Abnormal operation range setting system and abnormal operation detection system

Abstract

To set an abnormal operation range for detecting an abnormality in the operation of an automatically operated work machine.SOLUTION: An abnormal operation range setting system comprises a work machine 10, a target position acquisition portion 41, and an abnormal operation range setting portion 45. The work machine 10 includes a monitored part 19 and is automatically operated. The target position acquisition portion 41 acquires target position information which is information relating to a target position of the monitored part 19. The abnormal operation range setting portion 45 sets an abnormal operation range B which is a range for determining whether or not the operation of the work machine 10 is abnormal, based on the target position information acquired by the target position acquisition portion 41.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to an abnormal operation range setting system and an abnormal operation detection system for monitoring abnormal operation of a work machine. [Background technology]

[0002] For example, Patent Document 1 describes a technology in which an automatically operated work machine is imaged and, based on the image data, the work machine is made to release soil at an appropriate position. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 11-293708 Summary of the Invention [Problem to be solved by the invention]

[0004] The technology described in this document cannot detect abnormalities in the operation of an automatically operated work machine.

[0005] Therefore, an object of the present invention is to provide an abnormal operation detection system that can detect abnormal operation of an automatically operated work machine. [Means for solving the problem]

[0006] The abnormal operation detection system comprises a work machine, a target position acquisition unit, an abnormal operation range setting unit, a current position acquisition unit, and an abnormal operation determination unit. The work machine includes a monitored part and is automatically driven. The target position acquisition unit acquires target position information which is information relating to the target position of the monitored part. The abnormal operation range setting unit sets an abnormal operation range which is a predetermined range outside the position of the monitored part when it is assumed that the monitored part is positioned at the target position, based on the target position information acquired by the target position acquisition unit. The current position acquisition unit acquires information on the current position of the monitored part. The abnormal operation determination unit determines whether the current position of the monitored part acquired by the current position acquisition unit is inside the abnormal operation range. [Effects of the Invention]

[0007] With the above configuration, it is possible to detect abnormalities in the operation of an automatically operated work machine. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a diagram showing a working machine 10 and the like of the abnormal operation detection system 1 as viewed from the side. [Figure 2] 2 is a block diagram showing the abnormal operation detection system 1 shown in FIG. 1. FIG. [Figure 3] FIG. 2 is a diagram showing an example of a work plan, as viewed from above, of the work machine 10 shown in FIG. 1. [Figure 4] 3 and shows a normal operating range A and the like set based on the rotation range of the upper rotating body 13 and the like. [Figure 5] FIG. 4 is a diagram equivalent to FIG. 3, showing a normal operating range A and the like set based on information on a plurality of work phases. [Figure 6] FIG. 4 is a diagram equivalent to FIG. 3, showing a normal operating range A and the like set based on information about one work phase. [Figure 7] FIG. 4 is a diagram equivalent to FIG. 3 and shows a normal operating range A at a specific time. [Figure 8]FIG. 4 is a top view of the no-entry area D and other areas around the work machine 10 shown in FIG. 3. DETAILED DESCRIPTION OF THE INVENTION

[0009] The abnormal action detection system 1 will be described with reference to FIGS.

[0010] The abnormal operation detection system 1 is a system that detects abnormal operation of the work machine 10 shown in Fig. 1. The abnormal operation detection system 1 is installed, for example, at a work site (such as a construction site) of the work machine 10. The abnormal operation detection system 1 includes the work machine 10, a posture detection unit 21 (see Fig. 2), an imaging device 25, a work machine controller 30 (see Fig. 2), and a monitoring controller 40 (see Fig. 2).

[0011] The work machine 10 is a machine that performs work, such as a construction machine that performs construction work. The work machine 10 is an autonomously driven work machine that is automatically driven. The work machine 10 may be, for example, a shovel or a crane. The following mainly describes the case where the work machine 10 is a shovel (autonomously driven shovel). The work machine 10 comprises a lower traveling body 11, an upper rotating body 13, an attachment 15, a drive control unit 17 (see FIG. 2 ), and a monitored unit 19.

[0012] The undercarriage 11 allows the work machine 10 to travel. The undercarriage 11 includes, for example, crawlers.

[0013] The upper rotating body 13 is rotatably mounted on the lower traveling body 11. The upper rotating body 13 is rotatable relative to the lower traveling body 11 around a rotation center 13a (see FIG. 3).

[0014] The attachment 15 is a part that performs work on a work object and includes, for example, a boom 15a, an arm 15b, and a tip attachment 15c. The boom 15a is attached to the upper rotating body 13 so as to be able to rise and fall (rotate up and down). The arm 15b is rotatably attached to the boom 15a. The tip attachment 15c is provided at the tip of the attachment 15 and rotatably attached to the arm 15b. The tip attachment 15c may be, for example, a bucket for scooping soil and sand, a device for clamping objects (such as a grapple), or a device for crushing or excavating (such as a breaker). The work object that the attachment 15 works on may be soil and sand, stones, a structure such as concrete, or waste. A specific part of the attachment 15 (such as the tip of the tip attachment 15c) is referred to as a specific part 15t.

