Collision prevention device, collision prevention method, and program

Abstract

To provide a collision prevention device or the like that improves safety during work and suppresses a decrease in work efficiency in a work machine.SOLUTION: A collision prevention device 100 comprises a machine motion calculation unit 110 that calculates the position and velocity vector of a work machine 200, a detection target motion calculation unit 120 that calculates the position and velocity vector of a detection target, a region calculation unit 130 that calculates a motion restriction region positioned around the work machine 200 based on the position and velocity vector of the work machine 200, a determination unit 140 that determines whether or not to cause the work machine 200 to perform an anti-collision operation for preventing collision between the work machine 200 and the detection target, based on the position and velocity vector of the detection target and the motion restriction area, and a motion restriction control unit 150 causes the work machine 200 to perform a collision prevention operation when the determination unit 140 determines that the work machine 200 is to perform the collision prevention operation.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present disclosure relates to a collision prevention device, a collision prevention method, and a program. [Background technology]

[0002] BACKGROUND ART Conventionally, techniques for avoiding collisions with detection targets such as people and obstacles in construction machines (work machines) such as excavators have been known (see, for example, Patent Documents 1 to 6). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 5-59752 [Patent Document 2] Japanese Patent Publication No. 2020-111970 [Patent Document 3] Japanese Patent Application Publication No. 5-321304 [Patent Document 4] Japanese Patent Application Publication No. 5-65725 [Patent Document 5] Japanese Patent Publication No. 2020-193503 [Patent Document 6] Patent Publication No. 2021-28444 Summary of the Invention [Problem to be solved by the invention]

[0004] However, if a work machine performs too many operations to avoid collisions with detection objects for safety reasons, work efficiency will decrease. It is therefore desirable for work machines to have improved safety during work and to suppress decreases in work efficiency.

[0005] The present disclosure provides a collision prevention device and the like in a work machine that improves safety during work and suppresses a decrease in work efficiency. [Means for solving the problem]

[0006] A collision prevention device according to one aspect of the present disclosure includes a machine operation calculation unit that calculates the position and speed vector of a work machine; a detection object operation calculation unit that calculates the position and speed vector of a detection object; an area calculation unit that calculates an operation restriction area located around the work machine based on the position and speed vector of the work machine; a determination unit that determines whether to cause the work machine to perform a collision prevention operation to prevent a collision between the work machine and the detection object based on the position and speed vector of the detection object and the operation restriction area; and a operation restriction control unit that causes the work machine to perform the collision prevention operation when the determination unit determines that the work machine should perform the collision prevention operation.

[0007] A collision prevention method according to one aspect of the present disclosure calculates the position and speed vector of a work machine, calculates the position and speed vector of a detection object, calculates an operation restriction area located around the work machine based on the position and speed vector of the work machine, determines whether to have the work machine perform a collision prevention operation to prevent a collision between the work machine and the detection object based on the position and speed vector of the detection object and the operation restriction area, and if it is determined that the work machine should perform the collision prevention operation, causes the work machine to perform the collision prevention operation.

[0008] A program according to one aspect of the present disclosure is a program for causing a computer to execute the collision prevention method.

[0009] These comprehensive or specific aspects may be realized as a system, a method, an integrated circuit, a computer program, or a computer-readable recording medium such as a CD-ROM, or may be realized as any combination of a system, a method, an integrated circuit, a computer program, and a recording medium. [Effects of the Invention]

[0010] According to the present disclosure, a collision prevention device or the like is realized in a work machine, which improves safety during work and suppresses a decrease in work efficiency. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a diagram for explaining an overview of a work machine according to an embodiment. [Figure 2] FIG. 2 is a block diagram showing the functional configuration of the work machine according to the embodiment. [Figure 3] FIG. 3 is a diagram for explaining the correspondence between the operation of the work machine and the operation restriction area according to the embodiment. [Figure 4] FIG. 4 is a diagram for explaining a first example of the operation restriction determination process performed by the collision prevention device according to the embodiment. [Figure 5] FIG. 5 is a diagram for explaining a second example of the operation restriction determination process performed by the collision prevention device according to the embodiment. [Figure 6] FIG. 6 is a diagram for explaining a third example of the operation restriction determination process performed by the collision prevention device according to the embodiment. [Figure 7] FIG. 7 is a diagram showing an example of an image captured by a camera and how a person is detected. [Figure 8] FIG. 8 is a flowchart illustrating a processing procedure of the collision prevention device according to the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0012] (Findings underlying this disclosure) As described above, techniques have been disclosed in the past for avoiding collisions with detection targets in work machines.

[0013] However, for example, in the technology disclosed in Patent Document 1, the detection area related to each operation must cover the largest area in which the work machine can operate. If a detection target exists within that largest area, the operation of the work machine is uniformly restricted, even if the detection target is moving relatively away from the tip of the work machine. This leads to a deterioration in work efficiency.

[0014] Furthermore, for example, in the technology disclosed in Patent Document 2, a work machine is operated according to a predetermined movement pattern and a movement restriction area used to determine whether or not to have the work machine perform an operation to prevent contact between the work machine and a detection object. However, the technology disclosed in Patent Document 2 does not change the movement restriction area according to the speed of the work machine or the movement speed of the detection object. Therefore, it is necessary to set the movement restriction area to the maximum extent possible, which leads to a decrease in work efficiency.

[0015] Furthermore, for example, the technology disclosed in Patent Document 3 does not take into consideration the movement of the detection target. Therefore, whether the detection target moves away from the work machine or moves closer to the detection target, the control content of the work machine remains the same, so in an attempt to ensure safety, unnecessary operation restrictions may be imposed, which may result in a decrease in work efficiency.

[0016] Similarly, for example, in the technology disclosed in Patent Document 4, the control content of the work machine does not change whether the detection target moves away from the work machine or moves closer to the detection target, so in an attempt to ensure safety, unnecessary operations may be performed, which may result in a decrease in work efficiency.

[0017] Furthermore, for example, the technology disclosed in Patent Document 5 determines whether or not a rotating body and a work device will come into contact with a detection target based on the expected movement path. However, this does not take into consideration the movement of the work machine. Therefore, this is insufficient as a safety measure when working with a work machine while it is traveling.

[0018] Furthermore, for example, the technology disclosed in Patent Document 6 does not take into consideration the movement of the work machine and the movement of the detection target.

[0019] For the reasons described above, conventionally, the movement restriction area has not been dynamically set and the work machine has not been controlled in accordance with the movement of the detection target.

[0020] Therefore, the inventors of the present application discovered that by dynamically setting an operation restriction area and controlling the work machine in accordance with the movement of the detected object, it is possible to improve safety in the work machine and suppress a decrease in work efficiency.

[0021] A collision prevention device according to one aspect of the present disclosure includes a machine operation calculation unit that calculates the position and speed vector of a work machine; a detection object operation calculation unit that calculates the position and speed vector of a detection object; an area calculation unit that calculates an operation restriction area located around the work machine based on the position and speed vector of the work machine; a determination unit that determines whether to cause the work machine to perform a collision prevention operation to prevent a collision between the work machine and the detection object based on the position and speed vector of the detection object and the operation restriction area; and a operation restriction control unit that causes the work machine to perform the collision prevention operation when the determination unit determines that the work machine should perform the collision prevention operation.

[0022] According to this, the operation restriction area is dynamically set in accordance with the movement of the work machine. Therefore, unnecessary restrictions on the operation of the work machine are suppressed. Furthermore, because it is determined whether the work machine will perform collision prevention operation in accordance with the movement of the detection object, the safety of the detection object can be appropriately ensured. Therefore, the collision prevention device according to one aspect of the present disclosure improves safety during work on the work machine and suppresses a decrease in work efficiency.

[0023] Also, for example, the work machine includes at least one of a running body for moving the work machine, a rotating body connected to the running body and rotating relative to the running body, and a work implement connected to the rotating body, and the machine operation calculation unit calculates the position and velocity vector of at least one of the running body and the velocity vector of the work machine, and the area calculation unit calculates the operation restriction area based on the at least one of the position and velocity vector.

[0024] In addition to traveling, a work machine performs operations such as turning using work devices provided on the work machine. Therefore, by calculating the operation restriction area based on the position and velocity vectors of each part provided on the work machine, the operation restriction area can be set to a more appropriate range, thereby further improving safety in the work machine and further suppressing a decrease in work efficiency.

[0025] Also, for example, the region calculation unit calculates a plurality of the operation restriction regions based on the position and velocity vector of the work machine.

[0026] Depending on the operation of the work equipment, etc., there is a possibility that the work equipment may come into contact with the detection target in multiple areas. Therefore, by setting an appropriate number of operation restriction areas, the safety of the work machine is further improved and a decrease in work efficiency is further suppressed.

[0027] Also, for example, the judgment unit calculates a collision margin time, which is the time it takes for the detection object to reach the operation restriction area, based on the position and velocity vector of the detection object and the operation restriction area, and judges whether the collision margin time is less than or equal to a predetermined time, and if the judgment unit determines that the collision margin time is less than or equal to the predetermined time, the operation restriction control unit causes the work machine to perform the collision prevention operation.

