JP2022155218A - Control system of work machine - Google Patents

Abstract

A work machine capable of appropriately restricting the movement of the work machine according to a person who has entered the working range of the work machine is provided. A control system for a work machine includes a wireless terminal carried by a person and an actuator of the work machine when detecting an intrusion of a person into a working range of the work machine based on a signal transmitted from the wireless terminal. and a control device that performs control to limit the movement. Based on the state of the work machine, the control device determines whether or not a person has intruded into the work area in compliance with a predetermined rule, and stores information in which the determination result and the person's identification information are associated with each other. It is stored as history information, and based on the intrusion history information, the degree of rule observance, which indicates the degree to which a person has intruded into the work area in compliance with the rule, is calculated. When the degree of rule observance of a person who has intruded into the working range is high, the operation of the actuator is controlled so that the degree of restriction on the operation of the actuator is smaller than when the degree of rule observance is low. [Selection drawing] Fig. 3

Description

The present invention relates to a work machine control system.

Technology is being developed to detect a worker approaching a work machine and limit the movement of the work machine when there is a possibility of contact between the worker and the work machine. On the other hand, this technique often restricts the operation of the work machine, which may reduce work efficiency. For example, in a narrow site such as road construction, workers often work in the vicinity of working machines. In this case, even if the worker is working while paying sufficient attention to the work machine, the movement of the work machine is restricted every time a worker approaching the work machine is detected. Therefore, it is a challenge to improve work efficiency while preventing contact between the work machine and the worker.

In order to solve such a problem, there is a method of adjusting the degree of limitation of the operation of the work machine according to the experience and skill level of the workers who work around the work machine. If the worker is a skilled worker, the characteristics of the work machine (blind spots, direction of movement of the work machine, speed), the characteristics of the operator (driving proficiency, character), the characteristics of the work site (weather, road surface conditions, slope) condition, other machines around the work machine, number and layout of workers, places where there is a high possibility of contact between the work machine and workers), content of work (plan, progress, layout relationship between other machines and work machines) ), etc., are well understood. Therefore, even if the expert is working in the vicinity of the work machine, the expert can predict the operation of the work machine and can appropriately deal with the approach of the work machine.

On the other hand, when the workers are unskilled workers, they often do not fully understand the characteristics described above. Therefore, even if an unskilled worker is working in the vicinity of a working machine, he may not be able to appropriately cope with the approach of the working machine in the same way as a skilled worker. In other words, unskilled workers are more likely to come into contact with work machines than skilled workers. By using these worker characteristics and appropriately adjusting the degree of restriction on the movement of the work machine according to the skill level of the worker, it is possible to prevent the movement of the work machine from being restricted more than necessary. This makes it possible to achieve both productivity and safety.

Patent Literature 1 discloses a cooperative safety control system that acquires human information and controls a machine based on the acquired human information in an environment where humans and machines cooperate. Person information includes security credentials that a person has. The coordinated safety control system described in US Pat. No. 5,900,000 controls machine speed and sets zone limits based on acquired safety credentials. Note that the zone is set to stop the machine when a person enters the zone. Safety qualification information is information about qualifications authenticated by a third party based on a person's knowledge and ability regarding safety. The safety qualification information includes, for example, a safety basic assessor (SBA), a safety sub-assessor (SSA), a safety assessor (SA) and a safety lead assessor (SLA) certified by the safety basic assessor qualification certification system and the safety assessor qualification certification system. etc.

JP 2018-202563 A

However, when the machine is controlled according to the safety qualification information possessed by the worker, as in the technique described in Patent Document 1, at the work site where the worker has not obtained the certification including the safety qualification information, the work It is not possible to distinguish between the abilities of members. There are also many types of authentication. Organizations to which workers belong may have their own certifications, and it is difficult to provide a system that can handle all of these certifications. Therefore, with the technique described in Patent Document 1, there is a possibility that the movement of the work machine cannot be appropriately restricted according to the worker who enters the working range of the work machine.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a work machine control system capable of appropriately restricting the operation of a work machine according to a person who has entered the working range of the work machine, regardless of the safety qualification information possessed by the person. do.

A control system for a work machine according to an aspect of the present invention includes a wireless terminal carried by a person, and the above-described and a control device that performs control to limit the operation of the actuator of the work machine. The control device determines whether or not the person has entered the working range in compliance with a predetermined rule based on at least one of the state of the work machine and the state of the person, and Information associated with the identification information of the person is stored as intrusion history information, and based on the intrusion history information, a degree of rule observance indicating the degree of intrusion into the work area by the person in compliance with the rule is calculated. When the intrusion of the person into the working area is detected, the actuator operates more when the person who has entered the working area has a higher degree of rule observance than when the person has a lower degree of rule observance. The operation of the actuator is controlled so that the degree of restriction of is reduced.

ADVANTAGE OF THE INVENTION According to this invention, the control system of a working machine which can restrict|limit operation|movement of a working machine appropriately according to the person who intruded into the working range of a working machine can be provided.

1 is a diagram showing the configuration of a control system for a working machine according to a first embodiment of the present invention; FIG. The figure which shows the structure of the hydraulic system mounted in a hydraulic excavator. FIG. 4 is a functional block diagram relating to motion restriction control by a vehicle body controller; FIG. 4 is a diagram showing intrusion history information; FIG. 5 is a diagram showing an engine speed command value output from an output signal generation unit according to the degree of limitation of an actuator, and details of control of a pilot pressure control valve by the output signal generation unit according to the degree of limitation; The figure which shows the threshold value table memorize|stored in the non-volatile memory in the hydraulic excavator which concerns on 2nd Embodiment of this invention. The figure which shows the threshold value table memorize|stored in the non-volatile memory in the hydraulic excavator which concerns on the modification of 2nd Embodiment of this invention. The figure which shows the structure of the control system of the working machine which concerns on 3rd Embodiment of this invention. FIG. 2 is a top view of the wheel loader, showing the working range of the wheel loader when the vehicle is stopped; FIG. 2 is a view of the wheel loader seen from above, and shows the work range during traveling of the wheel loader. The figure which shows the structure of the control system of the working machine which concerns on 4th Embodiment of this invention. FIG. 10 is a functional block diagram relating to movement restriction control by a vehicle body controller in the work machine control system according to Modification 1-1; FIG. 11 is a functional block diagram relating to motion restriction control by a vehicle body controller in the control system for the work machine according to Modification 1-2;

A work machine control system according to an embodiment of the present invention will be described with reference to the drawings.

<First embodiment>
FIG. 1 is a diagram showing the configuration of a work machine control system 1 according to a first embodiment of the present invention. In this embodiment, an example in which the work machine is a crawler hydraulic excavator 100 will be described. A work machine control system 1 includes a hydraulic excavator 100 and an RFID tag 4 that is a wireless terminal carried by a worker (person) who works around the hydraulic excavator 100 . When there are a plurality of workers, each worker carries an RFID tag 4 that holds a unique worker ID (identification information) for identifying the person himself/herself. When the RFID tag 4 detects a magnetic field generated by a magnetic field generator 61, which will be described later, the RFID tag 4 transmits radio waves containing the worker ID it holds.

The hydraulic excavator 100 includes a body (body) 104 and a working device 110 attached to the body 104 . The machine body 104 includes a running body 102 and a revolving body 103 which is provided on the running body 102 so as to be able to turn. The traveling body 102 travels by driving a pair of left and right crawlers by travel motors 19L and 19R (only the left travel motor 19L is shown in FIG. 1). The revolving body 103 is driven by the revolving motor 20 to rotate (that is, revolve) with respect to the traveling body 102 .

The revolving body 103 has an operator's cab 107 and an engine room 106 provided behind the operator's cab 107 . The engine room 106 houses an engine 80 and hydraulic equipment such as a hydraulic pump driven by the engine 80 . A working device 110 is rotatably connected to the center of the front portion of the frame of the revolving body 103 .

The work device 110 is a multi-joint type work device having a plurality of rotatably connected driven members and a plurality of hydraulic cylinders for driving the driven members. In this embodiment, boom 111, arm 112 and bucket 113 as three driven members are connected in series. The boom 111 is rotatably connected at its base end to the front portion of the revolving body 103 . The base end of the arm 112 is rotatably connected to the tip of the boom 111 . Bucket 113 is rotatably connected to the tip of arm 112 .

The boom 111 is driven by a hydraulic cylinder (hereinafter also referred to as a boom cylinder 111 a ), which is an actuator, and rotates with respect to the revolving body 103 . The arm 112 is driven by a hydraulic cylinder (hereinafter also referred to as an arm cylinder 112 a ), which is an actuator, and rotates with respect to the boom 111 . The bucket 113 is driven by a hydraulic cylinder (hereinafter also referred to as a bucket cylinder 113 a ), which is an actuator, and rotates with respect to the arm 112 .