[0015] The drive control unit 17 (see FIG. 2) controls the actuators that drive the work machine 10. For example, the drive control unit 17 controls a motor (not shown) that rotates the upper rotating body 13 relative to the lower traveling body 11. The drive control unit 17 controls a cylinder (not shown) that raises and lowers the boom 15a relative to the upper rotating body 13. The drive control unit 17 controls a cylinder (not shown) that rotates the arm 15b relative to the boom 15a. The drive control unit 17 controls a cylinder (not shown) that rotates the tip attachment 15c relative to the arm 15b.

[0016] The monitored portion 19 is a portion that is monitored for abnormal operation. The monitored portion 19 may be the entire work machine 10 or a portion of the work machine 10. The monitored portion 19 may be the entire upper rotating body 13 or a portion thereof, for example, the rear end portion (counterweight) of the upper rotating body 13. The monitored portion 19 may be the entire lower traveling body 11 or a portion thereof. The monitored portion 19 may be the entire attachment 15 or a portion thereof. For example, the monitored portion 19 may include the portion of the attachment 15 that is farthest from the center of rotation 13a (see FIG. 3). For example, the monitored portion 19 may be the tip of the attachment 15 (specifically, the tip attachment 15c, for example). Typically, the work machine 10 performs work using the tip of the attachment 15, so by monitoring the tip of the attachment 15, it is possible to appropriately detect whether the work machine 10 is operating abnormally. For example, the monitored part 19 may be the entire end attachment 15c or a part of the end attachment 15c (for example, the end part of the end attachment 15c). In the following, the case where the monitored part 19 is the entire end attachment 15c will be mainly described.

[0017] The attitude detection unit 21 (see FIG. 2) detects the attitude of the work machine 10. The attitude detection unit 21 may be mounted on the work machine 10 or may be arranged external to the work machine 10 (the same applies to the imaging device 25, work machine controller 30, and monitoring controller 40 shown in FIG. 2). For example, the attitude detection unit 21 detects the position and orientation of a reference part of the work machine 10 shown in FIG. 1 relative to the work site. The reference part of the work machine 10 may be, for example, a specific part of the upper rotating body 13 or the lower running body 11, or may be, for example, the attachment part (boom foot) of the boom 15a to the upper rotating body 13. The attitude detection unit 21 (see FIG. 2) may perform detection using a positioning system (such as a satellite positioning system). The positioning system may be a satellite positioning system, such as a global navigation satellite system (GNSS). The positioning system may use a total station.

[0018] This attitude detection unit 21 (see FIG. 2) may detect the swing angle, swing angular velocity, etc. of the upper swing structure 13 relative to the lower traveling structure 11. The attitude detection unit 21 may detect the rotation angle (raising and lowering angle), rotation angular velocity, etc. of the boom 15a relative to the upper swing structure 13. The attitude detection unit 21 may detect the rotation angle, rotation angular velocity, etc. of the arm 15b relative to the boom 15a. The attitude detection unit 21 may detect the rotation angle, rotation angular velocity, etc. of the tip attachment 15c relative to the arm 15b. The attitude detection unit 21 may be equipped with a sensor that detects an angle (for example, a rotary encoder), a sensor that detects an inclination with respect to a horizontal plane, or a sensor that detects the stroke of a cylinder (not shown) that drives the attachment 15.

[0019] The imaging device 25 captures an image of an object to be imaged. For example, the object to be imaged by the imaging device 25 is the monitored section 19. The object to be imaged by the imaging device 25 may include the work machine 10. The object to be imaged by the imaging device 25 may include objects around the work machine 10 (vehicles, building E2, etc. (see FIG. 8)). The imaging device 25 may detect two-dimensional information (e.g., position, shape) of the object to be imaged. The imaging device 25 may detect three-dimensional information of the object to be imaged, and may acquire an image (distance image) having distance information (depth information). The imaging device 25 may detect three-dimensional information of the object to be imaged based on the distance image and the two-dimensional image. Only one imaging device 25 may be provided, or multiple imaging devices 25 may be provided. The imaging device 25 may be mounted on the work machine 10, or may be arranged external to the work machine 10. The imaging device 25 may be equipped with a camera (monocular camera) that detects two-dimensional information. The imaging device 25 may include a device that detects three-dimensional information using laser light, such as a LIDAR (Light Detection and Ranging) sensor, or a TOF (Time Of Flight) sensor. The imaging device 25 may include a device that detects three-dimensional information using radio waves (such as a millimeter wave radar). The imaging device 25 may include a stereo camera.

[0020] As shown in Figure 2, the work machine controller 30 is a computer that inputs and outputs signals, performs calculations (processing), stores information, etc. (The same applies to the monitoring controller 40). For example, the functions of the work machine controller 30 are realized by the execution by a calculation unit of a program stored in a memory unit of the work machine controller 30 (the same applies to the monitoring controller 40). The work machine controller 30 controls the automatic operation of the work machine 10 (see Figure 1).

[0021] The work machine controller 30 transmits information to the monitoring controller 40. For example, the work machine controller 30 may transmit machine information of the work machine 10 (see FIG. 1) to the monitoring controller 40. The machine information of the work machine 10 may include dimensional information and shape information of the components of the work machine 10 shown in FIG. 1 (for example, at least one of the lower traveling body 11, upper rotating body 13, boom 15a, arm 15b, and tip attachment 15c). For example, the work machine controller 30 may transmit information on the attitude of the work machine 10 detected by the attitude detection unit 21 (see FIG. 2) to the monitoring controller 40. For example, the work machine controller 30 may transmit information on a work plan (described later) to the monitoring controller 40. For example, the work machine controller 30 shown in FIG. 2 may transmit information on which work phase (described later) the work machine 10 is operating in (information on the current work phase) when the work machine 10 (see FIG. 1) is operating in autonomous driving. As shown in FIG. 2, the work machine controller 30 includes a work plan setting unit 31.