[0028] By determining whether or not to perform collision prevention operation based on the collision margin time in the operation restriction area, which changes dynamically depending on the work operation of the work machine, operation restrictions in the work machine are minimized and safety is further improved.

[0029] Also, for example, the machine operation calculation unit calculates the position and velocity vector of the work machine in a three-dimensional coordinate space, and the detected object operation calculation unit calculates the position and velocity vector of the detected object in the three-dimensional coordinate space.

[0030] Work implements and the like move not only horizontally but also vertically. Therefore, by determining whether or not to perform a collision prevention operation based on the position and velocity vector in the three-dimensional coordinate space of the work machine, rather than the two-dimensional coordinate space of the work machine (for example, the position and velocity vector when the work machine is viewed from above), safety is further improved in the work machine and a decrease in work efficiency is further suppressed.

[0031] Also, for example, the operation restriction control unit causes the work machine to perform one or more of the following as the collision prevention operation: stopping the work machine; decelerating the work machine; and an avoidance operation to avoid collision with the detected object.

[0032] These collision prevention operations can appropriately prevent a collision between the work machine and the detection target.

[0033] Also, for example, the operation restriction control unit notifies the notification unit of at least one of the operation restriction area, the judgment result by the judgment unit, the operation that the operation restriction control unit causes the work machine to perform, and at least one of the position and velocity vector of the detection object.

[0034] This allows, for example, workers operating the work machine or workers positioned around the work machine to easily understand areas that are considered dangerous and / or that the work machine is being controlled by a collision prevention device and is performing collision prevention operations.

[0035] Also, for example, the judgment unit judges whether or not to cause the work machine to perform the collision prevention operation based on the position and speed vector of the detection object, the operation restriction area, and the position and speed vector of the work machine.

[0036] With this, for example, it is determined whether or not to have the work machine perform collision prevention operation based on a resultant vector of the position and velocity vector of the detection object and the position and velocity vector of the work machine. Therefore, the positional relationship between the operation restriction area and the detection object is calculated with high accuracy, which further improves safety in the work machine and further prevents a decrease in work efficiency.

[0037] Also, for example, the area calculation unit calculates the operation restriction area based on the position and speed vector of the work machine and the position and speed vector of the detection target.

[0038] According to this, for example, since the danger increases when the object to be detected is moving quickly, safety in the work machine can be further improved by widening the movement restriction area according to the speed of the object to be detected.

[0039] Furthermore, a collision prevention method according to one aspect of the present disclosure calculates the position and speed vector of a work machine, calculates the position and speed vector of a detection object, calculates an operation restriction area located around the work machine based on the position and speed vector of the work machine, determines whether to have the work machine perform a collision prevention operation to prevent a collision between the work machine and the detection object based on the position and speed vector of the detection object and the operation restriction area, and if it is determined that the work machine should perform the collision prevention operation, causes the work machine to perform the collision prevention operation.

[0040] A program according to one aspect of the present disclosure is a program for causing a computer to execute the collision prevention method.

[0041] These provide the same effects as the collision prevention device according to one aspect of the present disclosure.

[0042] Hereinafter, embodiments will be described with reference to the drawings. Note that the embodiments described below are all comprehensive or specific examples. The numerical values, shapes, materials, components, component placement and connection forms, steps, step order, etc. shown in the following embodiments are merely examples and are not intended to limit the present disclosure. Furthermore, among the components in the following embodiments, components not described in independent claims will be described as optional components.

[0043] Note that each figure is a schematic diagram and is not necessarily an exact illustration. Therefore, for example, the scales and the like do not necessarily match in each figure. Furthermore, in each figure, substantially the same configurations are given the same reference numerals, and duplicated explanations may be omitted or simplified.

[0044] In this specification and drawings, the x-axis, y-axis, and z-axis represent the three axes of a three-dimensional Cartesian coordinate system. In the following description, the z-axis direction is defined as the vertical direction, and the direction perpendicular to the z-axis (the direction parallel to the xy plane) is defined as the horizontal direction. The positive direction of the z-axis is defined as the vertically upward direction.

[0045] Furthermore, in the following description, terms such as "greater than" and "equal to" may be used, but these terms are not used in the strict sense. For example, when describing "greater than a predetermined time," it may mean that the time is equal to or greater than the predetermined time. Also, when describing "equal to or less than a predetermined time," it may mean that the time is the boundary between the two, and may mean "equal to or greater than a predetermined time" and "equal to or less than a predetermined time," respectively.

[0046] (Embodiment) [overview] First, an overview of the work machine according to the embodiment will be described.

[0047] FIG. 1 is a diagram for explaining an overview of a work machine 200 according to an embodiment.

[0048] The work machine 200 is a machine such as a construction machine or agricultural machine that travels (moves) and performs specific tasks such as excavation and loading and unloading by operating an arm, fork, etc. Examples of the work machine 200 include a backhoe, a forklift, a bulldozer, and a crane. In this embodiment, the work machine 200 is a backhoe.

[0049] The work machine 200 includes, for example, a traveling body 210, a revolving body 211, a work implement 220, and a camera 240.

[0050] The running body 210 is a mechanism for moving the work machine 200. The running body 210 has, for example, tracks, and the work machine 200 is moved by rotating the tracks with a drive unit such as a motor.

[0051] The traveling body 210 may be realized by a tire or the like as long as it can move the work machine 200.

[0052] The rotating body 211 is a mechanism that is connected to the running body 210 and rotates relative to the running body 210. The rotating body 211 rotates relative to the running body 210 to rotate the work device 220. The rotating body 211 is also provided with a cab and the like where an operator can get in and operate the work machine 200.

[0053] The working device 220 is a mechanism connected to the revolving unit 211. The working device 220 has, for example, a boom 221, an arm 222 movably arranged at the end of the boom 221, and a bucket 223 movably arranged at the end of the arm 222, and performs work such as excavation.

[0054] The camera 240 is a mechanism for detecting a detection target located around the work machine 200. The camera 240 captures images of the surroundings of the work machine 200 to generate an image (image information) of the surroundings of the work machine 200. The work machine 200 detects a predetermined detection target based on the image generated by the camera 240. More specifically, the work machine 200 determines whether or not a detection target exists around the work machine 200 by performing image analysis of the image generated by the camera 240 using pattern matching or the like.

[0055] For example, when the work machine 200 detects a detection target such as a person, that is, when it determines that a detection target is present around the work machine 200, if certain conditions are met, it performs a contact prevention operation, which is an operation to prevent (avoid) contact with the detection target.

[0056] The contact prevention operation is an operation for preventing a collision between the work machine 200 and the detection object. The contact prevention operation is, for example, at least one of stopping the work machine 200, decelerating the work machine 200, and an avoidance operation for avoiding a collision with the detection object.

[0057] The stop of the work machine 200 refers to, for example, the stopping of the movement of the work machine 200 due to the stopping of the traveling body 210. Alternatively, the stop of the work machine 200 refers to, for example, the stopping of the work of the work machine 200 due to the stopping of the revolving body 211 and the work implement 220.

[0058] Furthermore, deceleration of the work machine 200 refers to, for example, a reduction in the travel speed of the work machine 200 due to the deceleration of the traveling body 210. Alternatively, deceleration of the work machine 200 refers to, for example, a reduction in the working speed of the work machine 200 due to the deceleration of the revolving body 211 and the work implement 220.

[0059] The avoidance operation is, for example, making the traveling body 210 travel, or moving the revolving body 211 and / or the working device 220 so as not to come into contact with the detection target.

[0060] The detection target is, for example, a person, but may be any object such as an obstacle, vehicle, animal, or the like that may interfere with the movement and operation of the work machine 200, such as work, and may be determined arbitrarily.

[0061] [composition] Next, the configuration of the work machine 200 will be described.

[0062] FIG. 2 is a block diagram showing the functional configuration of a work machine 200 according to an embodiment.

[0063] The work machine 200 is equipped with a collision prevention system 100, at least one sensor, an input device 230, a running body drive unit 280, a running body speed sensor 290, a revolving body drive unit 300, a revolving body angle sensor 310, a work implement drive unit 320, a work implement angle sensor 330, and a notification unit 400. In this embodiment, the work machine 200 is equipped with a plurality of cameras 240, a sonar 250, a radar 260, and a LiDAR 270 as at least one of the above sensors. Although not shown in FIG. 2, the work machine 200 further includes a running body 210, a revolving body 211, and a work implement 220 as shown in FIG. 1.

[0064] The collision prevention device 100 is a processing unit that performs various types of information processing to enable the work machine 200 to perform collision prevention operations. The collision prevention device 100 is realized by a computer that includes, for example, a communication interface for communicating with each component such as the camera 240 equipped on the work machine 200, non-volatile memory in which a program is stored, volatile memory that is a temporary storage area for executing the program, input / output ports for sending and receiving signals, a processor that executes the program, etc. The collision prevention device 100 may also be realized by a microcomputer.

[0065] The collision prevention device 100 is arranged, for example, on a rotating body 211 equipped on the work machine 200, and is connected to a sensor and a drive unit equipped on the work machine 200 by a control line or the like so that the sensor and the drive unit can be controlled.

[0066] The collision prevention device 100 includes a machine movement calculation unit 110, a detection target movement calculation unit 120, an area calculation unit 130, a determination unit 140, a movement restriction control unit 150, and a machine movement control unit 160.

