position of the object detected by the detection device and a first set area, and to control the operation of the rotating body based on the position of the object detected by the detection device and a second set area that is different from the first set area, using a controller that controls the operation of the traveling body and the rotating body of the work machine. The first set area is set in a coordinate system based on the rotating body. [Effects of the Invention]

[0007] According to the present disclosure, it is possible to reduce the load on calculation processing and appropriately control a work machine. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a perspective view showing a work machine according to an embodiment. [Figure 2] FIG. 2 is a block diagram showing the device configuration of the work machine according to the embodiment. [Figure 3] FIG. 3 is a functional block diagram showing a control system according to the embodiment. [Figure 4] FIG. 4 is a diagram schematically showing an upper rotating body according to the embodiment. [Figure 5] FIG. 5 is a schematic diagram showing an example of the upper rotating body area and the lower traveling body area. [Figure 6] FIG. 6 is a schematic diagram showing the upper rotating body area and the lower traveling body area shown in FIG. 5 in a state where the upper rotating body has rotated. [Figure 7] FIG. 7 is a flowchart showing a control method according to the embodiment. [Figure 8] FIG. 8 is a block diagram illustrating a computer system according to an embodiment. [Figure 9] FIG. 9 is a schematic diagram showing another example of the upper rotating body area and the lower traveling body area. [Figure 10] FIG. 10 is a schematic diagram showing another example of the upper rotating body area and the lower traveling body area. [Figure 11] FIG. 11 is a schematic diagram showing the upper rotating body area and the lower traveling body area shown in FIG. 10 in a state where the upper rotating body has rotated. [Figure 12] FIG. 12 is a schematic diagram showing another example of the upper rotating body area and the lower traveling body area. [Figure 13] FIG. 13 is a schematic diagram showing another example of the upper rotating body area and the lower traveling body area. [Figure 14] FIG. 14 is a schematic diagram showing another example of the upper rotating body area and the lower traveling body area. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings, but the present disclosure is not limited thereto. The components of the embodiments described below can be combined as appropriate. In addition, some components may not be used.

[0010] [Work machinery] FIG. 1 is a perspective view showing a work machine according to an embodiment. FIG. 2 is a block diagram showing the device configuration of the work machine according to an embodiment. In the embodiment, the work machine 1 is a hydraulic excavator. In the following description, the work machine 1 will be referred to as the hydraulic excavator 1 as appropriate. The hydraulic excavator 1 comprises a lower traveling body 2 and an upper rotating body 3 that is rotatable relative to the lower traveling body 2. In this embodiment, the hydraulic excavator 1 comprises the lower traveling body 2, the upper rotating body 3 that is rotatably supported relative to the lower traveling body 2, and a work implement 4 that is supported by the upper rotating body 3.

[0011] The lower traveling body 2 has a pair of crawler tracks. The lower traveling body 2 is equipped with a right traveling motor 15R and a left traveling motor 15L shown in Fig. 2. The lower traveling body 2 rotates the crawler tracks by rotationally driving the right traveling motor 15R and the left traveling motor 15L, causing the hydraulic excavator 1 to travel.

[0012] The upper rotating body 3 is capable of rotating about a rotation axis RX relative to the lower traveling body 2. The hydraulic excavator 1 is equipped with a swing motor 16 for rotating the upper rotating body 3. The upper rotating body 3 is rotated by the rotational force of the swing motor 16. The upper rotating body 3 has a cab 6 in which an operator of the hydraulic excavator 1 rides. An operator's seat 9 on which the operator sits is disposed in the cab 6. The cab 6 is disposed in front of the upper rotating body 3. The cab 6 is disposed to the left of the work equipment 4.

[0013] The work implement 4 includes a boom 4A connected to the upper rotating body 3, an arm 4B connected to the boom 4A, and a bucket 4C connected to the arm 4B. The hydraulic excavator 1 is equipped with a hydraulic cylinder 5 for driving the work implement 4. The hydraulic cylinder 5 includes a boom cylinder 5A that drives the boom 4A, an arm cylinder 5B that drives the arm 4B, and a bucket cylinder 5C that drives the bucket 4C.

[0014] The boom 4A is supported by the upper rotating body 3 so as to be rotatable about a boom rotation axis AX. The arm 4B is supported by the boom 4A so as to be rotatable about an arm rotation axis BX. The bucket 4C is supported by the arm 4B so as to be rotatable about a bucket rotation axis CX.

[0015] The boom rotation axis AX, the arm rotation axis BX, and the bucket rotation axis CX are parallel to each other. The boom rotation axis AX, the arm rotation axis BX, the bucket rotation axis CX, and an axis parallel to the swing axis RX are perpendicular to each other. In the following description, the direction parallel to the swing axis RX will be referred to as the up-down direction as appropriate, the direction parallel to the boom rotation axis AX, the arm rotation axis BX, and the bucket rotation axis CX as appropriate, and the direction perpendicular to both the boom rotation axis AX, the arm rotation axis BX, the bucket rotation axis CX, and the swing axis RX as appropriate, and the front-rear direction as appropriate. The direction toward the work implement 4 relative to the operator seated in the operator's seat 9 is the front, and the opposite direction of the front is the rear. One of the left and right directions relative to the operator seated in the operator's seat 9 is the right, and the opposite direction of the right is the left. The direction away from the ground surface of the lower traveling body 2 is the up direction, and the opposite direction of the up direction is the down direction.

[0016] As shown in FIG. 2, the hydraulic excavator 1 includes a power source 17, a hydraulic pump 18, a control valve 19, an operation device 10, a detection device 200, and a controller 300.