[0022] The work plan setting unit 31 sets a work plan for the work machine 10 (see Figure 3). The work plan is information related to the work target of the work machine 10. The work plan may include information on the target trajectory (target route) of travel of the work machine 10. The work plan may include information on the target range (target capture range P1, target release range P3) in which the tip attachment 15c (portion including the specific part 15t) shown in Figure 3 will perform work. The work plan may include information on the target trajectory of the specific part 15t (target lifting swing trajectory P2, target return swing trajectory P4). The work plan may include information on the swing angle of the upper swing body 13, may include information on the radius from the swing center 13a to the specific part 15t, and may include information on the height from the bottom of the work machine 10 to the specific part 15t.

[0023] The work plan setting unit 31 (see FIG. 2) sets a plurality of work phases (task contents) included in the work plan. Specifically, for example, the work phases include a capture phase, a lifting and swinging phase, a release phase, and a return swing phase. The capture phase is a phase in which the tip attachment 15c captures the work object within a target capture range P1 (e.g., excavating earth and sand). For example, the target capture range P1 is set to a location where the work objects have been collected (e.g., a pile of earth and sand). The lifting and swing phase is a phase in which, with the tip attachment 15c having captured the work object, the specific portion 15t moves from the target capture range P1 toward a target release range P3 along a target lifting and swing trajectory P2. The release phase is a phase in which the tip attachment 15c releases the work object within the target release range P3 (e.g., unloading earth). The target release range P3 is set to, for example, an area above the bed of a transport vehicle. The return rotation phase is a phase in which the specific part 15t moves from the target release range P3 toward the target capture range P1 along the target return rotation trajectory P4. For example, a series of work phases including a capture phase, a lift-up rotation phase, a release phase, and a return rotation phase are repeatedly performed.

[0024] A work plan may be set in the work plan setting unit 31 (see FIG. 2) by teaching, or may be set in the work plan setting unit 31 by a method other than teaching (for example, numerical input, etc.). Teaching is performed as follows: A worker (operator) rides on the work machine 10 and operates the work machine 10, or the worker remotely operates the work machine 10. For example, the worker operates the work machine 10 to place the specific part 15t at a specific position (for example, a position at a corner of the target capture range P1) in a range that is to be set as a target range (target capture range P1 or target release range P3). The work plan setting unit 31 (see FIG. 2) then sets the target range based on the position at which the specific part 15t is placed. Furthermore, for example, the worker operates the work machine 10 to move the specific part 15t along a trajectory that is to be set as a target trajectory (target lifting swing trajectory P2 or target return swing trajectory P4). Then, the work plan setting unit 31 (see FIG. 2) sets the trajectory along which the specific portion 15t has moved as a target trajectory.

[0025] The monitoring controller 40 (see Figure 2) determines whether the operation of the work machine 10 is abnormal or not. The monitoring controller 40 and the work machine controller 30 shown in Figure 2 may be combined into one unit, or may be provided separately. The monitoring controller 40 comprises a target position acquisition unit 41, a normal operation range setting unit 43, an abnormal operation range setting unit 45, a current position acquisition unit 47, an abnormal operation determination unit 51, and a countermeasure unit 53.

[0026] The target position acquisition unit 41 acquires target position information, which is information relating to the target position of the monitored object unit 19 shown in FIG. 3. As shown in FIG. 2, the target position acquisition unit 41 acquires target position information from the work machine controller 30. The target position acquisition unit 41 acquires target position information necessary for setting the abnormal operation range B (see FIG. 4). The target position information may include, for example, information on the work plan (information on the target trajectory and target range), may include information indicating which work phase the current work phase is, or may include machine information on the work machine 10. The target position information may be three-dimensional information or two-dimensional information. This two-dimensional information may be, for example, information on the position when the work site is viewed from above, or may be information on the position in an image of the work site captured from obliquely above.

[0027] The normal operating range setting unit 43 sets (automatically calculates) a normal operating range A (see FIG. 4). The normal operating range setting unit 43 sets the normal operating range A based on the target position information acquired by the target position acquisition unit 41. The normal operating range A shown in FIG. 4 is set based on the position of the monitored part 19 when it is assumed that the monitored part 19 is placed at the target position. The normal operating range A is set based on the position of the monitored part 19 (the position where the monitored part 19 is assumed to be placed) when it is assumed that the work machine 10 will perform work according to the work plan. The normal operating range A does not need to strictly match the position of the monitored part 19 when it is assumed that the monitored part 19 is placed at the target position. It is expected that the position of the monitored part 19 will deviate from the target position even when the work machine 10 is operating normally. Therefore, for example, the normal operating range A may be set to a range wider than the position of the monitored part 19 when it is assumed that the monitored part 19 is placed at the target position. For example, the width of the normal operating range A relative to the target position of the monitored part 19 may be set based on the operating speed (target operating speed or actual speed) or mass of the operating part of the work machine 10 (for example, the upper rotating body 13 or the attachment 15). The normal operating range A may be a two-dimensional range or a three-dimensional range. Specific examples of the normal operating range A will be described later.