[0067] The machine movement calculation unit 110 is a processing unit that calculates the position and velocity vector of the work machine 200. Specifically, the machine movement calculation unit 110 calculates the position and velocity vector of the work machine 200 based on information obtained from sensors (also referred to as first sensors), such as the traveling unit speed sensor 290, the revolving unit angle sensor 310, and the work implement angle sensor 330. For example, information (also referred to as size information) indicating the size, shape, etc. of the work machine 200 is stored in advance in the memory unit 170, etc. The machine movement calculation unit 110 calculates the position and velocity vector of a predetermined outer edge (outermost part) of the work machine 200 based on the size information and information obtained from the first sensor.

[0068] The outer edge may be arbitrarily determined in advance. The outer edge may be determined in one location or in multiple locations, but it must include at least the point closest to the detection target of the work machine. Therefore, it may change depending on the posture of the work machine 200. In the examples shown in Figures 4 to 6, which will be described later, multiple outer edges are set, as indicated by double circles in each figure.

[0069] The machine operation calculation unit 110 calculates, for example, the position and velocity vector of the work machine 200 in three-dimensional coordinate space.

[0070] The machine operation calculation unit 110 may calculate the position and velocity vector of the work machine 200 in a coordinate space (two-dimensional coordinate space) when the work machine 200 is viewed from above or from the side, for example.

[0071] For example, the machine operation calculation unit 110 calculates the position and velocity vectors of at least one of the running body 210, the revolving body 211, and the work implement 220 as the position and velocity vectors of the work machine 200. For example, the work operation calculation unit 110 calculates the position and velocity vectors of the running body 210, the position and velocity vectors of the revolving body 211, and the position and velocity vectors of the work implement 220 as the position and velocity vectors of the work machine 200.

[0072] Alternatively, the machine operation calculation unit 110 may calculate the position and velocity vector of the entire work machine 200 as the position and velocity vector of the work machine 200. For example, the machine operation calculation unit 110 may calculate the position of the center of gravity of the work machine 200 and the velocity vector of the center of gravity position as the position and velocity vector of the entire work machine 200.

[0073] The detected object motion calculation unit 120 is a processing unit that calculates the position and velocity vector of the detected object. Specifically, the detected object motion calculation unit 120 detects the detected object based on information obtained from at least one sensor (also referred to as a second sensor) such as a plurality of cameras 240, sonar 250, radar 260, and LiDAR 270, and when the detected object is detected, calculates the position and velocity vector of the detected object.

[0074] The sensed object motion calculation unit 120 calculates, for example, the position and velocity vector of the sensed object in a three-dimensional coordinate space.

[0075] The sensed object operation calculation section 120 may calculate the position and velocity vector of the sensed object in a coordinate space (two-dimensional coordinate space) when the work machine 200 is viewed from above or from the side, for example.

[0076] The sensed object motion calculation unit 120 includes a sensed object detection unit 121 and a velocity vector calculation unit 122.

[0077] The detection target detection unit 121 is a processing unit that detects a detection target. Specifically, the detection target detection unit 121 determines whether or not a detection target exists based on information obtained from the second sensor. Furthermore, if the detection target detection unit 121 determines that a detection target exists, it calculates the position of the detection target based on the information obtained from the second sensor.

[0078] The velocity vector calculation unit 122 is a processing unit that calculates the velocity vector of the detection target based on the time-series detection results of the detection target detection unit 121.

[0079] The area calculation unit 130 is a processing unit that calculates an operation restriction area located around the work machine 200 based on the position and velocity vector of the work machine 200.

[0080] The operation restriction region is a region for determining whether or not to cause the work machine 200 to perform a collision prevention operation to prevent a collision between the work machine 200 and a detection target.

[0081] The operation restriction area may be any area surrounding the work machine 200, and may be calculated to include at least a portion of the work machine 200, or may be calculated not to include the work machine 200.

[0082] For example, when the machine operation calculation unit 110 calculates the position and velocity vector of at least one of the traveling unit 210, the revolving unit 211, and the working implement 220 as the position and velocity vector of the work machine 200, the region calculation unit 130 calculates the operation restriction region based on the at least one position and velocity vector calculated by the machine operation calculation unit 110. For example, when the machine operation calculation unit 110 calculates the position and velocity vector of the traveling unit 210, the position and velocity vector of the revolving unit 211, and the position and velocity vector of the working implement 220 as the position and velocity vector of the work machine 200, the region calculation unit 130 calculates the operation restriction region based on the position and velocity vector of the traveling unit 210, the position and velocity vector of the revolving unit 211, and the position and velocity vector of the working implement 220.

[0083] The area calculation unit 130 may calculate one operation restriction area, or may calculate multiple operation restriction areas. For example, the area calculation unit 130 calculates multiple operation restriction areas based on the position and velocity vectors of the work machine 200. For example, the area calculation unit 130 calculates multiple operation restriction areas based on the position and velocity vectors of the traveling body 210, the revolving body 211, and the work implement 220.

[0084] The multiple regions calculated by the region calculation unit 130 may or may not overlap, partially or entirely.

[0085] Furthermore, the area calculation unit 130 may calculate the movement restriction area based on the position and speed vector of the work machine 200 and the position and speed vector of the detection target. In other words, the area calculation unit 130 may calculate the movement restriction area based on not only the movement of the work machine 200 but also the movement of the detection target.

[0086] The judgment unit 140 is a processing unit that judges whether or not to cause the work machine 200 to perform a collision prevention operation to prevent a collision between the work machine 200 and the detection object, based on the position and velocity vector of the detection object and the operation restriction area calculated by the area calculation unit 130.

[0087] As described above, in the collision prevention device 100, an operation restriction area is set in accordance with the movement of the work machine 200. Therefore, unnecessary restrictions on the movement of the work machine 200 are suppressed. Furthermore, because it is determined whether or not the work machine 200 will perform a collision prevention operation in accordance with the movement of a detection object, the safety of the detection object can be appropriately ensured. Therefore, the collision prevention device 100 according to one aspect of the present disclosure improves safety during work in the work machine 200 and suppresses a decrease in work efficiency.

[0088] The determination unit 140 includes a time-to-collision calculation unit 141 and an operation restriction determination unit 142 .

[0089] The time to collision calculation unit 141 is a processing unit that calculates the time until the detection object reaches an operation restriction area where there is a high risk of collision with the work machine 200 as the time to collision (TTC).

[0090] The operation restriction determination unit 142 is a processing unit that determines whether or not to cause the work machine 200 to perform collision prevention operation based on the position and velocity vector of the detection target and the operation restriction area calculated by the area calculation unit 130. Specifically, the operation restriction determination unit 142 determines whether or not the time to collision calculated by the time to collision calculation unit 141 is equal to or less than a predetermined time.

[0091] In this way, for example, the judgment unit 140 calculates the collision margin time, which is the time it takes for the detection object to reach the movement restriction area, based on the position and velocity vector of the detection object and the movement restriction area, and judges whether the collision margin time is less than or equal to a predetermined time.

[0092] The determination unit 140 may determine whether or not to cause the work machine 200 to perform collision prevention operation based on the position and speed vector of the detection object, the operation restriction area, and the position and speed vector of the work machine 200. In other words, the determination unit 140 may determine whether or not to cause the work machine 200 to perform collision prevention operation based on a relative speed vector, which is a resultant vector of the speed vector of the detection object and the speed vector of the work machine 200.

[0093] The predetermined time may be arbitrarily determined in advance and is not particularly limited. Information indicating the predetermined time is stored in the storage unit 170 in advance, for example.

[0094] Furthermore, for example, the determination unit 140 may determine whether or not to cause the work machine 200 to perform a collision prevention operation depending on whether or not the detection target is located in an operation restriction area.

[0095] The operation restriction control unit 150 is a processing unit that causes the work machine 200 to perform a collision prevention operation when the determination unit 140 determines that the work machine 200 should perform a collision prevention operation. Specifically, when the determination unit 140 determines that the work machine 200 should perform a collision prevention operation, the operation restriction control unit 150 causes the work machine 200 to perform a collision avoidance operation by outputting an instruction (signal) to the machine operation control unit 160 that controls each of the drive units provided in the work machine 200, such as the travel body drive unit 280, the revolving body drive unit 300, and the work implement drive unit 320, to cause the work machine 200 to perform a collision prevention operation.

[0096] For example, when the determination unit 140 determines that the time to collision is equal to or less than a predetermined time, the operation restriction control unit 150 causes the work machine 200 to perform a collision prevention operation. Specifically, for example, when the determination unit 140 determines that the time to collision is equal to or less than a predetermined time, the operation restriction control unit 150 causes the running body 210, the revolving body 211, and the work implement 220 of the work machine 200 to perform a stopping operation to prevent a collision.

[0097] FIG. 3 is a diagram for explaining the correspondence between the operation of the work machine 200 according to the embodiment and the operation restriction area.

[0098] For example, when the work machine 200 is stopped, that is, when the traveling body 210 is stopped and the revolving body 211 and the work implement 220 are stopped, the area calculation unit 130 sets the operation restriction area to the initial setting, that is, a fixed area that is arbitrarily determined in advance. In this case, for example, if a detection target is not detected, the operation restriction control unit 150 does not cause the work machine 200 to perform collision prevention operation.