[0017] The power source 17 generates power for driving the hydraulic excavator 1. The power source 17 is, for example, an internal combustion engine. A hydraulic pump 18 is mechanically coupled to the drive shaft of the power source 17. When the power source 17 is driven, the hydraulic pump 18 is driven. The hydraulic pump 18 serves as a hydraulic oil supply source for the hydraulic drive system, driving these hydraulic devices. The control valve 19 is a flow direction control valve that moves a spool (not shown) in accordance with the operating direction of each operating lever of the operating device 10, thereby regulating the flow direction of hydraulic oil to each hydraulic actuator. Hydraulic oil according to the operating amount of each operating lever is supplied to hydraulic actuators such as the boom cylinder 5A, arm cylinder 5B, bucket cylinder 5C, right traveling motor 15R or left traveling motor 15L, and swing motor 16.

[0018] The hydraulic excavator 1 is equipped with an operating device 10 arranged in the operator's cab 6. The operating device 10 is operated to operate at least a part of the hydraulic excavator 1. The operating device 10 is operated by an operator. The operation of the hydraulic excavator 1 includes at least one of the operation of the lower traveling structure 2, the operation of the upper rotating structure 3, and the operation of the work implement 4. The operating device 10 outputs an operation signal indicating the operation amount of the hydraulic excavator 1 to the controller 300.

[0019] The operating device 10 includes a left operating lever 11 and a right operating lever 12 that are operated to operate the upper rotating body 3 and the work implement 4, a left traveling lever 13 and a right traveling lever 14 that are operated to operate the lower traveling body 2, and a left foot pedal and a right foot pedal (not shown).

[0020] The left working lever 11 is located to the left of the operator's seat 9. When the left working lever 11 is operated in the forward / backward direction, the arm 4B performs a dumping operation or an excavating operation. When the left working lever 11 is operated in the left / right direction, the upper rotating body 3 rotates left or right. The right working lever 12 is located to the right of the operator's seat 9. When the right working lever 12 is operated in the left / right direction, the bucket 4C performs an excavating operation or a dumping operation. When the right working lever 12 is operated in the forward / backward direction, the boom 4A performs a lowering operation or a raising operation.

[0021] The left travel lever 13 and the right travel lever 14 are located in front of the operator's seat 9. The left travel lever 13 is located to the left of the right travel lever 14. When the left travel lever 13 is operated in the forward or backward direction, the left track of the undercarriage 2 moves forward or backward. When the right travel lever 14 is operated in the forward or backward direction, the right track of the undercarriage 2 moves forward or backward.

[0022] The left foot pedal and the right foot pedal are disposed in front of the driver's seat 9. The left foot pedal is disposed to the left of the right foot pedal. The left foot pedal is linked to a left travel lever 13. The right foot pedal is linked to a right travel lever 14. By operating the left foot pedal and the right foot pedal, the lower traveling body 2 may be moved forward or backward.

[0023] [Control System] 3 is a functional block diagram showing a control system 400 according to an embodiment. The hydraulic excavator 1 is equipped with the control system 400. The control system 400 controls the operation of the upper rotating body 3 based on the position of an object detected around the hydraulic excavator 1 and an upper rotating body area A1 set in a coordinate system based on the upper rotating body 3. The control system 400 controls the operation of the lower traveling body 2 based on the position of an object detected around the hydraulic excavator 1 and a lower traveling body area set in a coordinate system based on the upper rotating body 3. The control system 400 is equipped with a detection device 200 and a controller 300.

[0024] [Detection device] FIG. 4 is a diagram schematically showing an upper rotating body according to an embodiment. The hydraulic excavator 1 is equipped with a detection device 200. The detection device 200 is a device for monitoring the periphery of the hydraulic excavator 1. The detection device 200 detects people and moving objects (hereinafter referred to as "objects") around the hydraulic excavator 1. The detection device 200 detects objects present around the hydraulic excavator 1. In this embodiment, the detection device 200 is disposed on the upper rotating body 3. In this embodiment, the detection device 200 detects the position of the object in a coordinate system based on the upper rotating body 3.

[0025] In this embodiment, the detection device 200 has a plurality of cameras 20 (21, 22, 23, 24). The multiple cameras 20 are arranged on the upper rotating body 3. The cameras 20 acquire images of the imaging target. As shown in FIG. 4 , a plurality of cameras 20 are arranged around the hydraulic excavator 1. In this embodiment, the cameras 20 include a rear camera 21 arranged at the rear of the upper rotating body 3, a right rear camera 22 and a right front camera 23 arranged at the right part of the upper rotating body 3, and a left rear camera 24 arranged at the left part of the upper rotating body 3.

[0026] The rear camera 21 images the rear area of ​​the upper rotating body 3. The right rear camera 22 images the right rear area of ​​the upper rotating body 3. The right front camera 23 images the right front area of ​​the upper rotating body 3. The left rear camera 24 images the left rear area of ​​the upper rotating body 3. Each of the multiple cameras 20 (21, 22, 23, 24) has an optical system and an image sensor. The image sensor includes a CCD (Couple Charged Device) image sensor or a CMOS (Complementary Metal Oxide Semiconductor) image sensor.