[0028] The abnormal operation range setting unit 45 (see FIG. 2) sets (automatically calculates) the abnormal operation range B. The abnormal operation range setting unit 45 sets the abnormal operation range B based on the target position information acquired by the target position acquisition unit 41 (see FIG. 2). More specifically, the abnormal operation range setting unit 45 sets the abnormal operation range B based on the normal operation range A. The abnormal operation range B is a predetermined range outside the position of the monitored unit 19 when it is assumed that the monitored unit 19 is placed at the target position. For example, the abnormal operation range B is a range other than the normal operation range A. The abnormal operation range B may be a two-dimensional range or a three-dimensional range. Specific examples of the abnormal operation range B will be described later.

[0029] The current position acquisition unit 47 (see FIG. 2) acquires the current position of the monitored unit 19. The current position acquisition unit 47 sets a current position range C based on the current position of the monitored unit 19. The current position range C does not need to exactly match the current position of the monitored unit 19. The current position range C is a range that includes at least a part of the monitored unit 19. The current position range C may be a two-dimensional range or a three-dimensional range.

[0030] This current position acquisition unit 47 (see Figure 2) may acquire the current position of the monitored part 19 from an image (a two-dimensional image or a three-dimensional distance image) captured from outside the work machine 10. Specifically, the current position acquisition unit 47 may acquire the current position of the monitored part 19 from an imaging device 25 arranged outside the work machine 10. The following mainly describes the case where the imaging device 25 (see Figure 1) is provided outside the work machine 10 and the attitude detection unit 21 (see Figure 2) is mounted on the work machine 10.

[0031] Here, consider a case where the current position acquisition unit 47 (see FIG. 2) acquires the current position of the monitored object unit 19 based on information transmitted from the work machine 10 (more specifically, from the work machine controller 30 (see FIG. 2)). In this case, if there is an error in the information transmitted from the work machine 10, the current position acquisition unit 47 will not be able to correctly acquire the current position of the monitored object unit 19. For example, if the attitude detection unit 21 (see FIG. 2) mounted on the work machine 10 malfunctions, if the work machine controller 30 (see FIG. 2) malfunctions, or if the machine information is incorrect, the current position acquisition unit 47 will not be able to correctly acquire the current position of the monitored object unit 19. Examples of "if the machine information is incorrect" include when the attachment 15 is replaced but the information (dimensions, shape) of the replaced attachment 15 is not correctly entered into the work machine controller 30. For example, if the work machine controller 30 fails, the work machine 10 may operate abnormally, and furthermore, the work machine controller 30 may send erroneous information to the current position acquisition unit 47.

[0032] On the other hand, when the current position acquisition unit 47 (see FIG. 2) acquires the current position of the monitored object 19 from an image captured from outside the work machine 10 (specifically, from the imaging device 25 (see FIG. 2)), no problems arise due to errors in the information transmitted from the work machine 10. Therefore, the current position acquisition unit 47 can correctly acquire the current position of the monitored object 19.

[0033] The current position acquisition unit 47 (see FIG. 2) sets the current position range C based on an image, for example, as follows. The current position acquisition unit 47 may identify the position of the monitored unit 19 based on a two-dimensional image through image recognition using artificial intelligence or the like, and set the current position range C. For example, the current position acquisition unit 47 may identify the position of the monitored unit 19 based on a three-dimensional distance image, and set the current position range C. The current position acquisition unit 47 may identify the range of the monitored unit 19 in the image based on the two-dimensional image, extract three-dimensional information corresponding to this range, and identify the three-dimensional position of the monitored unit 19 based on the extracted three-dimensional information, and set the current position range C.

[0034] This current position acquisition unit 47 (see Figure 2) may acquire the current position of the monitored object unit 19 based on the attitude of the work machine 10 detected by an attitude detection unit 21 (see Figure 2) mounted on the work machine 10. The current position acquisition unit 47 may acquire the current position of the monitored object unit 19 based on the attitude of the work machine 10 detected by the attitude detection unit 21 and the position of the monitored object unit 19 acquired by the imaging device 25 (see Figure 2).

[0035] The abnormal operation determination unit 51 (see FIG. 2) determines whether the current position of the monitored unit 19 acquired by the current position acquisition unit 47 (see FIG. 2) is inside the abnormal operation range B. If the current position of the monitored unit 19 is inside the abnormal operation range B, the abnormal operation determination unit 51 determines that the operation of the work machine 10 is abnormal. If the current position of the monitored unit 19 is not inside the abnormal operation range B, the abnormal operation determination unit 51 determines that the operation of the work machine 10 is not abnormal (for example, normal operation).

[0036] The abnormal operation determination unit 51 (see FIG. 2) makes a determination (i.e., whether or not the current position of the monitored unit 19 is inside the abnormal operation range B) specifically, for example, as follows: [Example 1a] The abnormal operation determination unit 51 may determine whether or not at least a part of the current location range C is inside (has entered) the abnormal operation range B. [Example 1b] The abnormal operation determination unit 51 may determine whether or not at least a part of the current location range C protrudes from the normal operation range A. [Example 2a] The abnormal operation determination unit 51 may determine whether or not the entire current location range C is inside the abnormal operation range B. [Example 2b] The abnormal operation determination unit 51 may determine whether or not the entire current location range C protrudes from the normal operation range A.