[0099] Furthermore, for example, when the work machine 200 is operating, that is, when at least one of the traveling body 210, the revolving body 211, and the work implement 220 is operating, the area calculation unit 130 calculates the operation restriction area based on the position and speed vector of the work machine 200. In this case, for example, if a detection target is not detected, the operation restriction control unit 150 does not cause the work machine 200 to perform collision prevention operation.

[0100] Furthermore, for example, when the work machine 200 is operating and detects a detection target, the area calculation unit 130 calculates an operation restriction area based on the position and velocity vector of the work machine 200. In this case, the determination unit 140 calculates the time to collision and determines, based on the calculation result, whether or not to cause the work machine 200 to perform collision prevention operation. In this case, the operation restriction control unit 150 causes the work machine 200 to perform collision prevention operation, or not to perform collision prevention operation, based on the determination result of the determination unit 140.

[0101] It should be noted that multiple predetermined times may be set.

[0102] For example, the operation restriction control unit 150 may execute an avoidance operation as a collision prevention operation when the time to collision is equal to or less than a predetermined first time. Alternatively, for example, the operation restriction control unit 150 may execute a stopping operation as a collision prevention operation when the time to collision is greater than the predetermined first time and equal to or less than a predetermined second time. Alternatively, for example, the operation restriction control unit 150 may execute a deceleration operation as a collision prevention operation when the time to collision is greater than the predetermined second time and equal to or less than a predetermined third time. Alternatively, for example, the operation restriction control unit 150 may not execute a collision prevention operation when the time to collision is greater than the predetermined third time.

[0103] Of course, the number of predetermined times may be two, four, or more. The collision prevention operation to be performed for each time to collision may be determined arbitrarily. The collision prevention operations may be combined, such as deceleration and avoidance operations.

[0104] For example, the operation restriction control unit 150 causes the work machine 200 to perform one or more of the following collision prevention operations: stopping the work machine 200; decelerating the work machine 200; and performing an avoidance operation to avoid a collision with a detected object.

[0105] The machine operation control section 160 is a processing section that controls the operation of the work machine 200 by controlling each drive unit equipped in the work machine 200. For example, the machine operation control section 160 controls the operation of the work machine 200 by controlling each drive unit equipped in the work machine 200 based on instructions from the operator received by the input device 230. Alternatively, for example, the machine operation control section 160 controls the operation of the work machine 200 by controlling each drive unit equipped in the work machine 200 based on instructions received from the operation restriction control section 150. For example, if the machine operation control section 160 receives an instruction from the operation restriction control section 150 while controlling each drive unit equipped in the work machine 200 based on instructions from the operator received by the input device 230, the machine operation control section 160 stops the ongoing control and controls each drive unit equipped in the work machine 200 based on the instructions received from the operation restriction control section 150.

[0106] The storage unit 170 is connected to each processing unit and is a storage device that stores programs executed by the collision prevention device 100 to perform information processing, and information necessary for the information processing. The storage unit 170 is realized by, for example, an HDD (Hard Disk Drive), a semiconductor memory, etc. The storage unit 170 may store information obtained by the first sensor and the second sensor.

[0107] The input device 230 is a device for receiving instructions from an operator, and is realized by, for example, a button, a lever, a steering wheel, a pedal, or the like.

[0108] The cameras 240 are, for example, cameras realized by CMOS (Complementary Metal Oxide Semiconductor) image sensors, etc. Images captured by the cameras 240 are stored in the storage unit 170.

[0109] In this embodiment, the work machine 200 is equipped with a plurality of cameras 240, but it may also be configured with only one camera 240.

[0110] The sonar 250 is a sensor that detects an object using sound waves.

[0111] The radar 260 is a sensor that detects an object using radio waves.

[0112] The LiDAR 270 is a sensor (Light Detection and Ranging) that detects an object using laser light.

[0113] The detection target operation calculation unit 120 detects a detection target based on information obtained from a plurality of sensors (second sensors) such as the camera 240, the sonar 250, the radar 260, and the LiDAR 270.

[0114] In this embodiment, the second sensors such as the multiple cameras 240 are arranged on the rotating body 211 etc. equipped on the work machine 200, but they may also be arranged on components such as buildings located around the work machine 200 rather than on the work machine 200.

[0115] The running body drive unit 280 is a drive mechanism such as a motor for driving the running body 210 .

[0116] The running object speed sensor 290 is a sensor for measuring the speed of the running object 210 .

[0117] The rotating body driving unit 300 is a driving mechanism such as a motor for rotating the rotating body 211.

[0118] The rotating unit angle sensor 310 is a sensor for measuring the angle of rotation of the rotating unit 211. The rotating unit angle sensor 310 may be a sensor for measuring the rotation speed.

[0119] The working device driving unit 320 is a driving mechanism such as a cable, a cylinder, etc. for driving the working device 220.

[0120] The work implement angle sensor 330 is a sensor that measures the bending angle of the work implement 220 (for example, the angle between the boom 221 and the arm 222). The work implement angle sensor 330 may be a sensor that measures the rotation speed.

[0121] The machine operation calculation unit 110 calculates the position and velocity vector of each outer edge of the work machine 200 based on information obtained from sensors (first sensors) such as the running body speed sensor 290, the rotating body angle sensor 310, and the work implement angle sensor 330, as well as information indicating the sizes of the running body 210, the rotating body 211, and the work implement 220, which are the components of the work machine 200, and information indicating the reduction ratios of the reduction mechanisms (not shown) from the actuators, which are the power sources, in the running body drive unit 280, the rotating body drive unit 300, and the work implement drive unit 320, to the drive units.

[0122] The notification unit 400 is a device for notifying the worker of at least one of the detection result (calculation result) of the detection target operation calculation unit 120, the operation restriction area, the determination result by the determination unit 140, and the operation that the operation restriction control unit 150 causes the work machine 200 to execute (for example, the content of the collision prevention operation currently being executed or the content of the collision prevention operation to be executed). The operation restriction control unit 150 causes the notification unit 400 to notify, for example, at least one of the detection result of the detection target operation calculation unit 120, the operation restriction area, the determination result by the determination unit 140, the operation that the operation restriction control unit 150 causes the work machine 200 to execute, and at least one of the position and velocity vector of the detection target.

[0123] The notification unit 400 includes an audio output unit 410 and a display unit 420 .

[0124] The audio output unit 410 is an acoustic device that notifies the worker by voice of at least one of the detection result of the detection target operation calculation unit 120, the operation restriction area, the determination result by the determination unit 140, and the operation that the operation restriction control unit 150 causes the work machine 200 to perform. The audio output unit 410 is realized by, for example, an amplifier and a speaker.

[0125] The audio output unit 410 may be arranged, for example, in the driver's cab of the work machine 200 so as to notify an operator in the cab, or may be arranged outside the work machine 200 so as to notify operators in the vicinity of the work machine 200.

[0126] The display unit 420 is a display device that notifies the worker by means of an image of at least one of the detection result of the detection target operation calculation unit 120, the operation restriction area, the determination result by the determination unit 140, and the operation that the operation restriction control unit 150 causes the work machine 200 to perform. The display unit 420 is a display that includes, for example, a liquid crystal panel, an organic EL panel, or the like as a display device.

[0127] The display unit 420 may be arranged, for example, in the driver's cab of the work machine 200 so as to notify an operator in the cab, or may be arranged outside the work machine 200 so as to notify operators around the work machine 200.

[0128] The operation restriction control unit 150 notifies at least one of the audio output unit 410 and the display unit 420 of, for example, the detection result of the detection target operation calculation unit 120, the operation restriction area, the judgment result by the judgment unit 140, and at least one of the operations that the operation restriction control unit 150 causes the work machine 200 to perform.

[0129] The audio information output by the audio output unit 410 and the image information displayed by the display unit 420 may be arbitrarily determined as long as they are stored in advance in the storage unit 170.

[0130] [Operation restriction judgment] Next, a description will be given of a specific example of the operation restriction determination process performed by the work machine 200. Note that in Figures 4 to 6 described below, the bucket 223 of the work implement 220 is not shown.

[0131] <Example 1> Fig. 4 is a diagram for explaining a first example of the operation restriction determination process by the collision prevention device 100 according to the embodiment. Specifically, Fig. 4 is a top view that schematically shows the work machine 200, and the detection targets U1 and U2.

[0132] In the example shown in FIG. 4, the work machine 200 moves in the positive y-axis direction at a speed v m The working device 220 moves in the positive y-axis direction at a speed v a In this way, the first example is an example in which the traveling body 210 travels, the working device 220 operates, and the revolving body 211 does not operate.

[0133] In this example, the detection target U1 moves in the negative x-axis direction at a velocity v h1 It is moving at.

[0134] In this example, the detection target U2 moves in the positive y-axis direction at a speed of v h2 It is moving at.

[0135] For example, the machine operation calculation unit 110 calculates the position and velocity vector of each outer edge of the work machine 200 based on information obtained from the first sensor.

[0136] Next, the region calculation unit 130 calculates a velocity v m The working device 220 moves in the positive y-axis direction at a speed v a Since it is moving at a speed of v m and velocity v a A movement restriction area (first movement restriction area) is calculated so that the fixed area expands in the positive direction of the y-axis according to the sum of the above.