[0027] The left rear camera 24 is configured to capture images of the left side and left rear areas of the upper rotating body 3, but may capture images of either one of them. Similarly, the right rear camera 22 is configured to capture images of the right side and right rear areas of the upper rotating body 3, but may capture images of either one of them. Similarly, the right front camera 23 is configured to capture images of the right front and right side areas of the upper rotating body 3, but may capture images of either one of them. Furthermore, the camera 20 captures images of the left rear, rear, right rear, and right front of the upper rotating body 3, but is not limited to this. For example, the number of cameras 20 may be different from that shown in FIG. 4 . For example, the imaging range of the camera 20 may be different from that shown in FIG. 4 . Furthermore, although the present embodiment does not include cameras capturing images of the front and left front of the cab 6, this is not limited to this. Cameras 20 may be included to acquire image data showing the conditions in the front and left front of the cab 6. The detection device 20 outputs the detected data to the controller 300.

[0028] [controller] The hydraulic excavator 1 includes a controller 300. The controller 300 is a device for controlling the hydraulic excavator 1. The controller 300 controls the operations of the lower traveling structure 2 and the upper rotating structure 3 of the hydraulic excavator 1. In this embodiment, the controller 300 is disposed in the operator's cab 6.

[0029] The controller 300 controls the operation of the lower traveling structure 2 based on the position of an object detected around the hydraulic excavator 1 and a lower traveling structure area described below. The controller 300 controls the operation of the upper rotating structure 3 based on the position of an object detected around the hydraulic excavator 1 and an upper rotating structure area A1 described below. More specifically, the controller 300 controls the operation of the lower traveling structure 2 based on the position of the object detected by the detection device 200 and a lower traveling structure stopping area A2 and a lower traveling structure deceleration area A3 that are set in a coordinate system based on the upper rotating structure 3. The controller 300 controls the rotation of the upper rotating structure 3 based on the position of the object detected by the detection device 200 and the upper rotating structure area A1 that is set in a coordinate system based on the upper rotating structure 3.

[0030] If the controller 300 determines that the position of the object in the coordinate system based on the upper rotating body 3 detected by the detection device 200 is within the lower running body stopping area A2 or the lower running body deceleration area A3, it controls the lower running body 2 to limit its speed.

[0031] When the controller 300 determines that the position of the object in the coordinate system based on the upper rotating body 3, detected by the detection device 200, is within the lower traveling body stopping area A2, the controller 300 controls the lower traveling body 2 to stop. When the controller 300 determines that the position of the object in the coordinate system based on the upper rotating body 3, detected by the detection device 200, is within the lower traveling body deceleration area A3, the controller 300 controls the lower traveling body 2 to decelerate.

[0032] The controller 300 has a memory unit 32 including a volatile memory such as a RAM (Random Access Memory) and a non-volatile memory such as a ROM (Read Only Memory), and an arithmetic processing unit 33 including a processor such as a CPU (Central Processing Unit).

[0033] The calculation processing unit 33 executes the control program, and thereby includes a data acquisition unit 331, a detection unit 332, a position identification unit 333, a determination unit 334, an operation signal acquisition unit 335, a control unit 336, and an output unit 337.

[0034] The data acquisition unit 331 acquires detection data from the detection device 200. In this embodiment, the data acquisition unit 331 acquires image data showing the situation behind the hydraulic excavator 1 from the rear camera 21. The data acquisition unit 331 acquires image data showing the situation to the right rear of the hydraulic excavator 1 from the right rear camera 22. The data acquisition unit 331 acquires image data showing the situation to the right front of the hydraulic excavator 1 from the right front camera 23. The data acquisition unit 331 acquires image data showing the situation to the left rear of the hydraulic excavator 1 from the left rear camera 24.

[0035] The detection unit 332 detects objects, including people and moving objects, present in the vicinity of the hydraulic excavator 1, based on the detection data acquired by the data acquisition unit 331. In this embodiment, the detection unit 332 detects objects in the image data by performing image processing on the image data acquired by the data acquisition unit 331. The image processing includes processing to extract feature amounts of the objects from the image data. The detection unit 332 compares the feature amounts extracted from the image data with the feature amounts stored in the feature amount storage unit 321, and detects objects present in the vicinity of the hydraulic excavator 1.

[0036] The position identifying unit 333 identifies the position of the object detected by the detection device 200. The position identifying unit 333 identifies the position of the detected object relative to the upper rotating body 3. More specifically, the position identifying unit 333 identifies the position of the object indicated in a coordinate system based on the upper rotating body 3.

[0037] The determination unit 334 determines whether the object detected by the detection device 200 is present in a predetermined area. More specifically, the determination unit 334 determines whether the object is present in the upper rotating body area A1, the lower running body stopping area A2, and the lower running body deceleration area A3 (described later). The determination unit 334 determines whether the object is present in the area inside the upper rotating body area A1, the lower running body stopping area A2, or the area outside the lower running body stopping area A2 and inside the lower running body deceleration area A3. The determination unit 334 compares the position of the object identified by the position identification unit 333 with the positions of each area stored in the area memory unit 322 to determine whether the object is present inside the upper rotating body area A1. The determination unit 334 compares the position of the object identified by the position identification unit 333 with the positions of each area stored in the area memory unit 322 to determine whether the object is present inside the lower running body stopping area A2. The determination unit 334 compares the position of the object identified by the position identification unit 333 with the positions of each area stored in the area memory unit 322 to determine whether the object is located outside the lower running body stopping area A2 and inside the lower running body deceleration area A3.

[0038] The operation signal acquisition unit 335 acquires an operation signal indicating the amount of operation of each operation lever of the operation device 10 operated by the operator.