The hydraulic excavator 100 controls each part of the hydraulic excavator 100 and the worker detection device 60 that detects the entry of a worker (person) into the working range of the hydraulic excavator 100 based on the signal transmitted from the RFID tag 4 . and a vehicle body controller 120, which is a control device. The worker detection device 60 includes a magnetic field generator 61 that generates a magnetic field that excites the RFID tag 4, a receiver 62 that receives radio waves generated by the RFID tag 4 by the magnetic field generated by the magnetic field generator 61, and a vehicle body. The magnetic field generated by the magnetic field generator 61 is controlled based on the control signal from the controller 120, and the worker ID included in the radio wave (signal) received by the receiver 62 is acquired and sent to the vehicle body controller 120. and a detection control device 63 for outputting.

The magnetic field generator 61 is arranged, for example, on the center axis of the revolving body 103 . The magnetic field generator 61 generates a magnetic field with a certain intensity. In this case, the magnetic field detectable area 69 is a certain range centered on the magnetic field generator 61 . The magnetic field detectable area 69 is a range in which the magnetic field generated by the magnetic field generator 61 can be received with the magnetic field detection sensitivity of the RFID tag 4 . The RFID tag 4 outputs radio waves to the receiver 62 upon receiving the magnetic field from the magnetic field generator 61 . Therefore, the magnetic field detectable area 69 becomes an area in which the RFID tag 4 can be detected by the worker detection device 60 .

A hemispherical magnetic field detectable area 69 is formed by the magnetic field generated by the magnetic field generator 61 . Note that the size of the magnetic field detectable area 69 can be changed by adjusting the strength of the magnetic field generated by the magnetic field generator 61 . As will be described later, when an operator enters the magnetic field detectable area 69, the operation of the hydraulic excavator 100 is restricted. For this reason, if the magnetic field detectable area 69 is too small for the working range, there is a risk that the movement restriction of the excavator 100 will not work properly against the approach of the worker. The operation of the hydraulic excavator 100 is restricted even though there is no such device, and the work efficiency is reduced. For this reason, in the present embodiment, the magnetic field detectable area 69 is equal to or larger than the working range of the hydraulic excavator 100, and is set to a size that is not excessively large.

Note that the magnetic field detectable area 69 is not limited to a hemispherical shape, and may be a semi-elliptical shape, for example. The working range of the hydraulic excavator 100 is a range that the tip of the working device 110 can reach when the working device 110 and the revolving body 103 are operated while the traveling body 102 of the hydraulic excavator 100 is stopped. The working range is set based on, for example, the maximum turning radius of the hydraulic excavator 100 . The maximum turning radius corresponds to the length from the turning center axis of the turning body 103 to the tip of the bucket 113 when the work device 110 is extended forward (direction perpendicular to the turning center axis).

As described above, the RFID tag 4 holds a unique worker ID and, when present within the magnetic field detectable area 69, generates radio waves containing the worker ID. The RFID tag 4 is attached, for example, to a worker's helmet or the like. Workers always carry the same RFID tag 4 with them. Therefore, the vehicle body controller 120 can identify the worker from the worker ID.

When the receiver 62 receives the radio waves generated by the RFID tag 4, the detection control device 63 detects that the worker has entered the magnetic field detectable area 69, that is, that the worker has entered the working range of the hydraulic excavator 100. to detect. The detection control device 63 outputs the worker ID of the worker who has entered the working range of the hydraulic excavator 100 to the vehicle body controller 120 . The vehicle body controller 120 detects that the worker has entered the working range of the hydraulic excavator 100 by receiving the worker ID of the worker from the detection control device 63 . When the vehicle body controller 120 detects that an operator has entered the working range of the excavator 100 , the vehicle body controller 120 performs movement restriction control to limit the movement of the actuators of the excavator 100 . Details of the operation restriction control will be described later.

A hydraulic system mounted on the hydraulic excavator 100 will be described with reference to FIG. 2 . FIG. 2 is a diagram showing the configuration of a hydraulic system mounted on the hydraulic excavator 100. As shown in FIG. In FIG. 2, mechanical connections are indicated by double lines, hydraulic oil lines 24 are indicated by thick solid lines, pilot lines 29 are indicated by thick broken lines, and electrical systems (signal lines) are indicated by thin broken lines.

The hydraulic excavator 100 includes an engine 80, a main pump 11, a pilot pump 12, a control valve 13, an operating device 14, an operating pressure sensor 15, a vehicle body control controller 120, an engine controller 17, a gate lock device 18, traveling motors 19L and 19R, and swinging. It has a motor 20 , a pilot pressure control valve 21 , a gate lock solenoid valve 25 and an alarm device 22 .

Although the hydraulic system is provided with a plurality of actuators, FIG. Illustration is omitted. An operation device for operating the actuators and a pilot pressure control valve 21 provided between the operation device and the control valve 13 are also provided for each of the plurality of actuators. Only the configuration for control is illustrated. Further, the control valve 13 has a flow control valve provided for each of the plurality of actuators, but illustration of the flow control valve is omitted.

The engine 80 is a power source of the hydraulic excavator 100, and is configured by an internal combustion engine such as a diesel engine, for example. The main pump 11 is a variable displacement hydraulic pump, and the pilot pump 12 is a fixed displacement hydraulic pump. The output shaft of engine 80 is connected to the input shafts of main pump 11 and pilot pump 12 . Main pump 11 and pilot pump 12 are driven by the power of engine 80 .

The main pump 11 discharges hydraulic oil to the hydraulic oil line 24 and supplies the hydraulic oil to the control valve 13 via the hydraulic oil line 24 . The pilot pump 12 supplies hydraulic oil to the operating device 14 . The operation device 14 reduces the pilot primary pressure supplied from the pilot pump 12 and supplies the pilot pressure (operation pressure) to the pressure receiving portion of the flow control valve (not shown) in the control valve 13 .

The control valve 13 has a plurality of flow control valves (not shown) that control the flow of hydraulic oil supplied from the main pump 11 to each actuator. The control valve 13 selectively supplies hydraulic fluid discharged from the main pump 11 to the actuator.

The operation device 14 commands the operation of the actuator by outputting the operation pressure. The operation device 14 has an operation member that is tilted by the operator, and a pair of hydraulic pilot pressure reducing valves. The operating device 14 includes, for example, a traveling operating device having a traveling lever and a traveling pedal as operating members for operating the left and right traveling motors 19L and 19R, and a turning lever as an operating member for operating the turning motor 20. There is a swivel operation device with

The pressure reducing valve of the operating device 14 reduces the pilot primary pressure supplied from the pilot pump 12 to generate pilot secondary pressure (also referred to as operating pressure) according to the operating amount and operating direction of the operating member. The operating pressure is guided to the pressure receiving portion of the flow control valve according to the operated operating member and the operating direction, and is used as an operating signal for driving the flow control valve and operating the actuator. When the operation member of the operation device 14 is operated, an operation signal corresponding to the operation direction and the operation amount is guided to the flow control valve of the control valve 13 to operate the flow control valve. As a result, the hydraulic oil discharged from the main pump 11 is supplied to the actuator corresponding to the flow control valve through the flow control valve of the control valve 13, and the actuator is driven.

The operating pressure sensor 15 detects the operating pressure (that is, the amount of operation) generated by the pressure reducing valve of the operating device 14 and outputs the detection result to the vehicle body controller 120 .

The pilot pressure control valve 21 is an electromagnetic proportional pressure reducing valve provided in a pilot line 29 between the operating device 14 and the pressure receiving portion of the flow control valve of the control valve 13 . The pilot pressure control valve 21 further reduces the operating pressure generated by the pressure reducing valve of the operating device 14 according to a control signal from the vehicle body controller 120 to generate a corrected operating pressure.

When the operating pressure generated by the pressure reducing valve of the operating device 14 is led to the flow control valve without being reduced by the pilot pressure control valve 21, the actuator operates at a speed corresponding to the amount of operation of the operating device 14. On the other hand, when the operating pressure generated by the pressure reducing valve of the operating device 14 is reduced by the pilot pressure control valve 21 and the corrected operating pressure generated by the pilot pressure control valve 21 is guided to the flow control valve, the actuator It operates at a speed lower than the speed corresponding to the amount of operation of the operation device 14 . That is, the operation of the actuator that operates according to the corrected operating pressure generated by the pilot pressure control valve 21 is restricted.