[0037] The normal operating range A, the abnormal operating range B, and the current location range C are appropriately set according to the determination method of the abnormal operation determination unit 51 (see FIG. 2). Specifically, for example, the width of the current location range C relative to the actual position of the monitored unit 19 (whether it is wider, narrower, or the same as the actual position, etc.) may be set according to the determination method of the abnormal operation determination unit 51 (the same applies to the normal operating ranges A and B). Note that determining whether the current location range C extends beyond the normal operating range A (see [Example 2a] and [Example 2b] above) is essentially equivalent to determining whether the current location range C is within the abnormal operating range B (see [Example 1a] and [Example 1b] above). Setting the normal operating range A by the normal operating range setting unit 43 and determining whether the current location range C extends beyond the normal operating range A by the abnormal operation determination unit 51 is essentially equivalent to setting the abnormal operating range B by the abnormal operating range setting unit 45 and determining whether the current location range C is within the abnormal operating range B by the abnormal operation determination unit 51.

[0038] The action unit 53 (see FIG. 2) takes a predetermined action (for example, a action predetermined for the action unit 53) when the abnormal operation determination unit 51 (see FIG. 2) determines that the operation of the work machine 10 is abnormal. Specific examples of actions taken by the action unit 53 are as follows. The action taken by the action unit 53 may be to restrict the operation of the work machine 10. In this case, the action unit 53 outputs a command to the work machine controller 30 (see FIG. 2) to restrict the operation. The restriction on the operation of the work machine 10 by the action unit 53 may be to stop the monitored part 19, or may be to stop the entire work machine 10. The restriction on the operation of the work machine 10 by the action unit 53 may be to decelerate the monitored part 19, or may be to decelerate the entire work machine 10. The action taken by the action unit 53 may be to issue a warning. For example, the action unit 53 may cause the monitoring controller 40 (see FIG. 2) to issue a warning, or may cause a device other than the monitoring controller 40 to issue a warning. This warning may be, for example, a warning in the form of at least one of sound, light, display, and vibration. The action unit 53 may change the content of the action (such as the degree of restriction on the operation of the work machine 10 or the degree of warning) in accordance with certain conditions. For example, the action unit 53 may change the content of the action in accordance with the amount by which the current position range C has entered the abnormal operation range B, the magnitude of the operating speed of the work machine 10, etc. The action unit 53 may both restrict the operation of the work machine 10 and issue a warning.

[0039] (Example of range setting) The normal operating range A and the abnormal operating range B can be set in various ways. The normal operating range A and the abnormal operating range B may be set based on the target swing angle of the upper swing structure 13 relative to the lower traveling structure 11. The normal operating range A and the abnormal operating range B may be set based on the target position (e.g., target working radius) of the portion of the monitored part 19 that is farthest from the swing center 13a. The normal operating range A and the abnormal operating range B may be set based on the target height of the monitored part 19 (e.g., height relative to the bottom surface of the work machine 10). The normal operating range A and the abnormal operating range B may be set based on target position information of the monitored part 19 for the entire work plan, or may be set based on target position information of the monitored part 19 for a part of the work plan. Specific examples of the normal operating range A and the abnormal operating range B will be described below.

[0040] (Range setting based on minimum and maximum values) Abnormal operation range B may be set based on information such as the minimum and maximum values ​​of at least one of the rotation angle, working radius, and height of the monitored object 19 included in the target position information of the monitored object 19. Specifically, for example, the target position acquisition unit 41 (see FIG. 2) acquires information on a series of work phases (capture phase, lifting and rotating phase, release phase, and return rotating phase). Specifically, for example, the target position acquisition unit 41 acquires the rotation angle, working radius, and height of the monitored object 19 in the series of work phases.

[0041] For example, the normal operating range setting unit 43 (see FIG. 2) acquires or calculates the minimum and maximum values ​​of the rotation angle of the upper rotating body 13 when the monitored part 19 moves (more specifically, when it is assumed to move) according to a series of work phases. The normal operating range setting unit 43 calculates the range in which the monitored part 19 can be positioned when the rotation angle changes between the minimum and maximum values, and sets the normal operating range A based on this range.

[0042] For example, the normal operating range setting unit 43 (see FIG. 2) acquires or calculates the minimum and maximum values ​​of the working radius when it is assumed that the monitored unit 19 moves according to a series of work phases. The normal operating range setting unit 43 calculates the range in which the monitored unit 19 can be located when the monitored unit 19 moves with a working radius between the minimum and maximum values, and sets the normal operating range A based on this range.

[0043] For example, the normal operating range setting unit 43 (see FIG. 2) acquires or calculates the minimum and maximum values ​​of the height of the monitored unit 19 when it is assumed that the monitored unit 19 moves in accordance with a series of work phases. The normal operating range setting unit 43 calculates the range in which the monitored unit 19 can be positioned when it moves, between the minimum and maximum values ​​of the height of the monitored unit 19, and sets the normal operating range A based on this range.