[0039] The control unit 336 generates control commands for controlling the undercarriage 2 and the upper rotating body 3 of the hydraulic excavator 1. More specifically, the control unit 336 generates control commands for controlling the undercarriage 2 and the upper rotating body 3 based on the operation amount indicated by the operation signal acquired by the operation signal acquisition unit 335. The control unit 336 generates control commands for controlling the flow of hydraulic oil to each hydraulic actuator to control the control valve 19 in accordance with the operation direction of each operation lever of the operation device 10. The control unit 336 generates control commands for controlling the control valve 19 in accordance with the operation amount of each operation lever to supply hydraulic oil to hydraulic actuators such as the boom cylinder 5A, the arm cylinder 5B, the bucket cylinder 5C, the right traveling motor 15R or the left traveling motor 15L, and the swing motor 16.

[0040] The control unit 336 generates a control command to restrict the traveling of the lower traveling body 2 and the rotation of the upper rotating body 3 based on the determination result of the determination unit 334. For example, when an object is present in the upper rotating body area A1, the control unit 336 generates a control command to restrict the rotation of the upper rotating body 3. For example, when an object is present in the upper rotating body area A1, the control unit 336 generates a control command to restrict the rotation so that the rotation angular velocity is equal to or less than the upper limit angular velocity, regardless of the operation amount of the left working lever 11 and the right working lever 12, if the hydraulic excavator 1 is rotating. The control command to restrict the rotation restricts the hydraulic oil supplied to the rotation motor 16, and restricts the rotation angular velocity of the upper rotating body 3 to be equal to or less than the upper limit angular velocity.

[0041] After stopping the upper rotating body 3, the control unit 336 maintains the rotation stop state until, for example, detecting an operation to release the rotation stop control by the operator. After stopping the upper rotating body 3, the control unit 336 maintains a state in which the rotation angular velocity of the upper rotating body 3 is regulated to be equal to or lower than the upper limit angular velocity until, for example, detecting an operation to release the rotation stop control by the operator. For example, after detecting that an object is present in the upper rotating body area A1, the control unit 336 does not release the rotation stop state until the operator performs a release operation, even if the object moves outside the upper rotating body area A1.

[0042] For example, when an object exists in the lower traveling body stopping area A2, the control unit 336 generates a control command to stop the lower traveling body 2. For example, when the hydraulic excavator 1 is traveling, the control unit 336 generates a control command to restrict traveling so that the traveling speed is equal to or lower than the stopping speed, regardless of the amount of operation of the left traveling lever 13 and the right traveling lever 14. The control command to stop traveling restricts the hydraulic oil supplied to the right traveling motor 15R or the left traveling motor 15L, and restricts the traveling speed of the lower traveling body 2 to equal to or lower than the stopping speed that is slower than the deceleration speed.

[0043] After stopping the lower running body 2, the control unit 336 maintains the stopped state until, for example, it detects an operation to release the running stop control by the operator. After stopping the lower running body 2, the control unit 336 maintains a state in which the running speed of the lower running body 2 is regulated to be equal to or lower than the stopping speed until, for example, it detects an operation to release the running stop control by the operator. For example, after it detects that an object is present in the lower running body stopping area A2, the control unit 336 does not release the stopped state until the operator performs a release operation, even if the object moves outside the lower running body stopping area A2.

[0044] For example, when an object exists in the lower traveling body deceleration region A3, the control unit 336 generates a control command to decelerate the lower traveling body 2. For example, when the hydraulic excavator 1 is traveling, the control unit 336 generates a control command to restrict traveling so that the traveling speed is equal to or less than the deceleration speed, regardless of the amount of operation of the left traveling lever 13 and the right traveling lever 14. The deceleration control command restricts the hydraulic oil supplied to the right traveling motor 15R or the left traveling motor 15L, and restricts the traveling speed of the lower traveling body 2 to equal to or less than the deceleration speed that is faster than the stopping speed.

[0045] After decelerating the lower running body 2, the control unit 336 maintains the deceleration state until, for example, detecting an operation to release the deceleration control by the operator. After decelerating the lower running body 2, the control unit 336 maintains a state in which the traveling speed of the lower running body 2 is regulated to be equal to or lower than the deceleration speed until, for example, detecting an operation to release the deceleration control by the operator. For example, after detecting that an object exists in the lower running body deceleration region A3, the control unit 336 does not release the deceleration state until a release operation is performed by the operator, even if the object moves outside the lower running body deceleration region A3.

[0046] The output unit 337 outputs the control command generated by the control unit 336 to the control valve 19 .

[0047] The storage unit 32 stores various data used in the processing in the calculation processing unit 33. In this embodiment, the storage unit 32 has a feature storage unit 321 that stores feature amounts of an object. The feature amounts include the object contour, the object color, etc., and are information that specifies the appearance of the object. In this embodiment, the storage unit 32 also has an area storage unit 322 that stores a set area.

[0048] 5 is a schematic diagram showing an example of the upper rotating body area and the lower traveling body area. The area storage unit 322 stores information on the upper rotating body area A1 and the lower traveling body area.

[0049] The upper rotating body area A1 is a second set area. The upper rotating body area A1 is an area that restricts the rotation of the upper rotating body 3 when an object is detected inside. The upper rotating body area A1 is set in a coordinate system based on the upper rotating body 3. When the upper rotating body 3 rotates, the upper rotating body area A1 rotates together with the upper rotating body 3. The upper rotating body area A1 is an area necessary for the upper rotating body 3 to stop without coming into contact with the object when an object is detected inside.