The vehicle body control controller 120 includes a processor 121 such as a CPU (Central Processing Unit), an MPU (Micro Processing Unit), a DSP (Digital Signal Processor), etc., a ROM (Read Only Memory), a flash memory, a non-volatile memory 122 such as a hard disk drive, It is composed of a computer equipped with a volatile memory 123 called a so-called RAM (Random Access Memory), an input/output interface 124, and other peripheral circuits. The vehicle body controller 120 may be composed of one computer, or may be composed of a plurality of computers.

The nonvolatile memory 122 stores a program capable of executing various calculations. In other words, the nonvolatile memory 122 is a storage medium that can read a program that implements the functions of this embodiment. The processor 121 is a processing device that expands the program stored in the nonvolatile memory 122 into the volatile memory 123 and executes the operation, and takes in the program from the input/output interface 124, the nonvolatile memory 122 and the volatile memory 123 according to the program. Predetermined arithmetic processing is performed on the signal.

The vehicle body control controller 120 detects the operating pressure sensor 15, the engine controller 17, the gate lock device 18, the gate lock electromagnetic valve 25, the pilot pressure control valve 21, the alarm device 22, the engine control dial 26, and the operator detection device 60. It is connected to each of the control devices 63 . The input unit of the input/output interface 124 receives signals input from various devices (the engine controller 17, the engine control dial 26, the gate lock device 18, the operating pressure sensor 15, the detection control device 63 of the worker detection device 60, etc.) to the processor. 121 so that it can be calculated. In addition, the input/output interface 124 generates an output signal according to the calculation result of the processor 121, and outputs the signal to various devices (pilot pressure control valve 21, alarm device 22, engine controller 17, gate lock solenoid valve 25). , the detection control device 63 of the worker detection device 60, etc.).

The vehicle body controller 120 outputs to the engine controller 17 an engine speed command value corresponding to the operation amount of the engine control dial 26 . The engine controller 17 controls the engine 80 so that the actual rotation speed of the engine 80 becomes the engine rotation speed command value.

The gate lock device 18 is a lock device that can be switched between an unlock position in which the actuator can be operated by the operating device 14 and a locked position in which the actuator cannot be operated by the operating device 14 . The gate lock device 18 includes a gate lock lever 18a that is selectively operated between a locked position and an unlocked position, and a gate lock electromagnetic switch that is switched between a blocking position and a communicating position according to the operating position of the gate lock lever 18a. a valve 25; The vehicle body controller 120 detects the operating position of the gate lock lever 18 a based on the signal output from the gate lock device 18 and controls the gate lock solenoid valve 25 according to the operating position of the gate lock device 18 . The vehicle body controller 120 switches the gate lock electromagnetic valve 25 to the shutoff position when the gate lock lever 18a is operated to the lock position. The vehicle body controller 120 switches the gate lock solenoid valve 25 to the open position when the gate lock lever 18a is operated to the unlock position.

When the gate lock solenoid valve 25 is in the blocking position, the pilot primary pressure supplied from the pilot pump 12 to the operating device 14 is blocked by the gate locking solenoid valve 25, and the actuator cannot be operated by the operating device 14. When the gate lock solenoid valve 25 is at the communicating position, the pilot primary pressure is supplied from the pilot pump 12 to the operating device 14 . Therefore, since the pilot pressure (manipulation pressure) generated by the operation device 14 according to the operation amount is guided to the flow control valve, the operation of the actuator by the operation device 14 becomes possible.

When the gate lock device 18 is in the locked position, the vehicle body controller 120 disables the operation of the actuators and instructs the engine controller 17 to reduce the power by setting the idling speed.

The motion restriction control executed by the vehicle body controller 120 will be described. In this embodiment, as the first operation limiting control, the vehicle body controller 120 outputs a power reduction command (≈engine speed reduction command) to the engine controller 17 to reduce the speed of the engine 80 . In addition, as the second operation limiting control, the vehicle body controller 120 drives the pilot pressure control valve 21 to reduce or cut off the pilot pressure (operation pressure) from the operation device 14 to the control valve 13, thereby reducing the actuator pressure. slow down or stop motion. Furthermore, the vehicle body controller 120 drives the alarm device 22 to issue an alarm to the operator and workers.

The actuator does not operate when the gate lock device 18 is operated to the locked position. That is, in this case, the operation of the excavator 100 does not cause the excavator 100 to come into contact with the worker. When the gate lock device 18 is in the locked position, the vehicle body controller 120 does not output a power reduction command to the engine controller 17 even if an operator enters the working range of the hydraulic excavator 100 . Also, in this case, the vehicle body controller 120 does not control the pilot pressure control valve 21 . Furthermore, in this case, the vehicle body controller 120 does not use the alarm device 22 to issue an alarm to the operator or the worker.

The alarm device 22 is a device that issues a warning when an operator enters the working range of the hydraulic excavator 100 . For example, the alarm device 22 includes a light emitting device 22a that emits light to warn workers around the excavator 100, and a light emitting device 22a that emits an alarm sound to warn workers around the excavator 100. A sound output device 22b, such as a buzzer, is provided to give a warning. The light emitting device 22a includes, for example, a plurality of light emitting diodes (LEDs).

As described above, the actuator does not operate when the gate lock device 18 is in the locked position. Therefore, when the gate lock device 18 is in the locked position, the vehicle body controller 120 controls the light emitting device 22a to display a non-warning color indicating that the worker is permitted to enter the working range. Turn on the (green) LED. This allows the worker to visually know that entry into the work area is permitted.

On the other hand, when the gate lock device 18 is in the unlocked position, there is a possibility that the actuator will operate. Therefore, when the gate lock device 18 is in the unlocked position, the vehicle body controller 120 controls the light emitting device 22a to display a warning color indicating that the worker is prohibited from entering the working range. Turn on the (red) LED. As a result, the worker can visually and audibly know that entry into the work area is prohibited. The vehicle body controller 120 causes the sound output device 22b to generate a warning sound when the gate lock device 18 is in the unlocked position and the worker enters the working range.

The functions of the vehicle body controller 120 will be described in detail with reference to FIG. FIG. 3 is a functional block diagram relating to motion restriction control by the vehicle body controller 120. As shown in FIG. As shown in FIG. 3 , the vehicle body controller 120 has functions as a state management section 31 , a rule observance determination section 32 , an intrusion history storage section 33 , a restriction level setting section 34 , and an output signal generation section 35 .

The state management unit 31 detects the operating position (unlocked position/locked position) of the gate lock device 18 that can switch between a state in which the actuator can be operated and a state in which the actuator cannot be operated, and based on the detected operating position, the hydraulic pressure is controlled. It is determined whether or not the excavator 100 is in a workable state. The state management unit 31 determines that the hydraulic excavator 100 is in a workable state when the gate lock lever 18a is in the unlocked position and the actuator can be operated. When the gate lock device 18 is in the locked position and the actuator is disabled, the state management unit 31 determines that the hydraulic excavator 100 is not in a workable state (that is, is in a workable state). judge.

The rule observance determination unit 32 acquires the worker ID of the worker who has entered the working range of the hydraulic excavator 100 from the worker detection device 60 . The rule observance determination unit 32 executes rule observance determination processing based on the determination result of the state management unit 31 and the detection result of the worker detection device 60 . The rule observance determination process is a process of determining whether or not the worker observes a predetermined rule and enters the working range.

The rule in this embodiment prohibits entry into the working range when the hydraulic excavator 100 is in the workable state, and prohibits entry into the work range when the hydraulic excavator 100 is in the unworkable state. is a rule that allows

Specifically, the rule observance determination unit 32 detects the worker ID from the worker detection device 60 when the hydraulic excavator 100 is in a work-disabled state (that is, a state in which entry into the work range is permitted). is input, it is determined that the worker has entered the working range in compliance with the rules. The rule observance determination unit 32 receives an operator ID from the operator detection device 60 when the hydraulic excavator 100 is in a workable state (that is, a state in which entry into the work range is prohibited). Then, it is determined that the worker has entered the working range without complying with the rules.

The intrusion history storage unit 33 stores, as intrusion history information, information in which the result of rule observance determination processing by the rule observance determination unit 32 is associated with the worker ID of the worker who has intruded.

The intrusion history information stored in the intrusion history storage unit 33 will be described with reference to FIG. FIG. 4 is a diagram showing intrusion history information. As shown in FIG. 4, the intrusion history information is associated with the worker ID (identification information), the total number of intrusions [times], the proper number of intrusions [times], and the degree of rule observance [%]. Information. The total number of intrusions is the total number of times the worker has intruded into the work area regardless of whether or not the worker has complied with the predetermined rules. The appropriate number of times of intrusion is the number of times that the worker complies with the rule and intrudes into the working range. The degree of rule observance is the ratio of the number of appropriate intrusions to the total number of intrusions (number of appropriate intrusions/total number of intrusions).

