JP-7857378-B2 - Control method for work vehicles

Inventors

• 段口 将志
• 鈴木 頌梧

Assignees

• ヤンマーホールディングス株式会社

Dates

Publication Date

20260512

Application Date

20241118

Claims (6)

1. The image display area of the work vehicle's display unit displays an image acquired in the area surrounding the corresponding work vehicle, To detect whether or not an obstacle exists in the aforementioned region, In response to the detection of the aforementioned obstacle, at least a portion of the strip-shaped notification information is displayed on the outer edge of the image, and when no obstacle is detected, the notification information is not displayed. The type of obstacle is detected by image recognition processing on the acquired image, A method for controlling a work vehicle , comprising displaying type information indicating the type of obstacle in a notification information display area located outside the image display area of the display unit .
2. The system further includes monitoring the area around the work vehicle using multiple monitoring zones that are divided according to their distance from the work vehicle. A method for controlling a work vehicle according to claim 1, wherein the type information is displayed in a color corresponding to the monitoring area where the obstacle is located.
3. A method for controlling a work vehicle according to claim 1 or 2, wherein, when the type of obstacle detected is a person, the type information indicating that the obstacle is a person is displayed.
4. The method for controlling a work vehicle according to any one of claims 1 to 3, wherein the notification information is displayed on the upper and lower ends of the image display area.
5. The method for controlling a work vehicle according to any one of claims 1 to 4, wherein the notification information is displayed so as to extend from one end to the other of the left and right sides of the image display area.
6. The method for controlling a work vehicle according to any one of claims 1 to 5, wherein the notification information includes dotted line display information.

Description

This invention relates to a control method for work vehicles. Various monitoring systems for monitoring the surroundings of work vehicles such as excavators have been proposed. For example, Patent Document 1 discloses a system that uses a camera to photograph the area around an excavator, displays the acquired image on a display unit, and highlights the area containing people within the image by enclosing it with a frame. Japanese Patent Publication No. 2017-101420 This is a side view showing a schematic configuration of a hydraulic excavator, which is an example of a work vehicle according to one embodiment of the present invention.This is an explanatory diagram showing the main components of the hydraulic excavator described above.This is an explanatory diagram showing an example of each display area on the display screen of the display unit of the hydraulic excavator described above.This is an explanatory diagram showing an example of the display on the above display unit.This is an explanatory diagram showing other examples of each display area in the display screen of the above-mentioned display unit.This is an explanatory diagram showing other display examples for the above-mentioned display unit. Embodiments of the present invention will be described below based on the drawings. [1. Work Vehicles] Figure 1 is a side view showing the schematic configuration of a hydraulic excavator 1, which is an example of a work vehicle in this embodiment. The hydraulic excavator 1 comprises a lower traveling body 2, a work implement 3, and an upper rotating body 4. Here, in Figure 1, directions are defined as follows. First, the direction in which the lower mobile body 2 moves straight is defined as the front-rear direction, with one side being "front" and the other "rear." In Figure 1, as an example, the blade 23 side is shown as "front" relative to the mobile motor 22. Furthermore, the lateral direction perpendicular to the front-rear direction is defined as the left-right direction. In this case, the left side is defined as "left" and the right side as viewed from the operator (driver) seated in the cockpit 41a. Additionally, the direction of gravity perpendicular to both the front-rear and left-right directions is defined as the up-down direction, with the upstream side of the gravity direction being "up" and the downstream side being "down." The lower travel unit 2 is driven by power from the engine 40 to move the hydraulic excavator 1. The lower travel unit 2 comprises a pair of left and right crawlers 21 and a pair of left and right travel motors 22. Each travel motor 22 is a hydraulic motor. The left and right travel motors 22 drive the left and right crawlers 21 respectively, allowing the hydraulic excavator 1 to move forward and backward. The lower travel unit 2 is equipped with a blade 23 for leveling work and a blade cylinder 23a. The blade cylinder 23a is a hydraulic cylinder that rotates the blade 23 vertically. The work machine 3 is powered by the engine 40 and performs excavation work to dig up soil and other materials. The work machine 3 is equipped with a boom 31, an arm 32, and a bucket 33. Excavation work can be performed by independently driving the boom 31, arm 32, and bucket 33. The boom 31 is rotated by the boom cylinder 31a. The boom cylinder 31a's base end is supported at the front of the upper slewing body 4, and it is extendable and retractable. The arm 32 is rotated by the arm cylinder 32a. The arm cylinder 32a's base end is supported at the tip of the boom 31, and it is extendable and retractable. The bucket 33 is rotated by the bucket cylinder 33a. The bucket cylinder 33a's base end is supported at the tip of the arm 32, and it is extendable and retractable. The boom cylinder 31a, arm cylinder 32a, and bucket cylinder 33a are all hydraulic cylinders. The bucket 33 is a container-shaped member attached to the tip of the work machine 3, equipped with claws for excavation work. The bucket 33 is rotatably attached to the tip of the arm 32 via a pin 34. Furthermore, the bucket 33 is connected to the bucket cylinder 33a via a link mechanism 35. A hook 36 for crane operations is attached to the tip of the arm 32. The hook 36 is a hook-shaped component used for crane operations and is rotatably mounted on the link mechanism 35. Here, crane operation refers to the lifting operation of suspending and raising or lowering an object. The hook 36 is rotatably supported using the axis of the link mechanism 35 as the pivot point, and its position can be changed between an extended state (see Figure 1) where it protrudes from the bucket 33 and a retracted state (not shown) where it is stored inside the bucket 33. For example, when performing excavation work with the bucket 33, the hook 36 is set to the retracted state. On the other hand, when performing crane operations with the hook 36, the hook 36 is set to the extended state. The upper rotating body 4 is configured to rotate relative to the lower t