[0050] The lower running body area is an area in which the travel of the lower running body 2 is restricted when an object is detected inside. The lower running body area is set in a coordinate system based on the upper rotating body 3. When the upper rotating body 3 rotates, the lower running body area rotates together with the upper rotating body 3. The lower running body area includes a lower running body stop area A2 and a lower running body deceleration area A3.

[0051] The lower running body stopping area A2 is a first set area. The lower running body stopping area A2 is an area necessary for the lower running body 2 to stop without coming into contact with an object when an object is detected inside. At least a part of the shape of the outer periphery of the lower running body stopping area A2 is an arc shape centered on the origin of a coordinate system based on the upper rotating body 3. The lower running body area is an area that does not come into contact with the lower running body 2.

[0052] The lower running body deceleration area A3 is a third set area. The lower running body deceleration area A3 is an area necessary for the lower running body 2 to decelerate without coming into contact with an object when an object is detected inside. The lower running body deceleration area A3 is an area wider than the lower running body stopping area A2 and includes the lower running body stopping area A2. The lower running body deceleration area A3 is an area wider than the upper rotating body area A1 and includes the upper rotating body area A1.

[0053] In the example shown in FIG. 5, the upper rotating body region A1 is, for example, a region surrounded by a straight portion A11 located a distance d11 forward from the front end of the upper rotating body 3, a straight portion A12 located a distance d12 to the left from the left end of the upper rotating body 3, a straight portion A13 located a distance d13 to the right from the right end of the upper rotating body 3, and an arc portion A14 located a distance d14 from the rear end of the upper rotating body 3. The arc portion A14 is an arc centered on the rotation axis RX of the upper rotating body 3. The lower traveling body stopping region A2 is a region surrounded by a circle of radius r1 centered on the rotation axis RX of the upper rotating body 3. The lower traveling body deceleration region A3 is, for example, a rectangular region. The lower traveling body deceleration region A3 is a region having peripheral portions that are at least a distance d15 away from the upper rotating body region A1 and the lower traveling body stopping region A2. The lower running body deceleration area A3 is an area surrounded by, for example, a straight section A31 located a distance d15 forward from the front end of the lower running body stopping area A2, a straight section A32 located a distance d15 to the left from the left end of the upper rotating body area A1, a straight section A33 located a distance d15 to the right from the right end of the upper rotating body area A1, and a straight section A34 located a distance d15 behind the rear end of the upper rotating body area A1.

[0054] Fig. 6 is a schematic diagram showing the upper rotating body area and the lower running body area shown in Fig. 5 when the upper rotating body has rotated. As shown in Fig. 6, when the upper rotating body 3 rotates, the upper rotating body area A1, the lower running body stopping area A2, and the lower running body deceleration area A3 rotate together with the upper rotating body 3.

[0055] [Control method] 7 is a flowchart showing a control method according to the embodiment. When the hydraulic excavator 1 is turned on, the detection device 200 and the controller 300 are activated.

[0056] The controller 300 acquires the detection data detected by the detection device 200 (step SP11). More specifically, the data acquisition unit 331 acquires image data of the surroundings of the hydraulic excavator 1 captured by the camera 20 of the detection device 200.

[0057] The controller 300 detects objects (step SP12). More specifically, the detection unit 332 detects objects, including people and moving objects, present in the vicinity of the hydraulic excavator 1, based on the detection data acquired by the data acquisition unit 331. In this embodiment, the detection unit 332 detects objects, including people and moving objects, present in the vicinity of the hydraulic excavator 1, based on the image data acquired by the data acquisition unit 331.

[0058] The controller 300 identifies the position of the object (step SP13). More specifically, the position identifying unit 333 identifies the position of the object detected by the detection unit 332 in a coordinate system with the upper rotating body 3 as the reference.

[0059] The controller 300 determines whether or not an object exists within the lower traveling body deceleration region A3 (step SP14). More specifically, the determination unit 334 compares the position of the object identified by the position identification unit 333 with the position of the lower traveling body deceleration region A3 stored in the region storage unit 322, and determines whether the position of the object is inside the lower traveling body deceleration region A3. If the determination unit 334 determines that an object exists within the lower traveling body deceleration region A3 (Yes in step SP14), the process proceeds to step SP15. If the determination unit 334 does not determine that an object exists within the lower traveling body deceleration region A3 (No in step SP14), the process proceeds to step SP16.

[0060] If the determination unit 334 determines that an object exists in the lower traveling structure deceleration region A3 (Yes in step SP14), the controller 300 generates a control command to decelerate the lower traveling structure 2 (step SP15). More specifically, for example, if the hydraulic excavator 1 is traveling, the control unit 336 generates a control command to restrict the traveling so that the traveling speed is equal to or less than the deceleration speed regardless of the operation amount.

[0061] In step SP15, the control unit 336 may generate a control command to maintain the state in which the traveling speed of the lower traveling body 2 is restricted to be equal to or lower than the deceleration speed, for example, until it detects an operation by the operator to release the deceleration control.

[0062] The controller 300 determines whether or not an object exists within the lower running body stopping area A2 (step SP16). More specifically, the determination unit 334 compares the position of the object identified by the position identification unit 333 with the position of the lower running body stopping area A2 stored in the area storage unit 322, and determines whether the position of the object is inside the lower running body stopping area A2. If the determination unit 334 determines that an object exists within the lower running body stopping area A2 (Yes in step SP16), the process proceeds to step SP17. If the determination unit 334 does not determine that an object exists within the lower running body stopping area A2 (No in step SP16), the process proceeds to step SP18.

