US 12,331,483 B2
Work machine control system
Ryu Narikawa, Tokyo (JP); Hidekazu Moriki, Tokyo (JP); Shinya Imura, Ibaraki (JP); and Shinjirou Yamamoto, Ibaraki (JP)
Assigned to Hitachi Construction Machinery Co., Ltd., Tokyo (JP)
Appl. No. 18/016,504
Filed by Hitachi Construction Machinery Co., Ltd., Tokyo (JP)
PCT Filed Jul. 26, 2021, PCT No. PCT/JP2021/027587
§ 371(c)(1), (2) Date Jan. 17, 2023,
PCT Pub. No. WO2022/030286, PCT Pub. Date Feb. 10, 2022.
Claims priority of application No. 2020-132824 (JP), filed on Aug. 5, 2020.
Prior Publication US 2023/0295898 A1, Sep. 21, 2023
Int. Cl. E02F 9/20 (2006.01); E02F 9/22 (2006.01); E02F 9/24 (2006.01); E02F 9/26 (2006.01); G06V 20/52 (2022.01); G06V 40/20 (2022.01)
CPC E02F 9/2033 (2013.01) [E02F 9/24 (2013.01); E02F 9/261 (2013.01); G06V 20/52 (2022.01); G06V 40/20 (2022.01); E02F 9/2228 (2013.01); E02F 9/2285 (2013.01); E02F 9/2292 (2013.01); E02F 9/2296 (2013.01)] 8 Claims
OG exemplary drawing
 
1. A work machine control system comprising:
a monitoring apparatus that detects a position of a person in a predetermined area set around a work machine; and
a controller configured to generate a control signal for limiting an action of the work machine on a basis of a positional relation between the work machine and a detected person who is a person detected by the monitoring apparatus, and control the work machine on a basis of the control signal, wherein
the monitoring apparatus further detects an action of the detected person,
the controller is configured to
determine whether the detected person is a cooperating worker or a non-cooperating worker by using information about the action of the detected person detected by the monitoring apparatus,
change an allowable velocity of the work machine at a time of limiting an action of the work machine on a basis of whether the detected person is a cooperating worker or a non-cooperating worker, or on a basis of whether the detected person is a cooperating worker or a non-cooperating worker and of the action of the work machine, wherein
the allowable velocity of the work machine is changed on a basis of a plurality of mathematical relations including a first mathematical relation and a second mathematical relation each of which specifies a correspondence between the allowable velocity of the work machine and the positional relation between the detected person and the work machine,
the second mathematical relation is specified such that the allowable velocity of the work machine is faster than in the first mathematical relation in terms of comparison under a condition where the positional relation between the detected person and the work machine is a same,
the second mathematical relation is specified such that a boundary of a deceleration area where the limiting of the allowable velocity of the work machine begins and a boundary of the stopping area where the allowable velocity of the work machine becomes zero are each closer to the work machine than the first mathematical relation, and wherein the controller is configured to:
decide the allowable velocity of the work machine on a basis of the second mathematical relation when it is determined that there is only the cooperating worker in the predetermined area, and when any one of only front-implement operation, only swing operation, combined operation of front-implement operation and swing operation, and only travel operation is input to an operation device for operating the work machine,
decide the allowable velocity of the work machine on a basis of the first mathematical relation when it is determined that the predetermined area includes the non-cooperating worker, and
decide the allowable velocity of the work machine on a basis of the first mathematical relation when it is determined that there is only the cooperating worker in the predetermined area, and when any one of combined operation of travel operation and swing operation, combined operation of travel operation and front-implement operation, and combined operation of travel operation, swing operation and front-implement operation is input to the operation device.