[0044] In the example shown in FIG. 4, the normal operating range A includes the range in which the monitored unit 19 would be located if it were assumed that the monitored unit 19 were to operate in the target capture range P1 and the target release range P3. The normal operating range A includes the range in which the monitored unit 19 could be located if it were assumed that the specific part 15t (e.g., the tip attachment 15c) would move along the target lifting rotation trajectory P2 and the target return rotation trajectory P4. In the example shown in FIG. 4, the normal operating range A is a sector-shaped or approximately sector-shaped area when viewed from above. For example, the normal operating range A may be a three-dimensional area in which a portion of a cylinder or approximately cylinder has been removed so that it is sector-shaped when viewed from above. The abnormal operating range setting unit 45 (see FIG. 2) defines the range outside the normal operating range A as the abnormal operating range B.

[0045] As described above, the abnormal operation determination unit 51 (see FIG. 2) determines that the operation of the work machine 10 is abnormal when the current position range C enters the abnormal operation range B. In the example shown in FIG. 4, the abnormal operation determination unit 51 determines that the operation of the work machine 10 is abnormal when the current rotation angle of the upper rotating body 13 falls within the range of rotation angles set as the abnormal operation range B.

[0046] (Range setting based on target position for each work phase) As shown in FIG. 5, the abnormal operation range B may be set based on target position information of the monitored object unit 19 set for each work phase. Specifically, for example, the target position acquisition unit 41 (see FIG. 2) acquires information on each of a series of work phases. For example, the normal operation range setting unit 43 sets ranges A1, A2, A3, and A4. For example, the normal operation range setting unit 43 may set a range obtained by superimposing ranges A1, A2, A3, and A4 as the normal operation range A. Specifically, for example, range A1 is set based on the range in which the monitored object unit 19 is expected to be located when the monitored object unit 19 performs the task of capturing the work object within the target capture range P1 during the capture phase. For example, range A2 is set based on the range (trajectory) in which the monitored object unit 19 is expected to pass when the specific part 15t moves along the target lifting and turning trajectory P2 during the lifting and turning phase. For example, range A3 is set based on the range in which the monitored part 19 is expected to be located when it is assumed that the monitored part 19 performs the task of releasing the work object within target release range P3 during the release phase. Range A4 is set based on the range (trajectory) in which the monitored part 19 is expected to pass when it is assumed that the specific part 15t moves along target return rotation trajectory P4 during the return rotation phase. Then, the abnormal operation range setting unit 45 sets a range other than the normal operation range A, i.e., an area that is not within range A1, range A2, range A3, or range A4, as abnormal operation range B.

[0047] (Changes in scope due to changes in work phase) Abnormal operation range B may be changed (switched) in accordance with changes (progressions) in the work phase. In this case, if the monitored unit 19 does not move in accordance with the changes in the work phase set in the work plan (if the monitored unit 19 moves differently from the intended movement), the operation of the work machine 10 is determined to be abnormal.

[0048] Specifically, for example, the target position acquisition unit 41 (see FIG. 2) acquires information indicating which work phase the current work phase is. The target position acquisition unit 41 may acquire information about the work phase that follows the current work phase, or may acquire information about a work phase that is scheduled to be performed later. The target position acquisition unit 41 may acquire information about a series of (all of) work phases. The target position acquisition unit 41 may update the target position if the target position of the monitored part 19 in a work phase is changed, for example, while the work machine 10 is working.

[0049] The normal operation range setting unit 43 (see FIG. 2) sets (switches) the normal operation range A depending on which work phase the current work phase is. Specifically, for example, when the current work phase is the capture phase, the normal operation range setting unit 43 sets range A1 as the normal operation range A. When the current work phase is the lifting and turning phase, the normal operation range setting unit 43 sets range A2 as the normal operation range A. When the current work phase is the release phase, the normal operation range setting unit 43 sets range A3 as the normal operation range A. When the current work phase is the return and turning phase, the normal operation range setting unit 43 sets range A4 as the normal operation range A. Then, the abnormal operation range setting unit 45 sets (switches) the abnormal operation range B depending on which work phase the current work phase is.

[0050] More specifically, in the example shown in Fig. 6, the current work phase is the return swing phase, and normal operation range A is range A4. Abnormal operation range B is a range other than range A4. In this example, if current position range C is inside an area other than range A4 (i.e., abnormal operation range B), the operation of the work machine 10 is determined to be abnormal even if current position range C falls within at least one of ranges A1, A2, and A3 shown in Fig. 5.

[0051] (Change in range over a given time period) As shown in Fig. 7, the abnormal operation range B may be changed at predetermined time intervals. More specifically, the abnormal operation range B may be changed based on information (time-series information) indicating the relationship between the time (hours) set in the work plan and the target position of the monitored part 19. In this case, if the monitored part 19 does not move in accordance with the time-series information set in the work plan, the operation of the work machine 10 is determined to be abnormal. For example, if the monitored part 19 does not move at the speed set in the work plan, the operation of the work machine 10 is determined to be abnormal. In this case, it becomes possible to determine abnormal operation in real time, taking into account the working speed of the monitored part 19.