[0063] If the determination unit 334 determines that an object exists in the lower traveling structure stopping area A2 (Yes in step SP16), the controller 300 generates a control command to stop the lower traveling structure 2 (step SP17). More specifically, for example, if the hydraulic excavator 1 is traveling, the control unit 336 generates a control command to restrict the traveling so that the traveling speed is equal to or lower than the stopping speed regardless of the operation amount.

[0064] In step SP17, the control unit 336 may generate a control command to maintain the state in which the traveling speed of the lower traveling body 2 is restricted to less than the stopping speed, for example, until it detects an operation by the operator to release the traveling stop control.

[0065] The controller 300 determines whether or not an object exists within the upper rotating body region A1 (step SP18). More specifically, the determination unit 334 compares the position of the object identified by the position identification unit 333 with the position of the upper rotating body region A1 stored in the region memory unit 322, and determines whether the position of the object is inside the upper rotating body region A1. If the determination unit 334 determines that an object exists within the upper rotating body region A1 (Yes in step SP18), the process proceeds to step SP19. If the determination unit 334 does not determine that an object exists within the upper rotating body region A1 (No in step SP18), the process proceeds to step SP20.

[0066] If the determination unit 334 determines that an object exists in the upper rotating body area A1 (Yes in step SP18), the controller 300 generates a control command to restrict the rotation of the upper rotating body 3 (step SP19). More specifically, if the hydraulic excavator 1 is rotating, for example, the control unit 336 generates a control command to restrict the rotation so that the rotation angular velocity is equal to or less than the upper limit angular velocity regardless of the operation amount.

[0067] In addition, in step SP19, the control unit 336 may generate a control command to maintain a state in which the rotation angular velocity of the upper rotating body 3 is regulated to be equal to or lower than the upper limit angular velocity, for example, until it detects an operation by the operator to release the rotation stop control.

[0068] The controller 300 outputs a control command (step SP20). More specifically, the output unit 337 outputs the control command generated by the control unit 336 to the control valve 19. When the control command generated in step SP15 is output by the output unit 337, the traveling speed of the lower traveling body 2 is regulated to be equal to or lower than the deceleration speed. Furthermore, when the control command generated in step SP17 is output by the output unit 337, the traveling speed of the lower traveling body 2 is regulated to be equal to or lower than the stopping speed. Furthermore, when the control command generated in step SP19 is output by the output unit 337, the swing angular velocity of the upper swing body 3 is regulated to be equal to or lower than the upper limit angular velocity.

[0069] The controller 300 controls the hydraulic excavator 1 by constantly executing the above processing while the hydraulic excavator 1 is in operation.

[0070] [Computer System] FIG. 8 is a block diagram showing a computer system according to an embodiment. The above-described arithmetic processing unit 33 includes a computer system 1000. The computer system 1000 includes a processor 1001 such as a CPU (Central Processing Unit), a main memory 1002 including a nonvolatile memory such as a ROM (Read Only Memory) and a volatile memory such as a RAM (Random Access Memory), a storage 1003, and an interface 1004 including an input / output circuit. The functions of the above-described arithmetic processing unit 33 are stored in the storage 1003 as a computer program. The processor 1001 reads the computer program from the storage 1003, loads it into the main memory 1002, and executes the above-described processing in accordance with the computer program. The computer program may be distributed to the computer system 1000 via a network.

[0071] In accordance with the above-described embodiment, the computer program or computer system 1000 executes the following steps as a first process: detecting an object present in the vicinity of the hydraulic excavator 1 using the detection device 200; and as a second process, using the controller 300 that controls the operation of the lower running body 2 and upper rotating body 3 of the hydraulic excavator 1, controlling the operation of the lower running body 2 based on the position of the detected object and the lower running body stop area A2 and the lower running body deceleration area A3, which are lower running body areas set in a coordinate system based on the upper rotating body 3, and controlling the operation of the upper rotating body 3 based on the position of the detected object and the upper rotating body area A1.

[0072] In this way, the operation of the lower running body 2 is controlled based on the position of the detected object and the lower running body stop area A2 and the lower running body deceleration area A3, which are lower running body areas set in a coordinate system based on the upper rotating body 3, and the operation of the upper rotating body 3 is controlled based on the position of the detected object and the upper rotating body area A1.

[0073] [effect] As described above, in this embodiment, the operation of the lower traveling body 2 can be controlled based on the lower traveling body stopping region A2 and the lower traveling body deceleration region A3, which are lower traveling body regions set in a coordinate system based on the upper rotating body 3, and the operation of the upper rotating body 3 can be controlled based on the position of the detected object and the upper rotating body region A1. In this embodiment, the control of the lower traveling body 2 and the upper rotating body 3 is determined in different regions. In this embodiment, the lower traveling body 2 and the upper rotating body 3 can each be appropriately controlled.

[0074] In this embodiment, the lower traveling body area is set in a coordinate system based on the upper rotating body 3. According to this embodiment, when grasping the positional relationship between the lower traveling body area and the target object, it is not necessary to detect the rotation angle or to perform coordinate transformation to unify the coordinate system. This embodiment can reduce the load of calculation processing.

[0075] [Variation 1] 9 is a schematic diagram showing another example of the upper rotating body area and the lower running body area. The upper rotating body area A1 and the lower running body stopping area A2 are the same as those in FIG. 5. The lower running body deceleration area A3 shown in FIG. 9 has a shape in which the corners of the lower running body deceleration area A3 shown in FIG. 5 are arc-shaped. The lower running body deceleration area A3 shown in FIG. 9 has a smaller area than the lower running body deceleration area A3 shown in FIG. 5. By shaping the lower running body deceleration area A3 in this way, it is possible to prevent the lower running body 2 from decelerating inadvertently.