When the rule observance determination unit 32 determines that the worker has intruded into the work area in compliance with the rule, the intrusion history storage unit 33 adds 1 to each of the total number of intrusions and the appropriate number of intrusions in the intrusion history information. ] is added. When the rule observance determination unit 32 determines that the worker has entered the working range without complying with the rules, the intrusion history storage unit 33 adds 1 [times] to the total number of intrusions in the intrusion history information, Do not add 1 [times] to the appropriate number of intrusions.

When the total number of intrusions in the intrusion history information is updated, the intrusion history storage unit 33 calculates the degree of rule observance (the number of appropriate intrusions/the number of all intrusions) based on the number of all intrusions and the number of appropriate intrusions, and stores the intrusion history. Update information compliance. In other words, the intrusion history storage unit 33 also functions as a rule observance degree calculation unit that calculates a rule observance degree representing the degree to which the worker has intruded into the work area in compliance with the rule, based on the intrusion history information.

For example, when worker A whose worker ID is 001 enters the working range of the hydraulic excavator 100 for the first time, and when worker A enters the working range in compliance with the rules, the total number of intrusions is and the appropriate number of intrusions is 1 [time], respectively, and the degree of rule observance is 100% (=1 [time]/1 [time]×100).

Further, for example, a worker B whose worker ID is 002 has intruded into the work range 12 times so far, of which the number of times he has entered the work range in compliance with the rules is 6 times. Therefore, the worker B's rule observance degree is 50% (=6[times]/12[times]×100). When this worker B intrudes into the work area without complying with the rules, the intrusion history information is updated with the total number of intrusions of 13 [times], and the degree of compliance with the rules is 46% (=6 [times]/13 [times]×100).

As shown in FIG. 3, when the rule observance determination unit 32 determines that the worker has entered the working range (that is, when the worker's entry into the working range is detected case), the degree of restriction is selected and set from among "severe", "medium" and "light" based on the worker's degree of observance of rules. A specific description will be given below.

The restriction degree setting unit 34 determines whether or not the worker's degree of observance of rules is equal to or less than the severity threshold. If the rule observance level is equal to or less than the severity threshold, the restriction level setting unit 34 sets the restriction level to "severe". When the degree of rule observance is greater than the severe threshold, the restriction degree setting unit 34 determines whether or not the worker's degree of observance of rule is equal to or less than the moderate threshold. When the degree of rule observance is greater than the severe threshold and equal to or less than the moderate threshold, the restriction degree setting unit 34 sets the restriction degree to "moderate." When the degree of rule observance is greater than the moderate threshold, the restriction degree setting unit 34 sets the restriction degree to "light". The severe threshold and the moderate threshold are stored in the nonvolatile memory 122 in advance. A severity threshold is, for example, any number in the range of 5% to 50%. The moderate threshold is, for example, any numerical value in the range of 40% to 90% and greater than the severe threshold. The degree of restriction increases step by step in the order of "mild", "moderate" and "severe". In other words, "severe" means that the operation of the hydraulic excavator 100 is restricted the most.

The output signal generation unit 35 generates a PWM (Pulse Wide Modulation) signal for controlling the pilot pressure control valve 21 based on the degree of limitation set by the degree of limitation setting unit 34, and outputs the signal to the pilot pressure control valve 21. do. The output signal generation unit 35 also generates an engine speed command value based on the degree of limitation set by the degree of limitation setting unit 34 and outputs it to the engine controller 17 .

FIG. 5 is a diagram showing the engine speed command value output from the output signal generator 35 according to the degree of limitation of the actuator, and the details of control of the pilot pressure control valve 21 by the output signal generator 35 according to the degree of limitation. be. As shown in FIG. 5, the output signal generator 35 sets the engine speed command value to the severe speed when the degree of restriction is "severe", and the engine speed command value to the severe speed when the degree of restriction is "medium". is medium speed and the degree of restriction is “light”, the engine speed command value is set to the light speed, and an engine speed reduction command is output to the engine controller 17 . In addition, the magnitude relationship of each rotation speed is heavy engine rotation speed<medium engine rotation speed<light engine rotation speed.

The light engine speed, the medium engine speed, and the heavy engine speed are values smaller than the engine speed command value corresponding to the operation amount of the engine control dial 26, respectively. The light engine speed, medium engine speed, and heavy engine speed are obtained, for example, by multiplying the engine speed command value corresponding to the operation amount of the engine control dial 26 by a predetermined constant ce (0<ce<1). It is calculated by

The output signal generator 35 controls the pilot pressure control valve 21 in a shut-off mode according to the degree of restriction. The output signal generator 35 executes sudden stop control by the pilot pressure control valve 21 when the degree of restriction is “severe”. The output signal generation unit 35 executes slow stop control by the pilot pressure control valve 21 when the degree of restriction is “moderate”. The output signal generation unit 35 executes the start suppression control by the pilot pressure control valve 21 when the degree of restriction is “light”.

Sudden stop control refers to controlling the pilot pressure control valve 21 so as to stop the operation of the travel motors 19L, 19R and the swing motor 20 . Slow stop control refers to controlling the pilot pressure control valve 21 so as to stop the operation of the travel motors 19L, 19R and the swing motor 20 more slowly than in the sudden stop control. The start deterrence control does not stop the operation of the traveling motors 19L, 19R and the turning motor 20, and maintains the stopped state when the traveling motors 19L, 19R and the turning motor 20 are stopped. It refers to controlling the pilot pressure control valve 21 .

Main operations in this embodiment will be described. A case where the severity threshold is set to 30% and the moderate threshold is set to 60% will be described. For example, as shown in FIG. 4, a worker C with a worker ID of 003 has entered the working range four times so far, and has entered the working range once in compliance with the rules. is. Therefore, the worker C's rule observance degree is 25% (=1[times]/4[times]×100). When this worker C enters the work range without observing the rules, the vehicle body controller 120 determines that all workers C with worker ID 003 in the intrusion history information stored in the nonvolatile memory 122 The number of times of intrusion is updated to 5[times], and the degree of rule observance is updated to 20% (=1[times]/5[times]×100).

The vehicle body controller 120 refers to the intrusion history information, determines that the degree of compliance with rules (20%) of worker C with worker ID 003 is equal to or less than the severity threshold (30%), and sets the degree of restriction to severe. set. The vehicle body controller 120 sets the engine rotation speed command value to the heavy rotation speed, and executes sudden stop control by the pilot pressure control valve 21 . Therefore, when the worker C whose worker ID is 003 enters the working range while the hydraulic excavator 100 is swinging, the swing motor 20 immediately decelerates and stops. Thereby, contact between the worker C and the hydraulic excavator 100 can be prevented.

For example, a worker D with a worker ID of 004 has entered the work range 27 times so far, of which 12 times he has entered the work range in compliance with the rules. Therefore, the degree of rule observance of worker D is 44% (=12 [times]/27 [times]×100). When this worker D complies with the rules and enters the work area, the vehicle body controller 120 determines in the intrusion history information stored in the nonvolatile memory 122 that the worker D with the worker ID of 004 has entered the work area. The number of intrusions is updated to 28[times], the number of appropriate intrusions is updated to 13, and the degree of rule observance is updated to 46% (=13[times]/28[times]×100).

The vehicle body controller 120 refers to the intrusion history information, and the degree of observance of the worker D with the worker ID of 004 (46%) is greater than the severe threshold (30%) and less than or equal to the moderate threshold (60%). It is determined that there is, and the degree of restriction is set to medium. The vehicle body controller 120 sets the engine rotation speed command value to a middle rotation speed, and executes slow stop control by the pilot pressure control valve 21 . Therefore, when the worker D whose worker ID is 004 enters the working range while the hydraulic excavator 100 is swinging, the swing motor 20 decelerates and stops. Thereby, contact between the worker D and the hydraulic excavator 100 can be prevented.

For example, a worker E with a worker ID of 005 has entered the work range 24 times so far, and has entered the work range 20 times in compliance with the rules. Therefore, the worker E's degree of observance of the rules is 83% (=20[times]/24[times]×100). When this worker E intrudes into the work range without observing the rules, the vehicle body controller 120 determines that all workers E with worker ID 005 in the intrusion history information stored in the nonvolatile memory 122 The number of times of intrusion is updated to 25[times], and the degree of rule observance is updated to 80% (=20[times]/25[times]×100).