[0052] Specifically, for example, the target position acquisition unit 41 (see FIG. 2) acquires target position information (time-series information) of the monitored object unit 19 at each predetermined time interval. This "predetermined time" is, for example, 1 second, and may be less than 1 second or greater than 1 second. More specifically, the target position acquisition unit 41 acquires the target position of the monitored object unit 19 at time t+n (n=0, 1, 2, . . .). Each point ("t," "t+1," "t+2," . . . ) on the target return turning trajectory P4 shown in FIG. 7 is an example of the target position of the monitored object unit 19 at each time. The target position acquisition unit 41 may acquire all or only some of the target positions from the start position ("t" in the example shown in FIG. 7) to the end position ("t+11" in the example shown in FIG. 7) of the monitored object unit 19 in a certain phase (e.g., the return turning phase). The target position acquisition unit 41 may acquire the target position for a time (e.g., t4, t5, t6, etc.) after the current time (e.g., t4). For example, the work plan (specifically, the target trajectory or target speed) may change while the work machine 10 is operating. In this case, it is preferable for the target position acquisition unit 41 to acquire the changed work plan (more specifically, acquire the changed target position of the monitored object unit 19). If the work plan is changed after the target position acquisition unit 41 acquires the target position of the monitored object unit 19, the target position acquisition unit 41 may update the target position based on the changed work plan. In these cases, it becomes possible to set an appropriate abnormal operation range B in accordance with the change in the work plan.

[0053] For example, the normal operating range setting unit 43 (see FIG. 2) sets the normal operating range A at predetermined time intervals and switches the normal operating range A at predetermined time intervals. The normal operating range setting unit 43 sets the normal operating range A based on the position of the monitored unit 19 when it is assumed that the monitored unit 19 is placed at a target position corresponding to a certain time. Specifically, the normal operating range A at a certain time t is set based on the position of the monitored unit 19 when it is assumed that the monitored unit 19 is placed at a target position corresponding to this time t. Specifically, for example, the target position acquisition unit 41 (see FIG. 2) may acquire the target position for the next time t+2 at a certain time t+1, and the normal operating range setting unit 43 may determine the normal operating range A at time t+2. Then, the abnormal operating range setting unit 45 sets the abnormal operating range B at predetermined time intervals and switches the abnormal operating range B at predetermined time intervals.

[0054] (No entry area D) As shown in FIG. 8, the abnormal operation range setting unit 45 (see FIG. 2) may include an entry-prohibited range D set around the work machine 10 in the abnormal operation range B. For example, the entry-prohibited range D is set to a range where an object that may cause a problem if the monitored unit 19 comes into contact with it is present, and the surrounding area. Specifically, the entry-prohibited range D may be set to a range where a person may enter, or may be set to a cab E1 of a transport vehicle (such as a dump truck) and its surroundings, or may be set to a building E2 and its surroundings. The abnormal operation range setting unit 45 (see FIG. 2) may automatically set the entry-prohibited range D based on an image (a two-dimensional image or a three-dimensional distance image) captured by the imaging device 25 (see FIG. 2). The abnormal operation range setting unit 45 may automatically set the entry-prohibited range D based on information (e.g., three-dimensional information) of the work site (work site) where the work machine 10 performs work. The entry-prohibited range D may be set in advance in the abnormal operation range setting unit 45.

[0055] (Effects of the first invention) The effects of the abnormal operation detection system 1 shown in Figure 2 are as follows: The abnormal operation detection system 1 includes a work machine 10 (see Figure 1), a target position acquisition unit 41, an abnormal operation range setting unit 45, a current position acquisition unit 47, and an abnormal operation determination unit 51. The work machine 10 (see Figure 1) includes a monitored unit 19 (see Figure 1) and is automatically operated.

[0056] [Configuration 1] The target position acquisition unit 41 acquires target position information, which is information about the target position of the monitoring target unit 19 (see FIG. 1). The abnormal operation range setting unit 45 sets the abnormal operation range B shown in FIG. 4 based on the target position information acquired by the target position acquisition unit 41. The abnormal operation range B is a predetermined range outside the position of the monitoring target unit 19 when it is assumed that the monitoring target unit 19 is placed at the target position (for example, outside the normal operation range A). The current position acquisition unit 47 (see FIG. 2) acquires information about the current position of the monitoring target unit 19 (for example, current position range C). The abnormal operation determination unit 51 (see FIG. 2) determines whether the current position of the monitoring target unit 19 acquired by the current position acquisition unit 47 (see FIG. 2) is inside the abnormal operation range B.

[0057] In the above [Configuration 1], it is determined whether the current position of the monitored part 19 is inside the abnormal operation range B. The abnormal operation range B is set based on target position information, which is information on the target position of the monitored part 19, and is a predetermined range that is outside the position of the monitored part 19 when it is assumed that the monitored part 19 is placed at the target position (for example, outside the normal operation range A). Therefore, an abnormality in the position of the monitored part 19 can be detected more appropriately than when the abnormal operation range B is not set or when the abnormal operation range B is set without being based on the target position of the monitored part 19. As a result, it is possible to detect abnormal operation of the automatically operated work machine 10.

[0058] (Effects of the second invention) The work machine 10 includes a lower traveling body 11, an upper rotating body 13, and an attachment 15. The upper rotating body 13 is mounted so as to be able to rotate on the lower traveling body 11. The attachment 15 is attached to the upper rotating body 13 and performs work.

[0059] [Configuration 2] The monitored part 19 is the tip of the attachment 15.