[0137] In this way, the travel direction side of the work machine 200 in the first operation limited area is, for example, a minimum fixed area set so as to be able to sufficiently absorb the braking reaction time and detection error of the work machine 200, and the extension / retraction speed v a By extending and contracting in response to the load, it is possible to avoid restricting the operation of the work machine 200 more than necessary.

[0138] The method by which the region calculation unit 130 calculates how much to expand the fixed region may be determined in advance. For example, the region calculation unit 130 calculates how much to expand the fixed region by using a velocity v m and velocity v a The first movement restriction area is calculated so as to widen the fixed area in proportion to the sum of the above.

[0139] On the other hand, in such a case, since there is no movement in the x-axis direction, for example, the region calculation section 130 does not change the fixed region and the first movement restriction region in the positive x-axis direction.

[0140] Next, the sensed object operation calculation unit 120 calculates the positions and velocity vectors of the sensed objects U1 and U2, respectively, based on information obtained from the second sensor, for example.

[0141] Next, for example, the area calculation unit 130 calculates the relative velocity vector (relative velocity v mah1 ), and the relative velocity vector of the detection target U2 with respect to the work machine 200 (relative velocity v mah2 ) is calculated.

[0142] Next, for example, the determination unit 140 calculates the time to collision until the detection target U1 reaches the first operation restriction area based on the position of the detection target U1, the relative velocity vector of the detection target U1 with respect to the work machine 200, and the first operation restriction area. Specifically, the determination unit 140 calculates the time to collision, which is the time until the detection target U1 reaches the first operation restriction area, assuming that the detection target U1 and the work machine 200 continue to move at the calculated velocity vector.

[0143] For example, the distance from the position of the detection target U1 to the point where the extension of the resultant velocity vector of the work machine 200 and the detection target U1 intersects with the first operation restriction area is defined as the relative velocity v mah1 Dividing by this gives the time to reach the destination.

[0144] For example, if the time to collision is equal to or less than a predetermined time, the judgment unit 140 judges to cause the work machine 200 to perform collision prevention operation. In other words, if the time to collision is equal to or less than the predetermined time, the collision prevention device 100 restricts the operation of the work machine 200. On the other hand, for example, if the time to collision is greater than the predetermined time, the judgment unit 140 judges not to cause the work machine 200 to perform collision prevention operation.

[0145] Next, for example, when the determination unit 140 determines that a collision prevention operation should be performed, the operation restriction control unit 150 stops the work machine 200 or decelerates the work machine 200 as the collision prevention operation. Alternatively, for example, when the determination unit 140 determines that a collision prevention operation should be performed, the operation restriction control unit 150 changes the traveling direction of the work machine 200 in the negative y-axis direction, moves the work device 220 in the negative y-axis direction, or rotates the work device 220 counterclockwise in a top view about the z-axis as an axis, as an avoidance operation within the collision prevention operation. Note that the operation restriction control unit 150 may rotate only the work device 220 or only the revolving unit 211 as the avoidance operation within the collision prevention operation.

[0146] In this example, the relative velocity vector of the detection object U2 with respect to the work machine 200 is parallel to the velocity vector of the work machine 200 and the velocity vector of the work implement 220. Therefore, the determination unit 140 does not need to calculate the time to collision before the detection object U2 reaches the first operation restriction area. In such a case, the work machine 200 can continue operating because there is no possibility of collision with the detection object.

[0147] Furthermore, the region calculation unit 130 may calculate the movement restriction region based on the movement (position and velocity vector) of the work machine 200 and the movement (position and velocity vector) of the detection targets U1 and U2.

[0148] The area calculation unit 130 calculates, for example, the relative velocity vector of the detection object U1 with respect to the work machine 200, and the relative velocity vector of the detection object U2 with respect to the work machine 200.

[0149] For example, the area calculation unit 130 determines that there is a possibility that the work machine 200 and the detection object U1 will come into contact in the future on the positive y-axis direction of the work machine 200 because it determines from the calculated relative velocity vector that there is a possibility that the detection object U1 will reach the fixed area, and calculates a movement restriction area (first movement restriction area) so that the fixed area will expand in the positive y-axis direction. On the other hand, the area calculation unit 130 determines that there is no possibility that the work machine 200 and the detection object U2 will come into contact in the future because it determines from the calculated relative velocity vector that there is no possibility that the detection object U2 will reach the fixed area, and does not calculate a movement restriction area that expands the fixed area in the positive x-axis direction.

[0150] Furthermore, the determination unit 140 calculates the time to collision based on the relative velocity vector and the movement restriction area, but the time to collision may be calculated based on the position and velocity vector of the detection target and the movement restriction area.

[0151] Furthermore, the movement restriction area is set so as to surround at least a portion of the work machine 200, for example, like the fixed area and the first movement restriction area. For example, the movement restriction area may be set around the work machine 200 without surrounding it, like an area that is the difference between the first movement restriction area and the fixed area.

[0152] <Example 2> Fig. 5 is a diagram for explaining a second example of the operation restriction determination process by the collision prevention device 100 according to the embodiment. Specifically, Fig. 5 is a top view that schematically shows the work machine 200, and the detection targets U1 and U2.

[0153] In the example shown in FIG. 5, the work machine 200 moves in the positive y-axis direction at a speed v m The working device 220 moves at a rotational speed ω b While rotating clockwise in a top view about the z-axis, the rotating body 211 moves at a speed V a In this way, the second example is an example in which the traveling body 210 travels, the working device 220 operates, and the revolving body 211 operates.

[0154] In this example, the detection target U1 moves in the negative x-axis direction at a velocity v h1 It is moving at.

[0155] In this example, the detection target U2 moves in the positive y-axis direction at a speed of v h2 It is moving at.

[0156] For example, the machine operation calculation unit 110 calculates the position and velocity vector of each outer edge of the work machine 200 based on information obtained from the first sensor.

[0157] The machine operation calculation unit 110 calculates, for example, r which is the position (specifically, the length) of the working device 220 in a top view. b and rotation speed ω b From the product of these, the velocity vector (velocity v b Furthermore, the machine operation calculation unit 110 calculates, for example, the calculated velocity vector and a resultant velocity vector (velocity v ab ) is calculated.

[0158] Next, the region calculation unit 130 calculates the velocity v ab In accordance with this, a movement restriction area (second movement restriction area) is calculated so that the fixed area expands in the positive x-axis direction.

[0159] On the other hand, the area calculation unit 130 does not change the fixed area and the second operation restriction area in the positive y-axis direction because, for example, the outer edge of the work machine 200 located furthest to the positive y-axis direction from the resultant velocity vector calculated by the machine operation calculation unit 110 has not moved in the positive y-axis direction. In other words, the first operation restriction area in the second example is the same as the fixed area.

[0160] Next, the sensed object operation calculation unit 120 calculates the positions and velocity vectors of the sensed objects U1 and U2, respectively, based on information obtained from the second sensor, for example.

[0161] Next, the area calculation unit 130 calculates the relative velocity vector (relative velocity v mabh1 ), and the relative velocity vector of the detection target U2 with respect to the work machine 200 (relative velocity v mabh2 ) is calculated.

[0162] The area calculation unit 130 calculates, for example, the resultant velocity vector (velocity v m , velocity v ab etc.), and the velocity vector of the detection target U2 (velocity v h2 ) and the relative velocity vector (relative velocity v mabh2 ) is calculated.

[0163] Next, for example, the determination unit 140 calculates a time to collision until the detection target U1 reaches the first and second movement restriction areas based on the position of the detection target U1, the relative velocity vector of the detection target U1 with respect to the work machine 200, and the first and second movement restriction areas (i.e., a fixed area in this example). Similarly, for example, the determination unit 140 calculates a time to collision until the detection target U2 reaches the first and second movement restriction areas based on the position of the detection target U2, the relative velocity vector of the detection target U2 with respect to the work machine 200, and the first and second movement restriction areas. For example, if at least one of the calculated times to collision is equal to or shorter than a predetermined time, the determination unit 140 determines to cause the work machine 200 to perform a collision prevention operation. On the other hand, for example, if all of the calculated times to collision are greater than the predetermined time, the determination unit 140 determines not to cause the work machine 200 to perform a collision prevention operation.

[0164] When the judgment unit 140 judges that a collision prevention operation should be performed, the operation restriction control unit 150 performs the collision prevention operation by stopping the work machine 200, slowing down the work machine 200, or causing the work machine 200 to perform an avoidance operation.

[0165] For example, when at least one of the calculated times to collision is equal to or shorter than a predetermined time, the determination unit 140 determines what kind of avoidance operation to cause the work machine 200 to perform as an avoidance operation to prevent collision. For example, when, of the calculated times to collision, only the time to collision until the detection object U1 reaches the first operation restriction area is equal to or shorter than a predetermined time, the determination unit 140 determines that the avoidance operation among the collision prevention operations is to change the traveling direction of the work machine 200 in the negative y-axis direction, to move the work device 220 in the negative y-axis direction, or to rotate the work device 220 counterclockwise in a top view about the z-axis. On the other hand, for example, if, of the calculated collision margin times, only the collision margin time until the detection object U2 reaches the second operation restriction area is equal to or shorter than a predetermined time, the determination unit 140 determines that, as an avoidance operation within the collision prevention operation, the traveling direction of the work machine 200 should be changed in the negative x-axis direction, or the working device 220 should be rotated counterclockwise in a top view around the z-axis. Note that, the operation restriction control unit 150 may rotate only the working device 220 or only the revolving unit 211 as an avoidance operation within the collision prevention operation.