The vehicle body controller 120 refers to the intrusion history information, determines that the degree of observance of the worker E with the worker ID of 005 (80%) is greater than the moderate threshold (60%), and sets the degree of restriction to light. set to The vehicle body controller 120 sets the engine rotation speed command value to the light rotation speed, and executes start suppression control by the pilot pressure control valve 21 . Therefore, even if a swing operation is performed while the hydraulic excavator 100 is stopped, the swing motor 20 is kept stopped.

Since the worker E has a high degree of rule observance, it is considered that he entered the work range while knowing that the hydraulic excavator 100 was ready for work. Therefore, the vehicle body controller 120 does not perform slow stop control and sudden stop control. Therefore, it is possible to prevent the work efficiency of the hydraulic excavator 100 from deteriorating due to the intrusion of the worker E into the work range. It should be noted that when the worker E whose worker ID is 005 enters the work range while the hydraulic excavator 100 is swinging, the swing motor 20 decelerates due to the decrease in the engine speed. Also, the alarm device 22 notifies the operator and the worker E that the worker E has entered the working range. Therefore, contact between the worker E and the hydraulic excavator 100 is prevented.

According to the embodiment described above, the following effects are obtained.

(1) The work machine control system 1 includes an RFID tag (wireless terminal) 4 carried by a worker (person), and based on a signal transmitted from the RFID tag 4, a working range of the hydraulic excavator (work machine) 100. and a vehicle body control controller (control device) 120 that controls the operation of the actuators (travel motors 19L, 19R, swing motor 20) of the hydraulic excavator 100 when it is detected that an operator has entered the excavator. The vehicle body controller 120 determines whether or not the worker has entered the working range in compliance with a predetermined rule based on the state of the hydraulic excavator 1, and stores the determination result and worker identification information (worker ID) is stored as intrusion history information, and based on the intrusion history information, the degree of rule observance representing the degree of intrusion into the work area by the worker in compliance with the rule is calculated. When the vehicle body controller 120 detects that a worker has entered the work range, the controller 120 determines that the actuator operation is more efficient when the worker who has entered the work range has a higher degree of rule observance than when the worker has a low degree of rule observance. Control the operation of the actuator so that the degree of restriction is reduced.

As described above, in the present embodiment, the behavior mode when the worker enters the working range of the hydraulic excavator 100 is stored and aggregated, and the experience, proficiency, and possessed abilities (including safety qualification information) of the worker are stored. ) can quantify the worker's compliance with rules, which is difficult to measure with only When it is difficult to distinguish between the abilities possessed by workers by utilizing this worker's rule observance (when there is no qualified person at the work site, and when an uncommon unique certification system is in place) Also, the restriction degree of the operation of the excavator 100 can be appropriately adjusted. Therefore, according to the present embodiment, it is possible to provide the work machine control system 1 that can appropriately restrict the operation of the hydraulic excavator 100 according to the worker who has entered the working range of the hydraulic excavator 100 . As a result, work efficiency can be improved while preventing contact between the excavator 100 and the worker. In other words, it is possible to achieve both productivity and safety at the work site.

(2) In addition, in the present embodiment, it is possible to record the behavior of the worker, including inappropriate intrusive behavior caused by the worker's familiarity because the worker is a skilled worker. For this reason, it leads to the improvement of safety awareness of workers.

(3) The rule prohibits entry into the work range when the hydraulic excavator 100 is in the workable state, and permits entry into the work range when the excavator 100 is in the work-disabled state. It is a rule to do. As a result, when a worker intrudes into the work area, the degree of restriction is calculated based on the ratio of the total number of intrusions by the worker and the number of times the worker entered the work area when he was ready to work (rule compliance). can be adjusted appropriately.

<Second embodiment>
A working machine control system 1 according to a second embodiment of the present invention will be described with reference to FIG. In the figure, the same reference numerals are assigned to the same or corresponding parts as in the first embodiment, and differences will be mainly described. In the first embodiment, an example in which the severe threshold and the moderate threshold are constants has been described. In contrast, in the second embodiment, the severity threshold and the moderate threshold are variables that change according to the total number of intrusions.

FIG. 6 is a diagram showing a threshold table stored in the nonvolatile memory 122. As shown in FIG. The threshold table is a data table that stores the relationship between the total number of intrusions and the degree of rule observance. The threshold table stores the characteristics of the severe threshold and the characteristics of the moderate threshold. The severity threshold has a value Ts1 when the total number of intrusions is 0 [times], and the value decreases as the total number of intrusions increases. The medium threshold has a value Tm1 when the total number of intrusions is 0 [times], and the value decreases as the total number of intrusions increases. The magnitude relationship between the value Ts1 and the value Tm1 is Ts1<Tm1.

Note that when the total number of intrusions reaches a predetermined number (first number) or more, the severity threshold becomes the lower limit. The severity threshold lower limit value may be 0[%] or may be a predetermined value (first lower limit value). Similarly, when the total number of intrusions reaches a predetermined number (second number) or more, the moderate threshold becomes the moderate threshold lower limit. The intermediate threshold lower limit value may be 0[%] or may be a predetermined value (second lower limit value). The magnitude relationship between the first lower limit value and the second lower limit value is preferably the first lower limit value≦the second lower limit value.

In the second embodiment, when a worker intrudes into the work area, the restriction level setting unit 34 refers to the threshold table (see FIG. 6), and based on the total number of intrusions read from the intrusion history information (see FIG. 4), to determine severe and moderate thresholds. The degree-of-restriction setting unit 34 compares the degree of observance of rules read from the intrusion history information (see FIG. 4) with the severe threshold value and the moderate threshold value, and sets the degree of restriction of the actuator operation based on the comparison result.

By adopting such a configuration, even if the degree of rule observance is the same, the degree of restriction of the actuator changes according to the total number of intrusions. With reference to FIG. 6, for example, a case where an unskilled worker F and a skilled worker G enter the working range will be described. The total number of intrusions of worker F is Nf and the degree of rule observance is Rf, the total number of intrusions of worker G is Ng and the degree of rule observance is Rg, where Rf=Rg and Nf<Ng. In this case, when the worker G enters the working range, the vehicle body controller 120 sets the degree of limitation of the actuator operation to "moderate". On the other hand, when the worker F enters the working range, the vehicle body controller 120 sets the degree of limitation of the actuator operation to "severe".

In this way, the vehicle body control controller (control device) 120 according to the second embodiment, when the worker who has entered the work range is the worker F who has entered the work area less frequently, the worker G who has entered the work area more frequently. The operation of the actuators (traveling motors 19L, 19R, turning motor 20) is controlled so that the degree of restriction on the operation of the actuators is greater than in the case of .

Therefore, according to the second embodiment, in addition to the same effects as those of the first embodiment, the following effects are obtained. When the number of times the worker enters the working range is small, that is, when the worker's skill level is low, the degree of restriction on the operation of the actuator is higher than when the skill level is high. That is, according to the second embodiment, it is possible to appropriately limit the operation of the actuator according to the skill level of the worker.

<Modification of Second Embodiment>
In the second embodiment, an example has been described in which the severe threshold value and the moderate threshold value decrease linearly as the total number of intrusions increases in the range where the total number of intrusions is 0 or more, but the present invention is not limited to this.

A worker who makes very few intrusions into the work area is likely to be an unskilled worker. Therefore, in this modification, as shown in FIG. 7, the restriction level setting unit 34 sets the severity threshold and the moderate threshold when the total number of intrusions by the worker who has entered the work range is equal to or less than the predetermined number N0. Set to 100[%]. Therefore, when the total number of intrusions by workers who have entered the working range is equal to or less than the predetermined number of times N0, the degree of limitation of the actuator is set to "severe" regardless of the degree of rule observance.

As described above, the vehicle body controller (control device) 120 according to the present modification, when the worker who has entered the working range is a worker whose total number of intrusions is equal to or less than the predetermined number of times N0, regardless of the rule observance degree, The operation of the actuator is controlled with the same degree of restriction, ie, "severe" as in the case of the worker whose total number of intrusions is greater than the predetermined number of times N0 and whose rule observance is the lowest (rule observance=0%). Therefore, even when an inexperienced worker enters the working range, contact between the hydraulic excavator 100 and the worker can be reliably avoided.

<Third Embodiment>
A work machine control system 1C according to a third embodiment of the present invention will be described with reference to FIG. FIG. 8 is a diagram showing the configuration of a work machine control system 1C according to the third embodiment. As shown in FIG. 8, in the third embodiment, an example in which the work machine is a wheel loader 200 will be described. A work machine control system 1</b>C has a wheel loader 200 and an RFID tag 4</b>B, which is a wireless terminal carried by a worker (person) who works around the wheel loader 200 .