[0076] [Variation 2] FIG. 10 is a schematic view showing another example of the upper revolving body region and the lower traveling body region. FIG. 11 is a schematic view showing the upper revolving body region and the lower traveling body region shown in FIG. 10 in a state where the upper revolving body is revolving. The upper revolving body region A1 and the lower traveling body stop region A2 are the same as those in FIG. 5. The lower traveling body deceleration region A3 shown in FIG. 10 is a region surrounded by the outer peripheral portion among the regions obtained by expanding the upper revolving body region A1 and the lower traveling body stop region A2 in the radial direction centered on the revolving axis RX of the upper revolving body 3. The lower traveling body deceleration region A3 is composed of a front portion A31 which is a part of a circle with a radius r2, a right-angled portion A32 which is a part of the region obtained by expanding the upper revolving body region A1, a right side portion A33 which is a part of a circle with a radius r2, a rear portion A34 which is a part of the region obtained by expanding the upper revolving body region A1, a left side portion A35 which is a part of a circle with a radius r2, and a left-angled portion A36 which is a part of the region obtained by expanding the upper revolving body region A1.

[0077] [Modification Example 3] FIG. 12 is a schematic view showing another example of the upper revolving body region and the lower traveling body region. The upper revolving body region A1 and the lower traveling body deceleration region A3 are the same as those in FIG. 5. Figure 12 The lower traveling body stop region A2 shown in [it] is a region where the arc-shaped front portion A21 of the lower traveling body stop region A2 shown in FIG. 5 is changed to a straight line portion A21 located a distance d11 in front of the front end portion of the upper revolving body 3.

[0078] [Modification Example 4] FIG. 13 is a schematic view showing another example of the upper revolving body region and the lower traveling body region. The upper revolving body region A1 and the lower traveling body stop region A2 are the same as those in FIG. 5. The lower traveling body deceleration region A3 is a region surrounded by a circle with a radius r2 (r1 < r2) centered on the revolving axis RX of the upper revolving body 3.

[0079] [Modification Example 5] FIG. 14 is a schematic view showing another example of the upper swing body region and the lower traveling body region. The hydraulic excavator 1 shown in FIG. 14 is a small swing type hydraulic excavator (for example, a rear ultra-small swing excavator, an ultra-small swing excavator, etc.) with a smaller swing radius than the hydraulic excavator 1 shown in FIG. 5. The upper swing body region A1 is a region formed in the same manner as the upper swing body region A1 shown in FIG. 5 according to the size of the hydraulic excavator 1. The lower traveling body stop region A2 is a region surrounded by a circle with a radius r3 centered on the swing axis RX of the upper swing body 3. The lower traveling body deceleration region A3 is a region surrounded by a circle with a radius r4 (r3 < r4) centered on the swing axis RX of the upper swing body 3. In the example shown in FIG. 14, the entire upper swing body region A1 is inside the lower traveling body stop region A2.

[0080] [Other Embodiments] In the above-described embodiment, the detection device 200 is the camera 20 that photographs the periphery of the work machine 1, but it is not limited to this. For example, the detection device 200 may be a stereo camera or LIDAR (Laser Imaging Detection and Ranging) provided on the hydraulic excavator 1, or an object may be detected using a radar device or an ultrasonic device.

[0081] Also, the control system 400 according to the above-described embodiment has been described as being installed in the hydraulic excavator 1, but it is not limited to this. Part or all of the configuration of the control system 400 may be installed outside the hydraulic excavator 1. For example, the controller 300 may be arranged in an operation room at a remote location and control the hydraulic excavator 1 related to remote operation.

[0082] Also, the controller 300 according to the above-described embodiment may be composed of one or more controllers. For example, in other embodiments, a first controller that acquires detection data from the detection device 200 and detects an object including a person and a moving body existing around the hydraulic excavator 1, and a second controller that specifies the position of the object, determines the region where the object exists, and controls the hydraulic excavator 1 may be provided.

[0083] Although the controller 300 according to the embodiment described above controls the lower traveling body 2 to stop when it is determined that the position of the object in the coordinate system based on the upper rotating body 3, detected by the detection device 200, is present within the lower traveling body stopping area A2, the present invention is not limited to this. For example, the controller 300 may control the lower traveling body 2 to stop when it is determined that the position of the object in the coordinate system based on the upper rotating body 3, detected by the detection device 200, is present within either the lower traveling body stopping area A2 or the upper rotating body area A1.

[0084] In the second modification, the lower traveling body deceleration region A3 may be divided into two regions: a first deceleration region obtained by expanding the upper rotating body region A1 in the radial direction about the rotation axis RX of the upper rotating body 3, and a second deceleration region obtained by expanding the lower traveling body stop region A2 in the radial direction about the rotation axis RX of the upper rotating body 3. In this case, if an object is detected in either the first deceleration region or the second deceleration region, the lower traveling body 2 may be decelerated.

[0085] In the above-described embodiment, the work machine 1 is a hydraulic excavator driven by hydraulic pressure, but is not limited to this. The work machine 1 may also be, for example, an electric excavator powered by electricity from a battery or generator. In this case, the swing motor 16, right traveling motor 15R, and left traveling motor 15L may be electric motors, and the controller 300 may control the swing motor 16, right traveling motor 15R, and left traveling motor 15L.