[0166] The operation restriction control section 150 causes the work machine 200 that the determination section 140 has caused to perform the collision prevention operation to perform the operation.

[0167] Furthermore, the region calculation unit 130 may calculate the movement restriction region based on the movement of the work machine 200 (position and velocity vectors of each outer edge) and the movement of the detection targets U1 and U2 (position and velocity vectors).

[0168] The area calculation unit 130 calculates, for example, the relative speed vector of the detection target U1 with respect to the work machine 200, and the relative speed vector of the detection target U2 with respect to the work machine 200. For example, the area calculation unit 130 determines from the calculated relative speed vectors that there is a low possibility that the work machine 200 and the detection target U1 will come into contact in the future on the positive y-axis side of the work machine 200, and does not calculate an operation restriction area that expands the fixed area in the positive y-axis direction.

[0169] In this example, there is a possibility that the work machine 200 and the detection target U1 may come into contact in the future on the positive y-axis direction side. However, for example, the area calculation unit 130 may mh1 is greater than or equal to a predetermined speed, and the relative speed v mh1 is greater than the predetermined speed, it is determined that there is a high possibility of contact, and the motion restriction area is calculated to expand the fixed area in the positive direction of the y-axis, and the relative speed v mh1 If it is determined that the speed is less than a predetermined speed, it may be determined that the possibility of contact is low, and it may not calculate a movement restriction area that widens the fixed area in the positive direction of the y-axis. Of course, in such a case, the area calculation unit 130 may calculate a movement restriction area (first movement restriction area) that is an area that coincides with the fixed area. In other words, the area calculation unit 130 may calculate multiple movement restriction areas. For example, the area calculation unit 130 may calculate movement restriction areas equal to the number of detected detection targets.

[0170] On the other hand, in such a case, the area calculation unit 130 determines, for example, from the calculated relative velocity vector, that there is a high possibility that the work machine 200 and the detection object U2 will come into contact in the future, and calculates an operation restriction area (second operation restriction area) so that the fixed area expands in the positive direction of the x-axis.

[0171] <Example 3> Fig. 6 is a diagram for explaining a third example of the operation restriction determination process by the collision prevention device 100 according to the embodiment. Specifically, Fig. 6 is a side view that schematically shows the work machine 200 and the detection object U3.

[0172] In the example shown in FIG. 6, the work machine 200 moves in the positive y-axis direction at a speed v m The working device 220 moves at a rotational speed ω bt It rotates clockwise in side view around the x-axis. In this way, the third example is an example in which the traveling body 210 travels and the working device 220 operates in the up and down direction.

[0173] In this example, the detection target U3 moves in the negative y-axis direction at a speed of v h3 It is moving at.

[0174] Note that a plurality of fixed regions may be set in advance, such as the first fixed region and the second fixed region shown in FIG.

[0175] For example, the machine operation calculation unit 110 calculates the position and velocity vector of each outer edge of the work machine 200 based on information obtained from the first sensor.

[0176] The machine operation calculation unit 110 calculates, for example, r which is the position (specifically, the length) of the working device 220 in a side view. bt and rotation speed ω bt From the product of these, the velocity vector (velocity v bt ) is calculated. Furthermore, the machine operation calculation unit 110, for example, calculates the calculated velocity vector and a velocity vector corresponding to the movement of the work machine 200 (velocity v m ) and the resultant velocity vector (velocity v mbt ) is calculated.

[0177] Next, the region calculation unit 130 calculates the velocity v mbt A movement restriction area (third movement restriction area) is calculated so that the second fixed area including the outer edge portion expands in the positive y-axis direction and the negative z-axis direction according to the movement restriction area (third movement restriction area).

[0178] Next, the sensed object operation calculation unit 120 calculates the position and velocity vector of the sensed object U3 based on, for example, information obtained from the second sensor.

[0179] Next, the area calculation unit 130 calculates the relative velocity vector (relative velocity v mbth3 ) is calculated.

[0180] The area calculation unit 130 calculates, for example, the resultant velocity vector calculated by the machine operation calculation unit 110 and the velocity vector of the detection object U3 (velocity v h3 ), the relative velocity vector (relative velocity vmabh3 ) is calculated.

[0181] Next, for example, the judgment unit 140 calculates the collision margin time until the detection object U3 reaches the third operation restriction area based on the position of the detection object U3, the relative velocity vector of the detection object U3 with respect to the outer edge of the work machine 200 that is closest to the detection object U3, and the third operation restriction area.

[0182] For example, when there is a possibility that the work machine 200 and the detection target U3 will collide above the detection target U3, such as when the work implement 220 is moving downward, the determination unit 140 may determine the position of the detection target U3 as the height h of the detection target U3 from the ground. The determination unit 140 calculates the height h based on an image generated by the camera 240, for example.

[0183] FIG. 7 is a diagram showing an example of an image captured by a camera and how a person is detected.

[0184] For example, the determination unit 140 calculates a circumscribing rectangle of the detection target U3 in the image generated by the camera 240, and calculates the height of the calculated circumscribing rectangle as the height h of the detection target U3.

[0185] In order to improve safety, the determination unit 140 adds a predetermined height h to the calculated height h of the detection target U3. m The height obtained by adding the above may be set as the height of the detection target U3.

[0186] For example, if the calculated time to collision is equal to or less than a predetermined time, the determination unit 140 determines to have the work machine 200 perform collision prevention operation. On the other hand, if the calculated time to collision is greater than the predetermined time, the determination unit 140 determines not to have the work machine 200 perform collision prevention operation.

[0187] Next, for example, when the determination unit 140 determines that a collision prevention operation should be performed, the operation restriction control unit 150 performs the collision prevention operation by stopping the work machine 200 or slowing down the work machine 200. Alternatively, for example, when the determination unit 140 determines that a collision prevention operation should be performed, the operation restriction control unit 150 changes the traveling direction of the work machine 200 in the negative y-axis direction or moves the work implement 220 in the positive z-axis direction as an avoidance operation within the collision prevention operation.

[0188] As in the third example, when the work machine 200 swings down the work implement 220 to perform work such as digging earth and rocks, a third movement limit area is set around the outer edge of the tip of the work implement 220 that is closest to the detection target U3. The third movement limit area is dynamically expanded or contracted according to the speed in the downward direction (in this example, the negative z-axis direction).

[0189] For example, if the tip of the working device 220 is located at a height h of the detection target (or height h + height h m ) and the work machine 200 is operating, the collision prevention operation is performed in the same manner as in the first and second examples.

[0190] On the other hand, if a stop is executed as a collision prevention operation, there is a possibility that the work machine 200 will collide with the detection object U3. However, if the collision between the work machine 200 and the detection object U3 can be avoided in sufficient time by swinging the work implement 220 upward, the collision prevention operation may be executed by decelerating the running body 210 and swinging up the work implement 220.

[0191] In this example, two movement limit areas, a first fixed area and a second fixed area, are predefined. Also, when considering the first fixed area, the work machine 200 moves at a speed v m Therefore, the region calculation section 130 may separately calculate a movement restriction region so as to widen the first fixed region in the positive direction of the y axis.

[0192] In this example, the first fixed area and the third operation restriction area do not overlap. In such a case, the collision prevention device 100 may calculate the time to collision of the detection object U3 for each of the first fixed area and the third operation restriction area, and operate the work machine 200 according to the calculated time to collision.

[0193] Furthermore, the first and second examples have been described with respect to the case where the work machine 200 is viewed from above, and the third example has been described with respect to the case where the work machine 200 is viewed from the side, but the collision prevention device 100 may execute a combination of the calculation methods of the first, second, and third examples. In other words, when calculating the position and velocity vectors of the work machine 200 and the detection target, the collision prevention device 100 may calculate the position and velocity vectors in a two-dimensional coordinate space, which is a space made up of any two of the x, y, and z coordinates, or may calculate the position and velocity vectors in a three-dimensional coordinate space, which is a space made up of the x, y, and z coordinates.

[0194] [Processing Procedure] Next, the processing procedure of the collision prevention device 100 will be described.

[0195] FIG. 8 is a flowchart illustrating the processing procedure of the collision prevention device 100 according to the embodiment.

[0196] First, the detectable motion calculation unit 120 acquires information from at least one of the above-described sensors (second sensor) provided in the work machine 200 (S101). For example, the detectable motion calculation unit 120 acquires an image (image information), which is an example of information obtained from the second sensor, from the camera 240, which is an example of the second sensor.

[0197] Next, the detectable object operation calculation unit 120 detects a detectable object located around the work machine 200 based on the acquired information (S102). For example, when the acquired information is an image, the detectable object operation calculation unit 120 executes a process to extract a detectable object included in the image.