The wheel loader 200 includes a vehicle body 204 on which a travel device 202 is mounted, and an articulated work device 210 attached to the front portion of the vehicle body 204 . The vehicle body 204 is an articulated steering type (body bending type) vehicle body, and has a front vehicle body 204A, a rear vehicle body 204B, and a center joint 203 connecting the front vehicle body 204A and the rear vehicle body 204B. On the rear vehicle body 204B, an operator's cab 207 is provided in front and an engine room 206 is provided in the rear. The engine room 206 houses an engine 280 and hydraulic equipment such as a hydraulic pump driven by the engine 280 . Work device 210 and traveling device 202 are driven independently of each other by the power of engine 280 . Engine 280 is configured by, for example, an internal combustion engine such as a diesel engine.

The work device 210 is attached to the front vehicle body 204A. The work device 210 has a lift arm (hereinafter simply referred to as an arm) 211 rotatably attached to the front vehicle body 204A, and a bucket 213 rotatably attached to the arm 211 . The arm 211 is moved according to the telescopic motion of an arm cylinder 211a, which is a hydraulic cylinder, and the bucket 213 is moved according to the telescopic motion of a bucket cylinder 213a, which is a hydraulic cylinder.

The travel device 202 includes front wheels (front wheels) attached to the front vehicle body 204A, rear wheels (rear wheels) attached to the rear vehicle body 204B, a power transmission device that transmits the power of the engine 280 to the wheels, have A power transmission device includes an axle, a differential device, a propeller shaft, and the like.

The wheel loader 200 has steering cylinders 216 which are a pair of left and right hydraulic cylinders provided to connect the front vehicle body 204A and the rear vehicle body 204B. The wheel loader 200 is steered by adjusting the amount of expansion and contraction of the left and right steering cylinders 216 . Hydraulic cylinders ( 211 a , 213 a , 216 ), which are actuators, are expanded and contracted by hydraulic oil (pressure oil) discharged from hydraulic pumps rotated by torque output from engine 280 .

The wheel loader 200 is equipped with a vehicle body controller 220 which is a control device for controlling an engine 280, a hydraulic pump, control valves and the like mounted on the vehicle body 204 . Like the vehicle body controller 120 mounted on the hydraulic excavator 100, the vehicle body controller 220 is composed of a computer having a processor, non-volatile memory and volatile memory, an input/output interface, and other peripheral circuits.

FIG. 9A is a top view of wheel loader 200, and shows the work range (hatched area in the figure) when wheel loader 200 is stopped. FIG. 9B is a top view of the wheel loader 200 and shows the working range (hatched area in the drawing) when the wheel loader 200 is traveling.

Vehicle body controller 220 determines whether wheel loader 200 is stopped or running. The determination as to whether the vehicle is stopped or running may be made based on the value detected by the vehicle speed sensor provided in the wheel loader 200, or the forward/reverse switching operation device provided in the wheel loader 200 may be used. It may be performed based on the operation position, or may be performed based on the operation position of the operation member that operates the parking brake device provided in the wheel loader 200 .

For example, the vehicle body controller 220 determines that the wheel loader 200 is stopped when the vehicle speed detected by the vehicle speed sensor is less than the threshold, and determines that the wheel loader 200 is stopped when the vehicle speed detected by the vehicle speed sensor is greater than or equal to the threshold. 200 determines that it is running. Further, when the operation position of the forward/reverse switching operation device is in the neutral position, the vehicle body controller 220 determines that the wheel loader 200 is stopped, and the operation position of the forward/reverse switching operation device is in the forward position or the reverse position. If so, it may be determined that the wheel loader 200 is running. Further, when the operation member of the parking brake device is in the operation position for operating the parking brake device, the vehicle body controller 220 determines that the wheel loader 200 is stopped, and the operation member of the parking brake device is in the parking brake position. When the wheel loader 200 is in the operating position for deactivating the device, it may be determined that the wheel loader 200 is running.

When the vehicle body controller 220 determines that the wheel loader 200 is stopped, it sets a working range as shown in FIG. 9A. This work range corresponds to the maximum bendable range by expanding and contracting the steering cylinder 216 while the wheel loader 200 is stopped.

When the vehicle body controller 220 determines that the wheel loader 200 is running, it sets a working range as shown in FIG. 9B. This working range corresponds to an area that the wheel loader 200 can reach within a predetermined time while the wheel loader 200 is traveling. The vehicle body controller 220 calculates the reachable distance based on the vehicle speed detected by the vehicle speed sensor and the predetermined time stored in the nonvolatile memory, and creates an approximately arc-shaped work range with the reachable distance as the radius. to forward and backward respectively.

In the present embodiment, the vehicle body controller 220 sets working ranges in front and behind the vehicle body 204 regardless of the traveling direction of the wheel loader 200, but the present invention is not limited to this. It is determined whether the traveling direction of the wheel loader 200 is forward or backward based on the operating position of the forward/reverse switching operation device that determines the traveling direction of the wheel loader 200, and the vehicle body 204 is shifted based on the determination result. Only one of the front working range and the rear working range of the vehicle body 204 may be set.

Similar to the vehicle body controller 120 described in the first embodiment, the vehicle body controller 220 sets the degree of restriction of actuator operation based on the worker's degree of observance of rules when a worker enters the working range. do. In the second embodiment, the vehicle body controller 220 outputs to the engine controller an engine speed reduction command according to the set degree of restriction. This reduces the engine speed and limits the operation of the actuator.

The vehicle body controller 220 not only reduces the engine speed, but also controls a pilot pressure control valve capable of reducing the pilot pressure (operation pressure) guided to the pressure receiving portion of the flow control valve that controls the steering cylinder 216. may In this case, the vehicle body controller 220 may limit the operation of the steering cylinder 216 by controlling the pilot pressure control valve to reduce the pilot pressure (operation pressure) guided to the pressure receiving portion. If the operation of the steering cylinder 216 is restricted while the vehicle is running, it may interfere with the avoidance operation.

Furthermore, when the traveling device 202 includes a travel motor, the operation of the wheel loader 200 may be restricted by restricting the rotation of the travel motor.

In the present embodiment, the working range differs according to the vehicle speed of the wheel loader 200 . For this reason, the RFID tag 4B not only has the function of detecting the magnetic field generated by the magnetic field generator 61 provided in the wheel loader 200, but also the three-dimensional position calculation value by GNSS (Global Navigation Satellite System) It has a function to acquire (location information). Similarly, the wheel loader 200 also has a function of acquiring a three-dimensional position calculation value (position information) by GNSS. The vehicle body controller 220 of the wheel loader 200 calculates the detailed positional relationship between the wheel loader 200 and the RFID tag 4B using the position information of the own vehicle and the position information from the RFID tag 4B. As a result, the vehicle body controller 220 can appropriately detect whether or not the worker has entered the work range even when the work range has changed.

<Fourth Embodiment>
A working machine control system 1D according to a fourth embodiment of the present invention will be described with reference to FIG. FIG. 10 is a diagram showing the configuration of a work machine control system 1D according to the fourth embodiment of the present invention. In the figure, the same reference numerals are assigned to the same or corresponding parts as in the first embodiment, and differences will be mainly described.

As shown in FIG. 10, a work machine control system 1D according to the fourth embodiment includes an RFID tag 4 carried by a worker, a hydraulic excavator 100 having a vehicle body controller 120, and a wheel loader having a vehicle body controller 220. 200 , and a server 320 provided in equipment outside the hydraulic excavator 100 and the wheel loader 200 .

In the fourth embodiment, an example in which two working machines are operating at the work site will be described, but the present invention can be applied to a case where three or more working machines are operating at the work site. can also The server 320 can exchange data with a plurality of work machines (hydraulic excavator 100 and wheel loader 200) via a communication line 41, which is a wide area network, using a communication device. The communication line 41 is a mobile phone communication network (mobile communication network) developed by a mobile phone carrier or the like, the Internet, or the like.

The server 320, like the vehicle controller 120, is composed of a computer having a processor, nonvolatile memory 322 and volatile memory, an input/output interface, and other peripheral circuits. Server 320 collects intrusion history information transmitted from a plurality of work machines and stores it in an intrusion history database in nonvolatile memory 322 .

The intrusion history database of the nonvolatile memory 322 stores the worker IDs of workers who have entered the work range of the hydraulic excavator 100, the total number of intrusions, the proper number of intrusions, and the number of workers who have entered the work range of the wheel loader 200. worker ID, the total number of intrusions, and the proper number of intrusions are stored.