[0086] In the above-described embodiment, the hydraulic excavator 1 may be a mining hydraulic excavator used in mines or the like, or a hydraulic excavator used at construction sites. The present invention is also applicable to control systems for dump trucks, wheel loaders, and other work machines. [Explanation of symbols]

[0087] 1...hydraulic excavator (work machine), 2...lower traveling body (traveling body), 3...upper rotating body (swivel body), 4...working machine, 4A...boom, 4B...arm, 4C...bucket, 5...hydraulic cylinder, 5A...boom cylinder, 5B...arm cylinder, 5C...bucket cylinder, 6...operator's cab, 9...operator's seat, 10...operating device, 11...left working lever, 12...right working lever, 13...left travel lever, 14...right travel lever, 15R...right travel motor, 15L...left travel motor, 16...swing motor, 17...power source, 18...hydraulic pump, 19...control valve, 20...camera, 21...rear camera, 22...right rear camera, 23...right front camera, 24...left rear camera, 32...memory unit, 33...arithmetic processing unit logic unit, 200...detection device, 300...controller, 321...feature memory unit, 322...area memory unit, 331...data acquisition unit, 332...detection unit, 333...position identification unit, 334...determination unit, 335...operation signal acquisition unit, 336...control unit, 337...output unit, 400...control system, 1000...computer system, 1001...processor, 1002...main memory, 1003...storage, 1004...interface, A1...upper rotating body area (second set area), A2...lower traveling body stopping area (first set area), A3...lower traveling body deceleration area (third set area), AX...boom rotation axis, BX...arm rotation axis, CX...bucket rotation axis, RX...swing axis.

Claims

1. A system for controlling a work machine including a traveling body and a rotating body that is rotatable relative to the traveling body, a detection device attached to the rotating body that detects the position of an object present around the work machine in a coordinate system based on the rotating body; a controller for controlling the operation of the traveling body and the rotating body of the work machine; Equipped with The controller controlling the movement of the traveling body based on the position of the object in a coordinate system based on the rotating body detected by the detection device and a first set area; controlling the operation of the rotating body based on the position of the object in a coordinate system based on the rotating body detected by the detection device, the first set area, and the second set area; The first set area and the second set area are areas surrounding the periphery of the rotating body and are set in advance in a coordinate system based on the rotating body, the first set area is an area surrounded by a circle having a center on the rotation axis of the rotating body around the entire circumference of the rotating body, or an area surrounded by a straight line portion located a predetermined distance forward from the front end of the rotating body and an arc having a center on the rotation axis of the rotating body behind the straight line portion, The second set area is an area surrounded by a straight line portion located forward of the front end portion of the rotating body, a straight line portion located to the left of the left end portion of the rotating body, a straight line portion located to the right of the right end portion of the rotating body, and an arc portion located rearward of the rear end portion of the rotating body and centered on the rotation axis of the rotating body. system.

2. the controller controls the traveling body to limit its speed when it determines that the position of the object detected by the detection device in a coordinate system based on the rotating body is within the first set area; The system of claim 1 .

3. When the controller determines that the position of the object detected by the detection device in a coordinate system based on the rotating body is within the second set area, the controller controls to restrict rotation of the rotating body. The system of claim 2 .

4. the controller controls the traveling body to decelerate based on the position of the object detected by the detection device and a third set area that is wider than the first set area; The third set area is an area surrounding the periphery of the rotating body and is set in a coordinate system based on the rotating body. A system according to any one of claims 1 to 3.

5. the third set area is an area including at least a straight line portion located forward of the front end of the first set area, a straight line portion located to the left of the left end of the second set area, a straight line portion located to the right of the right end of the second set area, and a straight line portion located rearward of the rear end of the second set area. The system of claim 4.

6. The third set area is an area surrounded by an outer peripheral portion of an area obtained by expanding the first set area and the second set area in a radial direction around the rotation axis of the rotating body. The system of claim 4.

7. The third set area is an area including at least an arc portion located forward of the front end portion of the rotating body and centered on the rotation axis of the rotating body, an arc portion located left of the left end portion of the rotating body and centered on the rotation axis of the rotating body, an arc portion located right of the right end portion of the rotating body and centered on the rotation axis of the rotating body, and an arc portion located rearward of the rear end portion of the rotating body and centered on the rotation axis of the rotating body. The system of claim 4.

8. 1. A method for controlling a work machine including a running body and a rotating body that is rotatable relative to the running body, comprising: detecting a position of an object present around the work machine in a coordinate system based on the rotating body by a detection device attached to the rotating body; a controller that controls the operation of the running body and the rotating body of the work machine controls the operation of the running body based on the position of the object detected by the detection device in a coordinate system that references the rotating body and based on a first set area, and controls the operation of the rotating body based on the position of the object detected by the detection device in a coordinate system that references the rotating body and based on the first set area and the second set area; Including, The first set area and the second set area are areas surrounding the periphery of the rotating body and are set in advance in a coordinate system based on the rotating body, the first set area is an area surrounded by a circle having a center on the rotation axis of the rotating body around the entire circumference of the rotating body, or an area surrounded by a straight line portion located a predetermined distance forward from the front end of the rotating body and an arc having a center on the rotation axis of the rotating body behind the straight line portion, The second set area is an area surrounded by a straight line portion located forward of the front end portion of the rotating body, a straight line portion located to the left of the left end portion of the rotating body, a straight line portion located to the right of the right end portion of the rotating body, and an arc portion located rearward of the rear end portion of the rotating body and centered on the rotation axis of the rotating body. method.

Images