[0198] Next, the detectable object operation calculation unit 120 determines whether or not a detectable object exists around the work machine 200 based on the acquired information (S103). If the acquired information is an image, the detectable object operation calculation unit 120 determines whether or not the image contains a detectable object.

[0199] If the sensed object operation calculation unit 120 determines that no sensed object exists around the work machine 200 (No in S103), the process returns to step S101.

[0200] On the other hand, when it is determined that a detection target exists around the work machine 200 (Yes in S103), the detection target operation calculation unit 120 calculates the position and velocity vector of the detection target based on the acquired information (S104).

[0201] Next, the machine operation calculation unit 110 calculates the position and velocity vector of the work machine 200 (S105). The machine operation calculation unit 110 calculates the position and velocity vector of the work machine 200, for example, based on information obtained from the first sensor described above. Specifically, the machine operation calculation unit 110 calculates the position and velocity vector of each outer edge of the work machine 200, for example, based on information obtained from the first sensor described above, the size information described above, reduction ratio information indicating the reduction ratio of the reduction mechanism described above, etc.

[0202] Next, the region calculation unit 130 calculates the operation restriction region based on the position and velocity vector of the work machine 200 (S106).

[0203] Next, the judgment unit 140 assumes that the detected object, that is, the object determined to exist in step S103, will continue the calculated velocity vector at the position calculated in step S104, and further assumes that the velocity vector of the work machine calculated in step S105 will continue, and then calculates the collision margin time until the object reaches the operation restriction area calculated in step S106 (S107).

[0204] Next, the determination unit 140 determines whether the calculated time to collision is equal to or less than a predetermined time (S108).

[0205] When the determination unit 140 determines that the calculated time to collision is greater than the predetermined time (No in S108), the process returns to step S101.

[0206] On the other hand, when the determination unit 140 determines that the calculated time to collision is equal to or less than the predetermined time (Yes in S108), it determines to have the work machine 200 perform a collision prevention operation (S109). Note that the determination unit 140 may determine the content of the collision prevention operation (for example, whether to stop or decelerate the work machine 200 or perform an avoidance operation) based on the time to collision.

[0207] Next, the operation restriction control unit 150 instructs the machine operation control unit 160 to cause the work machine 200 to perform a collision prevention operation (S110). For example, the operation restriction control unit 150 outputs a signal to the machine operation control unit 160 to cause the work machine 200 to perform the content of the collision prevention operation determined by the determination unit 140.

[0208] Next, the machine operation control unit 160 appropriately controls the driving units such as the running body driving unit 280, the rotating body driving unit 300, and the work device driving unit 320 using information from the running body speed sensor 290, the rotating body angle sensor 310, and the work device angle sensor 330, thereby causing the work machine 200 to perform collision prevention operations (S111).

[0209] By repeatedly executing the processing from step S101 to step S111, the work machine 200 performs collision prevention operation at appropriate timing in accordance with the ever-changing movements of the work machine 200 and the detection target.

[0210] The above steps and the order of steps are merely examples and are not particularly limited. For example, some steps may be performed simultaneously with other steps. For example, steps S101 to S105 may be performed based on one piece of information obtained from the second sensor, and while step S106 is being performed, step S101 may be performed based on other information different from the one piece of information obtained from the second sensor.

[0211] [Effects, etc.] As explained above, the collision prevention device 100 according to the embodiment calculates an operation restriction area based on the position and speed vector of the work machine 200, and determines whether or not to cause the work machine 200 to perform collision prevention operation based on the position and speed vector of the detection object and the operation restriction area. In other words, the collision prevention device 100 dynamically sets an operation restriction area in accordance with the movement of the work machine 200, and dynamically determines whether or not to cause the work machine 200 to perform collision prevention operation in accordance with the movement of the detection object.

[0212] Specifically, in the above embodiment, the collision prevention device 100 mounted on the work machine 200 is equipped with various sensors for calculating the operating state of the work machine 200, such as the position and velocity vector of the outer edge of the work machine 200, which change from moment to moment depending on the working state of each part of the work machine 200, from the velocity vector of the traveling body 210, the rotation angle and angular velocity of the revolving body 211, the angle and angular velocity of the boom 221 and arm 222, etc. The work machine 200 is also equipped with various sensors for detecting detection targets such as people or obstacles present around the work machine 200. The collision prevention device 100 calculates the relative position and velocity vector of the detection target based on information obtained from these various sensors. When the collision prevention device 100 detects a detection target, it dynamically changes the operation restriction area used to determine whether the work machine 200 will collide with the detection target from a default fixed area depending on the state of the outer edge (outermost part) closest to the detection target. The collision prevention device 100 calculates the time to collision (TTC) from the relative position and relative velocity vector of the detection target relative to the outermost part, and causes the work machine 200 to perform collision prevention operation when the time to collision falls below a predetermined time.

[0213] In this way, the collision prevention device 100, for example, detects the movement of the work machine 200 and detection targets located around the work machine 200, and dynamically sets an operation restriction area based on the relative position of the detection target to the work machine 200, as well as the direction of movement and speed, and predicts the trajectory and time it will take for the detection target to reach the set operation restriction area if the current state (for example, the time when the position, speed, etc. are calculated) is maintained, thereby performing detailed control to restrict operation (collision prevention operation) only when it is determined that there is a risk of collision. For example, this prevents the operation restriction area from being set unnecessarily wide even when the work machine 200 is barely moving, or prevents collision prevention operation from being unnecessarily performed even when the detection target is moving away from the work machine 200. On the other hand, for example, when there is considered to be a high risk, such as when the work machine 200 is moving quickly, safety can be improved by dynamically setting the operation restriction area in accordance with the movement of the work machine 200 so that the operation restriction area is set wide. Therefore, the collision prevention device 100 can ensure the safety of detection targets located around the work machine 200 while suppressing a decrease in the efficiency of work such as excavation work performed by the work machine 200. In other words, the collision prevention device 100 improves the safety of the work machine 200 during work, and suppresses a decrease in work efficiency.

[0214] Furthermore, for example, the work machine 200 includes a moving unit such as a traveling unit 210 that moves the work machine 200, and a working unit such as a revolving unit 211 and a work implement 220. The operation restriction area can be calculated based on the position and speed vectors of these units as the position and speed vector of the work machine 200, thereby setting the operation restriction area within a more appropriate range.

[0215] Furthermore, for example, by performing a collision prevention operation in accordance with the time to collision, it is possible to achieve a good balance between improved safety and suppression of a decrease in work efficiency.

[0216] Furthermore, by calculating the position and velocity vectors of the work machine 200 and the detection target in three-dimensional coordinate space, an appropriate operating restriction area can be set even when the work machine 200 is equipped with a mechanism that can move in the x-axis direction, y-axis direction, and z-axis direction, such as the work implement 220.

[0217] Furthermore, for example, by performing at least one of stopping, decelerating, and avoidance operation of the work machine 200 as a collision prevention operation, a collision between the work machine 200 and the detection target can be appropriately prevented.

[0218] By notifying the worker of information such as information that the detection target has been detected, information indicating the operation restriction area, information indicating whether or not to perform a collision prevention operation, and information indicating the operation to be performed by the work machine 200, the worker can predict the operation of the work machine 200, thereby further improving safety.

[0219] In addition, for example, safety can be further improved by determining whether or not a collision prevention operation is to be performed by the work machine 200 based on the relative velocity vector of the detection target relative to the work machine 200 and the operation restriction area.

[0220] Furthermore, for example, the operation restriction area may be calculated based on the relative velocity vector of the detection target relative to the work machine 200, thereby further improving safety.

[0221] (Other embodiments) Although the embodiments have been described above, the present disclosure is not limited to the above-described embodiments.

[0222] Therefore, the components shown in the accompanying drawings and detailed description may include not only essential components for solving the problem, but also components that are not essential for solving the problem in order to illustrate the above technology. Therefore, the fact that these non-essential components are shown in the accompanying drawings or detailed description should not be interpreted as immediately indicating that these non-essential components are essential.

[0223] For example, in the above embodiment, the movement restriction area is rectangular, but it may be any shape such as a circle, an ellipse, a polygon, etc. Furthermore, when the movement restriction area is calculated in a three-dimensional coordinate space, it may be any shape such as a rectangular parallelepiped, a sphere, etc.

[0224] Also, for example, the work machine does not have to be equipped with a second sensor such as the camera 240 or sonar 250. In this case, for example, the work machine may be equipped with a communication interface for communicating with an external device such as a server device. Also, in this case, the collision prevention device 100 may acquire information regarding detection targets located around the work machine 200 from the external device via the communication interface.

[0225] Furthermore, for example, the work machine includes the running body 210, the revolving body 211, and the work implement 200, but the work machine may include at least one of the running body 210, the revolving body 211, and the work implement 200. In this case, for example, the machine operation calculation unit 110 calculates the position and velocity vector of at least one of these as the position and velocity vector of the work machine 200. In this case, for example, the region calculation unit 130 calculates the operation restriction region based on the position and velocity vector of at least one of these.

[0226] Furthermore, for example, in the above embodiment, the collision prevention device 100 is realized as a single device, but it may be realized by a plurality of devices. When the collision prevention device 100 is realized by a plurality of devices, the components of the collision prevention device 100 described in the above embodiment may be distributed among the plurality of devices in any manner.