[0060] The above [Configuration 2] provides the following effects. Normally, the tip of the attachment 15 (specifically, the tip attachment 15c) is the part where work is performed. In the above [Configuration 2], the tip of this attachment 15 is the monitored part 19, and the position of the tip of the attachment 15 is monitored. Therefore, abnormalities in the operation of the work machine 10 can be detected more appropriately than when the position of a part other than the tip of the attachment 15 is monitored.

[0061] (Effect of the third invention) [Configuration 3] The current position acquisition unit 47 (see FIG. 2) acquires information on the current position of the monitored object 19 based on an image captured from outside the work machine 10 (for example, from the imaging device 25 (see FIG. 1)).

[0062] The above [Configuration 3] provides the following effects. When the current position acquisition unit 47 (see FIG. 2) acquires information about the current position of the monitored portion 19 based solely on information acquired by the work machine 10, if there is an error in the information acquired by the work machine 10, the information about the current position of the monitored portion 19 will be incorrect. On the other hand, in the above [Configuration 3], the current position acquisition unit 47 (see FIG. 2) acquires information about the current position of the monitored portion 19 based on an image captured from outside the work machine 10. Therefore, even if there is an error in the information acquired by the work machine 10, it is possible to accurately acquire information about the current position of the monitored portion 19.

[0063] (Effect of the fourth invention) [Configuration 4] The abnormal operation range setting unit 45 (see FIG. 2) changes the abnormal operation range B shown in FIG. 5 in accordance with changes in the work phase of the automatic operation of the work machine 10.

[0064] By means of the above [Configuration 4], an appropriate range according to changes in the work phase can be set as the abnormal operation range B. Therefore, abnormal operation of the work machine 10 can be detected more appropriately.

[0065] (Effect of the fifth invention) [Configuration 5] As shown in Fig. 7, the target position acquisition unit 41 (see Fig. 2) acquires target position information of the monitored unit 19 at predetermined time intervals. The abnormal operation range setting unit 45 (see Fig. 2) changes the abnormal operation range B at predetermined time intervals.

[0066] With the above [Configuration 5], an appropriate range based on the target position information of the monitored part 19 for each predetermined time can be set as the abnormal operation range B. Therefore, abnormal operation of the work machine 10 can be detected more accurately (more precisely).

[0067] (Effect of the sixth aspect of the invention) [Configuration 6] The abnormal operation range setting unit 45 (see FIG. 2) includes the entry prohibition range D set around the work machine 10 in the abnormal operation range B, as shown in FIG.

[0068] The above [Configuration 6] makes it possible to perform processing to detect whether the monitored part 19 has entered the prohibited entry range D by utilizing processing (program) to detect whether the current position of the monitored part 19 has entered the abnormal operation range B.

[0069] (Variation) The above embodiment may be modified in various ways. For example, the arrangement and shape of each component of the above embodiment may be changed. For example, the connection between the components shown in FIG. 2 may be changed. For example, each range (such as the normal operation range A, abnormal operation range B, current location range C shown in FIG. 4, and the no-entry range D shown in FIG. 8) can be set in various ways, and may be changed, for example, manually or automatically in response to certain conditions. For example, the number of components may be changed, or some of the components may not be provided. For example, the components may be fixed or connected directly or indirectly. For example, what has been described as multiple different members or parts may be combined into a single member or part. For example, what has been described as a single member or part may be provided as multiple different members or parts. [Explanation of symbols]

[0070] 1. Abnormal behavior detection system 10. Work Machinery 11 Undercarriage 13 Upper rotating body 15 Attachments 19 Monitoring area 41 Target position acquisition section 45 Abnormal operation range setting section 47 Current position acquisition part 51 Abnormal operation determination section 53 Measures Department B Abnormal operating range D. No-entry area

Claims

1. an automatically operated work machine including a monitored part; a target position acquisition unit that acquires target position information that is information regarding a target position of the monitoring target portion; an abnormal operation range setting unit that sets an abnormal operation range, which is a range for determining whether or not operation of the work machine is abnormal, based on the target position information acquired by the target position acquisition unit; Equipped with Abnormal operating range setting system.

2. 2. The abnormal operation detection system of claim 1, The work machine is equipped with an attachment for performing work, The monitored part is a tip part of the attachment. Abnormal operating range setting system.

3. 3. The abnormal operation detection system according to claim 1, the abnormal operation range setting unit changes the abnormal operation range in accordance with changes in the content of the work performed by the automatic operation of the work machine. Abnormal operating range setting system.

4. The abnormal action detection system according to any one of claims 1 to 3, the target position acquisition unit acquires the target position information of the monitoring target part in time series; the abnormal operation range setting unit changes the abnormal operation range at predetermined time intervals; Abnormal operating range setting system.

5. The abnormal operation detection system according to any one of claims 1 to 4, the abnormal operation range setting unit includes an entry prohibition range set around the work machine in the abnormal operation range. Abnormal operating range setting system.

6. An abnormal operating range setting system according to any one of claims 1 to 5; a current position acquisition unit that acquires information about the current position of the monitoring target unit; an abnormal operation determination unit that determines whether or not operation of the work machine is abnormal based on the current position of the monitored part acquired by the current position acquisition unit and the abnormal operation range; Equipped with Abnormal behavior detection system.

7. 7. The abnormal operation detection system according to claim 6, the current position acquisition unit acquires information about the current position of the monitored object based on an image captured from outside the work machine. Abnormal behavior detection system.

Images