At a work site, a plurality of work machines are working. Therefore, at a work site, a single worker may intrude into the working range of a plurality of work machines. For example, the nonvolatile memory 122 of the vehicle body controller 120 of the hydraulic excavator 100 stores that the total number of intrusions by the worker H whose worker ID is 008 is 10, and the proper number of intrusions is 3. Further, the nonvolatile memory 222 of the vehicle body controller 220 of the wheel loader 200 stores that the total number of intrusions by the worker H whose worker ID is 008 is six, and the proper number of intrusions is five.

In the intrusion history database in the nonvolatile memory 322 of the server 320, the sum of the total number of intrusions by the worker H transmitted from the hydraulic excavator 100 and the total number of intrusions by the worker H transmitted from the wheel loader 200 is It is stored as the total number of intrusions by employee H (16 in the illustrated example). In addition, in the intrusion history database of the nonvolatile memory 322 of the server 320, the sum of the appropriate intrusion count of the worker H transmitted from the hydraulic excavator 100 and the appropriate intrusion count of the worker H transmitted from the wheel loader 200 is stored. , is stored as the appropriate number of intrusions by the worker H (eight times in the illustrated example).

The server 320 updates the intrusion history database of the nonvolatile memory 322 when the intrusion history information of the work machine is updated and the update information is acquired. For example, when the number of total intrusions and the number of appropriate intrusions for worker H with worker ID 008, which are stored in the non-volatile memory 122 of the vehicle body controller 120 of the hydraulic excavator 100, increase by 1, the intrusion history database of the server 320 The total number of intrusions and the proper number of intrusions for the worker H whose worker ID is 008 are increased by one.

When the total number of intrusions by worker H is updated, the server 320 calculates the ratio of the appropriate number of intrusions to the total number of intrusions as the rule compliance level, and updates the rule compliance level in the intrusion history database in the non-volatile memory 322 . When the worker H's rule observance level is updated, the server 320 transmits the updated rule observance level to the hydraulic excavator 100 via the communication line 41 .

The vehicle body controller 120 of the hydraulic excavator 100 sets the degree of limitation of the actuator operation based on the received degree of rule observance. The method of setting the degree of limitation of the actuator operation is the same as in the first embodiment, so the description is omitted.

As described above, the work machine control system 1D according to the fourth embodiment performs two-way communication between a plurality of work machines (hydraulic excavator 100 and wheel loader 200) and the server 320 via the communication line 41. configured so that it can be done.

Further, the control system 1D has, as control devices, vehicle body controllers 120 and 220 mounted on the working machine, and a server 320 provided outside the working machine. The server 320 collects worker intrusion history information transmitted from a plurality of work machines. If the worker who has entered the working range is a worker with a high degree of rule observance obtained from the worker intrusion history information collected by the server 320, the vehicle body controller 120, 220 determines whether the worker with a low degree of rule observance The operation of the actuator is controlled so that the degree of restriction on the operation of the actuator is reduced compared to the case.

According to such a fourth embodiment, it is possible to quantify the worker's degree of observance of rules in the entire work site, regardless of the specific work machine. For this reason, for example, for a work machine newly introduced to a work site or a work machine with a low utilization rate, the already quantified rule compliance degree of the worker is used to appropriately restrict the movement of the work machine. becomes possible.

<Modification of Fourth Embodiment>
In the fourth embodiment, an example has been described in which the server 320 calculates the degree of rule observance and transmits the calculation result to the work machine, but the present invention is not limited to this. The server 320 transmits to the work machine the total number of intrusions and the proper number of intrusions, which are intrusion history information collected from a plurality of work machines. The degree of rule observance may be calculated based on the number of intrusions and the number of appropriate intrusions. Even in such a case, the same effects as those of the fourth embodiment are obtained.

The following modifications are also within the scope of the present invention. It is also possible to combine the configurations described in the modifications.

<Modification 1>
In the first embodiment, the vehicle body controller 120, 220 determines whether or not a person adheres to a predetermined rule and enters the working range based on the state of the work machine. In addition, the rule prohibits entry into the working range when the working machine is in a workable state, and permits entry into the working range when the working machine is in a non-workable state. We have described an example where However, the invention is not so limited. The vehicle body controller 120, 220 may determine whether or not a person has entered the working range in compliance with a predetermined rule based on at least one of the state of the work machine and the state of the person.

<Modification 1-1>
For example, the rule prohibits intrusion into the work area when the person is not in possession of a predetermined item, and prohibits entry into the work area when the person is in possession of a predetermined item. The rule may be to permit intrusion into the work area. The belongings include, for example, a helmet, high-visibility safety clothing with reflective material, and the like.

Modification 1-1 of the first embodiment will be described with reference to FIG. FIG. 11 is a functional block diagram relating to movement restriction control by the vehicle body controller 120A in the work machine control system according to Modification 1-1. The hydraulic excavator 100 includes a plurality of photographing devices 90 that photograph the surroundings of the hydraulic excavator 100 . The vehicle body controller 120</b>A has a property determination unit 91 that determines whether or not the worker possesses a predetermined property based on the image captured by the imaging device 90 .

The photographing device 90 is, for example, a wide-angle video camera equipped with an imaging element such as a CCD or CMOS with excellent durability and weather resistance, and a wide-angle lens. A plurality of imaging devices 90 are attached to the hydraulic excavator 100 . The vehicle body controller 120</b>A monitors the working range of the hydraulic excavator 100 using a plurality of imaging devices 90 .

The belongings determining unit 91 acquires image data captured by the photographing device 90, and performs recognition processing using a known recognition model (for example, the YOLO model) from the acquired image data to determine the presence of belongings in the image. to recognize The belonging determination unit 91 determines whether or not the reliability of the result of recognition processing for image data is equal to or higher than the reliability threshold. When it is determined that the reliability of the result of the recognition process is equal to or higher than the reliability threshold, the belongings determination unit 91 determines that the belongings are present within the working range. When it is determined that the reliability of the recognition processing result for the image data is less than the reliability threshold, the belongings determination unit 91 determines that there is no belongings within the working range.

The reliability is a judgment output value obtained by the recognition processing of the belongings judgment unit 91, and corresponds to the degree of matching with the parameter of the object preset in the recognition model. Become. The reliability threshold is a preset threshold for determining the presence or absence of belongings.

When the worker ID of the worker present within the work range is input from the worker detection device 60 to the rule observance determination unit 32A, and when the belongings determination unit 91 determines that there is an item within the work range, It is determined that the state of the worker who has entered the working range is that he is in possession of a predetermined belonging. In other words, the rule observance determination unit 32A determines that the worker has entered the working range in compliance with the rule. The rule observance determination unit 32A receives the worker ID of the worker present within the work range from the worker detection device 60, and the belongings determination unit 91 determines that there are no belongings within the work range. Then, it is determined that the worker who has entered the working range is in a state of not carrying a predetermined belonging. In other words, the rule observance determination unit 32A determines that the worker entered the working range without observing the rules.

According to such a modification, the same effects as those of the first embodiment can be obtained.

In the modified example 1-1, the vehicle body controller 120A executes recognition processing of the worker's belongings based on the image photographed by the photographing device 90. However, the present invention is not limited to this. Not limited. An infrared sensor may be provided in place of the photographing device 90, and the vehicle body controller 120A may execute recognition processing of the worker's belongings based on the detection result of the infrared sensor.

<Modification 1-2>
The rule prohibits intrusion into the work area when the state of one person is the state, and permits intrusion into the work area when the state of two or more people is the state. There may be.

Modification 1-2 of the first embodiment will be described with reference to FIG. FIG. 12 is a functional block diagram relating to movement restriction control by the vehicle body controller 120B in the work machine control system according to Modification 1-2. The rule observance determination unit 32B starts measuring time when the worker detection device 60 detects that one worker (for example, worker J) has entered the working range. The rule observance determination unit 32B detects that another worker (for example, worker K) has entered the work range by the worker detection device 60 before the measurement time t passes a predetermined time threshold t0. is detected.

When the worker detection device 60 detects that another worker (for example, worker K) has entered the work range before the measurement time t passes the time threshold t0, the rule observance determination unit 32B It is determined that there are two or more workers who have entered the working range. In other words, the rule observance determination unit 32B determines that the two workers (for example, workers J and K) have entered the working range in compliance with the rule. The rule observance determination unit 32 enters the work range when the measured time t has passed the time threshold t0 without detecting that another worker has entered the work range by the worker detection device 60. It is determined that the state of the worker is the state of one worker. In other words, the rule observance determination unit 32B determines that the worker (for example, worker J) who has entered the work range has entered the work range without complying with the rules.