[0227] In the above-described embodiment, the processing performed by a specific processing unit may be performed by another processing unit. The order of multiple processing operations may be changed, or multiple processing operations may be performed in parallel.

[0228] In the above-described embodiments, each component (each processing unit) may be realized by executing a software program suitable for that component. Each component may be realized by a program execution unit such as a CPU (Central Processing Unit) or a processor reading and executing a software program recorded on a recording medium such as a hard disk or semiconductor memory.

[0229] Furthermore, each component may be realized by hardware. Each component may be a circuit (or integrated circuit). These circuits may form a single circuit as a whole, or each may be a separate circuit. Furthermore, each of these circuits may be a general-purpose circuit or a dedicated circuit.

[0230] Furthermore, the general or specific aspects of the present disclosure may be realized as a system, an apparatus, a method, an integrated circuit, a computer program, or a non-transitory recording medium such as a computer-readable CD-ROM, or as any combination of a system, an apparatus, a method, an integrated circuit, a computer program, and a recording medium.

[0231] For example, the present disclosure may be realized as a collision prevention method executed by a computer such as the collision prevention device 100. Furthermore, the present disclosure may be realized as a program for causing a computer to execute the collision prevention method, or as a computer-readable non-transitory recording medium on which such a program is recorded.

[0232] In addition, this disclosure also includes forms obtained by applying various modifications to each embodiment that a person skilled in the art would think of, or forms realized by arbitrarily combining the components and functions of each embodiment within the scope that does not deviate from the intent of this disclosure. [Industrial Applicability]

[0233] The present disclosure is applicable to devices for controlling the operation of a work machine. [Explanation of symbols]

[0234] 100 Anti-collision device 110 Mechanical operation calculation unit 120 Detectable motion calculation unit 121 Detection target detection unit 122 Velocity vector calculation unit 130 Area calculation section 140 Judgment Department 141 Collision margin time calculation unit 142 Operation restriction determination unit 150 Operation restriction control section 160 Machine operation control unit 170 Storage section 200 Work Machines 210 Running body 211 Rotating body 220 Work equipment 221 Boom 222 Arm 223 Bucket 230 Input Device 240 Camera 250 Sonar 260 Radar 270 LiDAR 280 Running body drive unit 290 Vehicle speed sensor 300 Swing unit drive unit 310 Rotating body angle sensor 320 Work device drive unit 330 Work device angle sensor 400 Notification Department 410 Audio output unit 420 Display section U1, U2, U3 detection targets

Claims

1. a machine operation calculation unit that calculates a position and velocity vector of the work machine; a detection target motion calculation unit that calculates a position and a velocity vector of the detection target; an area calculation unit that calculates a movement restriction area located around the work machine based on the position and velocity vector of the work machine; a determination unit that calculates a time to collision, which is the time until the detection object reaches the movement restriction area, based on the position and velocity vector of the detection object and the movement restriction area, and determines whether or not to cause the work machine to perform a collision prevention operation to prevent a collision between the work machine and the detection object, based on the time to collision; an operation restriction control unit that causes the work machine to perform the collision prevention operation when the determination unit determines that the work machine should perform the collision prevention operation, The operation restriction control unit causes the work machine to perform one or more of the following as the collision prevention operation: stopping the work machine; decelerating the work machine; and performing an avoidance operation to avoid a collision with the detection object, based on the determination result of the determination unit; or does not cause the work machine to perform the collision prevention operation. Anti-collision device.

2. a machine operation calculation unit that calculates a position and velocity vector of the work machine; a detection target motion calculation unit that calculates a position and a velocity vector of the detection target; an area calculation unit that calculates a movement restriction area located around the work machine based on the position and velocity vector of the work machine; a determination unit that determines whether or not to cause the work machine to perform a collision prevention operation to prevent a collision between the work machine and the detection object, based on the position and velocity vector of the detection object and the operation restriction area; an operation restriction control unit that causes the work machine to perform the collision prevention operation when the determination unit determines that the work machine should perform the collision prevention operation, The determination unit Calculating a time to collision, which is a time until the detection object reaches the movement restriction area, based on the position and velocity vector of the detection object and the movement restriction area; determining whether the time to collision is equal to or less than a predetermined time; The operation restriction control unit causes the work machine to perform the collision prevention operation when the determination unit determines that the time to collision is equal to or less than the predetermined time. Anti-collision device.

3. a machine operation calculation unit that calculates a position and velocity vector of the work machine; a detection target motion calculation unit that calculates a position and a velocity vector of the detection target; an area calculation unit that calculates a movement restriction area located around the work machine based on the position and velocity vector of the work machine; a determination unit that determines whether or not to cause the work machine to perform a collision prevention operation to prevent a collision between the work machine and the detection object, based on the position and velocity vector of the detection object and the operation restriction area; an operation restriction control unit that causes the work machine to perform the collision prevention operation when the determination unit determines that the work machine should perform the collision prevention operation, The area calculation unit calculates the operation restriction area based on the position and velocity vector of the work machine and the position and velocity vector of the detection target. Anti-collision device.

4. the work machine includes at least one of a running body for moving the work machine, a rotating body connected to the running body and rotating relative to the running body, and a work device connected to the rotating body, the machine operation calculation unit calculates at least one of the position and velocity vectors as the position and velocity vector of the work machine; The area calculation unit calculates the movement restriction area based on at least one of the position and velocity vectors. The collision prevention device according to claim 1 or 3.

5. The area calculation unit calculates a plurality of the operation restriction areas based on the position and velocity vector of the work machine. A collision prevention device according to any one of claims 1 to 3.

6. The determination unit Calculating a time to collision, which is a time until the detection object reaches the movement restriction area, based on the position and velocity vector of the detection object and the movement restriction area; determining whether the time to collision is equal to or less than a predetermined time; The operation restriction control unit causes the work machine to perform the collision prevention operation when the determination unit determines that the time to collision is equal to or less than the predetermined time. A collision prevention device according to any one of claims 1 and 3 to 5.

7. the machine operation calculation unit calculates a position and velocity vector of the work machine in a three-dimensional coordinate space; The detection target motion calculation unit calculates a position and a velocity vector of the detection target in a three-dimensional coordinate space. A collision prevention device according to any one of claims 1 to 6.

8. The operation restriction control unit causes the work machine to perform one or more of the following as the collision prevention operation: stopping the work machine; decelerating the work machine; and an avoidance operation for avoiding a collision with the detection object. The collision prevention device according to claim 3.

9. The operation restriction control unit notifies a notification unit of at least one of the operation restriction area, the determination result by the determination unit, the operation that the operation restriction control unit causes the work machine to execute, and at least one of the position and velocity vector of the detection target. A collision prevention device according to any one of claims 1 to 8.

10. The determination unit determines whether or not to cause the work machine to perform the collision prevention operation based on the position and velocity vector of the detection target, the operation restriction area, and the position and velocity vector of the work machine. A collision prevention device according to any one of claims 1 to 9.

11. Calculating the position and velocity vectors of the work machine; Calculate the position and velocity vector of the detected object; calculating an operational restriction area located around the work machine based on the position and velocity vector of the work machine; a collision margin time, which is the time until the detection object reaches the movement restriction area, is calculated based on the position and velocity vector of the detection object and the movement restriction area, and a determination is made based on the collision margin time as to whether or not to cause the work machine to perform a collision prevention operation to prevent a collision between the work machine and the detection object; When it is determined that the work machine should perform the collision prevention operation, the work machine is caused to perform the collision prevention operation; Based on the result of the determination, the work machine is caused to perform one or more of the following as the collision prevention operation: stopping the work machine; decelerating the work machine; and performing an avoidance operation to avoid a collision with the detected object; or not causing the work machine to perform the collision prevention operation. Collision prevention method.

12. Calculating the position and velocity vectors of the work machine; Calculate the position and velocity vector of the detected object; calculating an operational restriction area located around the work machine based on the position and velocity vector of the work machine; determining whether or not to cause the work machine to perform a collision prevention operation to prevent a collision between the work machine and the detection object based on the position and velocity vector of the detection object and the operation restriction area; When it is determined that the work machine should perform the collision prevention operation, the work machine is caused to perform the collision prevention operation; In the above judgment, Calculating a time to collision, which is a time until the detection object reaches the movement restriction area, based on the position and velocity vector of the detection object and the movement restriction area; determining whether the time to collision is equal to or less than a predetermined time; When it is determined that the time to collision is equal to or less than the predetermined time, the work machine is caused to perform the collision prevention operation. Collision prevention method.

13. Calculating the position and velocity vectors of the work machine; Calculate the position and velocity vector of the detected object; calculating an operational restriction area located around the work machine based on the position and velocity vector of the work machine; determining whether or not to cause the work machine to perform a collision prevention operation to prevent a collision between the work machine and the detection object based on the position and velocity vector of the detection object and the operation restriction area; When it is determined that the work machine should perform the collision prevention operation, the work machine is caused to perform the collision prevention operation; In calculating the operation restriction area, the operation restriction area is calculated based on the position and velocity vector of the work machine and the position and velocity vector of the detection object. Collision prevention method.

14. A method for causing a computer to execute the collision prevention method according to any one of claims 11 to 13. program.

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