US-12624526-B2 - Work machine control system, work machine, method of controlling work machine, and work machine control program

Abstract

A work machine control system is provided with an acquisition process unit and a limit process unit. The acquisition process unit acquires a detection result of an object around a machine body of a work machine in a state incapable of operating the work machine. The limit process unit creates a limit state capable of limitedly operating the work machine, when the detection result meets a predetermined condition and then a gate lock lever is so operated as to create a state capable of operating the work machine.

Inventors

• Masashi Danguchi
• Hiroki Kabata
• Naoto Kageyama

Assignees

• Yanmar Holdings Co., Ltd.

Dates

Publication Date

20260512

Application Date

20220927

Priority Date

20210927

Claims (12)

1. 1 . A work machine control system, comprising: an acquisition process unit configured to acquire a detection result of an object in an area around a machine body of a work machine while the work machine is in a first state in which the work machine is incapable of operating; and a limit process unit configured to, while the work machine is in the first state, transition the work machine to a limit state in which the work machine is capable of limitedly operating, wherein the limit process unit transitions the work machine when the detection result meets a predetermined condition and then a gate lock lever is so operated to a position associated with a second state in which the work machine is capable of operating, wherein the predetermined condition includes the object being present in the area.
2. 2 . The work machine control system according to claim 1 , wherein, in the limit state, the work machine is configured to be operated in a state where a motion mode of the work machine is limited.
3. 3 . The work machine control system according to claim 2 , wherein, in the limit state, at least a motion speed of the work machine is limited.
4. 4 . The work machine control system according to claim 3 , wherein at least one of flowrate of a hydraulic pump that supplies a hydraulic oil, a speed of an engine that drives the hydraulic pump, or a pilot pressure is configured to be controlled to limit the motion speed.
5. 5 . The work machine control system according to claim 1 , wherein, when at least one of a detection item related to the detection result or an operation item related to an operation state of the work machine meets a cancelation condition in the limit state, the limit state is ended.
6. 6 . The work machine control system according to claim 1 , wherein the limit state ends when an allowable time has elapsed.
7. 7 . The work machine control system according to claim 1 , wherein, after the limit state ends, a process transitions to the first state.
8. 8 . The work machine control system according to claim 1 , wherein the limit state comprises: operating the work machine within a pre-determined time; operating the work machine within a pre-determined distance; limiting a motion or speed of the work machine; limiting an operation target of the work machine; inhibiting one or more operations of the work machine; or a combination thereof.
9. 9 . A work machine, comprising: the work machine control system according to claim 1 ; and the machine body.
10. 10 . A method of controlling a work machine, comprising: acquiring a detection result of an object in an area around a machine body of a work machine while the work machine is in the first state in which the work machine is in a state incapable of operating; and creating a limit state, while the work machine is in the first state, configured to transition the work machine to a limit state in which the work machine is capable of limitedly operating wherein the limit process unit transitions the work machine when the detection result meets a predetermined condition and then a gate lock lever is so operated to a position associated with a second state in which the work machine is capable of operating, wherein the predetermined condition includes the object being present in the area.
11. 11 . A non-transitory, computer readable medium storing a work machine control program, which when executed by one or more processors, causes the one or more processors to perform operations including: acquiring a detection result of an object in an area around a machine body of a work machine while the work machine is in the first state in which the work machine is incapable of operating; and creating while the work machine is in the first state, configured to transition the work machine to a limit state capable of limitedly operating, wherein the limit process unit transitions the work machine when the detection result meets a predetermined condition and then a gate lock lever is so operated to a position associated with a second state in which the work machine is capable of operating the work machine, wherein the predetermined condition includes the object being present in the area.
12. 12 . The method according to claim 10 , wherein the limit state comprises: operating the work machine within a pre-determined time; operating the work machine within a pre-determined distance; limiting a motion or speed of the work machine; limiting an operation target of the work machine; inhibiting one or more operations of the work machine; or a combination thereof.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS This application claims priority under 35 U.S.C. § 119 to JP Application No. 2021-156455 filed Sep. 27, 2021, the entire contents of which are hereby incorporated by reference. TECHNICAL FIELD The present invention relates to a work machine control system, a work machine, a method of controlling the work machine, and a work machine control program, which are used for a work machine capable of detecting an object around a machine body. BACKGROUND ART As a related technology, a work machine control system (controller) for controlling a work machine (hydraulic excavator) is known (see, for example, Patent Document 1). The work machine control system according to the related technology has a target detection function that limits a motion of the work machine based on a result of detection at an ambient monitoring device for detecting whether or not a to-be-recognized target is present within a set area set around the work machine. That is, the work machine control system limits the motion of the work machine when the target detection function detects the target present around the work machine. Then, the work machine control system according to the related technology, with a lock portion (lock lever) switched to a locked state, switches the target detection function to the non-execution setting. When the target detection function is being set to the non-execution, if the lock is switched to the unlocked state and an operation signal from an operation device (operation lever) is detected, the work machine control system switches the target detection function to the execution setting. PRIOR ART DOCUMENT Patent Document Patent Document 1: Japanese Unexamined Patent Application Publication No. 2021-014737 SUMMARY OF INVENTION Technical Problem In the above related technology, when the lock portion (lock lever) is switched to the unlocked state and the operation device is further operated, a human operator must carefully operate the operation device so as to prevent the work machine from vigorously operating suddenly, for example. An object of the present invention is to provide a work machine control system, a work machine, a method of controlling the work machine, and a work machine control program which easily decrease a burden on a human operator related to an operation. Solution to Problem A work machine control system according to one aspect of the present invention includes: an acquisition process unit; and a limit process unit. The acquisition process unit acquires a detection result of an object around a machine body of a work machine in a state incapable of operating the work machine. The limit process unit creates a limit state capable of limitedly operating the work machine, when the detection result meets a predetermined condition and then a gate lock lever is so operated as to create a state capable of operating the work machine. A work machine according to the one aspect of the present invention includes: the work machine control system; and the machine body. A method of controlling a work machine according to the one aspect of the present invention includes: acquiring a detection result of an object around a machine body of a work machine in a state incapable of operating the work machine; and creating a limit state capable of limitedly operating the work machine, when the detection result meets a predetermined condition and then a gate lock lever is so operated as to create a state capable of operating the work machine. A work machine control program according to the one aspect of the present invention is a program for causing one or more processors to execute the method of controlling the work machine. Advantageous Effects of Invention According to the present invention, it is possible to provide a work machine control system, a work machine, a method of controlling the work machine, and a work machine control program that can easily decrease a burden on a human operator related to an operation. BRIEF DESCRIPTION OF DRAWINGS FIG. 1 is a schematic perspective view showing an overall configuration of a work machine according to a first embodiment. FIG. 2 is a schematic perspective view showing a hydraulic circuit and the like of the work machine according to the first embodiment. FIG. 3 is a schematic plan view of the work machine according to the first embodiment, viewed from above, schematically showing a monitor area and the like set up around the work machine. FIG. 4 is a schematic external view of a display unit on which a display screen is displayed by a work machine control system according to the first embodiment. FIG. 5 is a diagram showing a schematic motion of the work machine control system according to the first embodiment. FIG. 6 shows an example of the display screen displayed by the work machine control system according to the first embodiment. FIG. 7 is a flowchart showing a motion example of the work machine control system according to the first