Note that when the worker detection device 60 detects that a worker (for example, worker J) has left the working range before the measured time t passes the time threshold t0, the rule observance determination unit 32B , it is determined that the worker (for example, worker J) has entered the working range without observing the rules.

If two workers are intruding into the working range, the restriction degree setting unit 34B selects the lower rule observance degree of the two workers, and based on the selected rule observance degree , to set the degree of restriction of actuator movement.

According to such a modification, the same effects as those of the first embodiment can be obtained.

<Modification 1-3>
The rules described in the first embodiment and modified examples 1-1 and 1-2 may be used in combination. For example, the rule prohibits intrusion into the work area when the work machine is ready to work, or when the worker is not in possession of a predetermined item. Alternatively, the rule may be such that when the work machine is in a work-impossible state and the worker is in possession of an item, the worker is permitted to enter the working range.

<Modification 2>
You may combine the structure demonstrated in 1st Embodiment, and the structure demonstrated in the modification of 2nd Embodiment. That is, in the first embodiment, when the total number of intrusions by persons who have entered the working range is equal to or less than the predetermined number of times N0, the vehicle body controller 120 controls the operation of the actuators with "severe" regardless of the rule compliance level. You may do so.

<Modification 3>
In the second embodiment, as shown in FIG. 6, an example in which the characteristics of the severe threshold value and the moderate threshold value linearly change according to the total number of intrusions has been described, but the present invention is not limited to this. . The severe and moderate threshold characteristics may be curvilinear characteristics.

<Modification 4>
In the above embodiment, an example was described in which the degree of restriction of the actuator is in three stages (“severe”, “medium”, and “light”), but the present invention is not limited to this. The degree of restriction may be two stages, or may be four stages or more.

<Modification 5>
The motion restriction modes described in the first and second embodiments are merely examples, and may be changed according to the type of excavator 100, work motion, and the like. For example, as the operation limiting mode in the first embodiment, the engine speed is reduced, and the operating pressure guided to the pressure receiving portion of the flow control valve corresponding to the actuator (111a, 112a, 113a) of the work device 110 is pilot pressure controlled. By decompressing or shutting off the valve 21, the operation of the working device 110 may be decelerated or stopped. Further, the operation of the hydraulic actuator may be restricted by reducing the discharge capacity (displacement volume) of the hydraulic pump. The operation of the actuator may be limited only by reducing the engine speed, or the operation of the actuator may be limited only by reducing the operating pressure with the pilot pressure control valve 21 .

<Modification 6>
In the above embodiment, an example in which the degree of rule observance is the ratio of the number of appropriate intrusions to the total number of intrusions has been described, but the present invention is not limited to this. The degree of rule observance may be any value that indicates the degree to which the worker adheres to the rule and enters the work area. For example, the rule compliance degree may be a weighted value for a particular worker.

<Modification 7>
In the first embodiment, an example in which the working range of the hydraulic excavator 100 is constant has been described, but the present invention is not limited to this. The working range may be changed according to the posture of the working device 110 . In this case, the detection control device 63 adjusts the intensity of the magnetic field generated by the magnetic field generator 61 so as to form a magnetic field detectable area 69 that includes a working range that changes according to the posture of the work device 110. . Note that the RFID tag 4 and the hydraulic excavator 100 may have a function of acquiring a three-dimensional position calculation value (position information) by GNSS. In this case, the vehicle body controller 120 determines whether the RFID tag 4 exists within the working range of the excavator 100 based on the positional relationship between the RFID tag 4 and the excavator 100 .

<Modification 8>
In the first and second embodiments, an example in which the working machine is the crawler hydraulic excavator 100 was described, and in the third embodiment, an example in which the working machine is the wheel loader 200 was described. It is not limited to this. The work machine may be a wheeled hydraulic excavator, a road machine, a crawler crane, or the like.

<Modification 9>
In the above embodiment, an example in which the wireless terminal carried by the worker is an RFID tag has been described, but the present invention is not limited to this. A smartphone or the like that can acquire a three-dimensional position calculation value (position information) by GNSS and transmit the acquired position information and worker identification information to the work machine may be used.

Although the embodiments of the present invention have been described above, the above embodiments merely show a part of application examples of the present invention, and the technical scope of the present invention is not limited to the specific configurations of the above embodiments. do not have.

1, 1C, 1D... control system, 4, 4B... RFID tag (wireless terminal), 11... main pump, 12... pilot pump, 13... control valve, 14... operation device, 15... operation pressure sensor, 18... gate lock Apparatus 19L, 19R Traveling motor (actuator) 20 Turning motor (actuator) 21 Pilot pressure control valve 25 Gate lock solenoid valve 31 State management section 32, 32A, 32B Rule compliance determination section , 33... Intrusion history storage unit, 34, 34B... Restriction degree setting unit, 35... Output signal generation unit, 60... Worker detection device, 80... Engine, 90... Photographing device, 91... Possession determination unit, 100... Hydraulic pressure Excavator (working machine) 102 Traveling body 103 Revolving body 110 Working device 111a Boom cylinder (actuator) 112a Arm cylinder (actuator) 113a Bucket cylinder (actuator) 120, 120A, 120B Vehicle body controller (control device) 122 Nonvolatile memory 200 Wheel loader (working machine) 202 Traveling device 204 Vehicle body 204A Front vehicle body 204B Rear vehicle body 210 Working device 211a Arm cylinder (actuator) 213a Bucket cylinder (actuator) 216 Steering cylinder (actuator) 220 Vehicle controller (control device) 222 Non-volatile memory 280 Engine 320 Server (control device) , 322 non-volatile memory

Claims (9)

A wireless terminal carried by a person, and control for limiting the operation of the actuator of the working machine when it is detected that the person has entered the working range of the working machine based on a signal transmitted from the wireless terminal. In a control system for a work machine comprising a device,
The control device is
Based on at least one of the state of the work machine and the state of the person, it is determined whether or not the person has entered the work area in compliance with a predetermined rule, and the determination result and identification information of the person. and stored as intrusion history information,
Based on the intrusion history information, calculating a rule compliance degree representing the degree of intrusion into the work area by the person in compliance with the rule;
When the intrusion of the person into the work area is detected, if the degree of rule observance of the person who has entered the work area is high, the degree of restriction on the operation of the actuator is higher than when the degree of rule observance is low. A control system for a working machine, characterized in that the operation of the actuator is controlled so that the The work machine control system according to claim 1,
The control device calculates the ratio of the number of times the person has entered the work area in compliance with the rule to the total number of times the person has entered the work area, as the rule observance degree. A control system for a work machine characterized by computing as In the work machine control system according to claim 2,
The rule prohibits entry into the working range when the work machine is in a workable state, and permits entry into the work range when the work machine is in a work-disabled state. A control system for a work machine characterized by a rule that In the work machine control system according to claim 3,
The working machine is
an operation device for commanding the operation of the actuator;
a lock device capable of switching between a state in which the actuator can be operated by the operating device and a state in which the actuator cannot be operated by the operating device;
The control device determines that the work machine is in a workable state when the lock device enables the actuator to operate, and the lock device disables the actuator to operate. If the work machine is in a state such as
A control system for a working machine characterized by: In the work machine control system according to claim 2,
The control device is
When the person who intrudes into the working range is a person whose total number of intrusions is small, the operation of the actuator is controlled so that the degree of restriction on the operation of the actuator becomes greater than when the person who has intruded a number of times is large. A control system for a working machine characterized by: In the work machine control system according to claim 2,
The control device is
When the person who has intruded into the work area has the total number of intrusions less than or equal to a predetermined number of times, the total number of intrusions is greater than the predetermined number of times and the degree of rule observance is the highest, regardless of the degree of rule observance. A control system for a working machine, characterized in that the operation of the actuator is controlled to the same degree of restriction as when the person is low. The work machine control system according to claim 1,
The rule prohibits intrusion into the working range when the person is in a state of not possessing a predetermined belonging, and the person is in a state of possessing the possession. A control system for a working machine, characterized in that a rule permits an intrusion into the working range when . The work machine control system according to claim 1,
The rule prohibits intrusion into the work area when the state of the person is a state of one person, and prohibits intrusion into the work area when the state of the person is a state of two or more persons. A work machine control system characterized by a rule of permitting. The work machine control system according to claim 1,
A vehicle body control controller mounted on the working machine and a server provided outside the working machine as the control device,
The server collects intrusion history information of the person transmitted from the plurality of work machines,
When the person who has intruded into the work area has a high degree of rule observance obtained from the person's intrusion history information collected by the server, the vehicle body controller determines that the person with a low degree of rule observance can A control system for a work machine, characterized in that the operation of the actuator is controlled so that the degree of restriction of the operation of the actuator is reduced.

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