Working machinery and control systems thereof

Abstract

Provided are a work machine and a control system for the work machine, which can prevent a decrease in construction efficiency associated with complex work area input. The system comprises a work area setting device (501), a work machine position and posture acquisition device (502), a work device position and posture acquisition device (503), a controller (500), and a designated area setting device (504). When a hydraulic excavator, i.e., a work machine (1) is included in a designated area (401), the controller (500) sets the action restriction control in the work area (111) to an effective state or an ineffective state according to the effective or ineffective setting of the action restriction control based on the designated area (401) set by the designated area setting device (504).

Description

Technical Field

[0001] The present invention relates to a working machine and a control system for the working machine. Background Art

[0002] In order to improve work efficiency or enhance safety, work machines such as hydraulic excavators have been proposed in which actuator operations are restricted within a designated space (hereinafter referred to as a work area) within a work site.

[0003] For example, in the rotating working machines described in Patent Documents 1 and 2, the current posture of the working machine is calculated, and if any of the structures of the working device, such as the boom, arm, and bucket, is likely to intrude outside a predetermined arbitrary range, the rotational motion is stopped and controlled.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Laid-Open No. 2011-52383

[0007] Patent Document 2: Japanese Patent Application Laid-Open No. 2013-159421 Summary of the Invention

[0008] Problems to be solved by the invention

[0009] However, both Patent Documents 1 and 2 assume only a simple surface and range of motion for the work machine. This reduces construction efficiency when setting the work area and validating and invalidating the work area at a work site requiring a complex work area. Specifically, prolonged input of the work area and setting the valid and invalid work area within the work area may result in obstruction of the travel routes of other work machines and work interruption.

[0010] The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to provide a working machine and a control system for the working machine that can prevent a decrease in construction efficiency associated with complex work area input.

[0011] Solutions to Problems

[0012] In order to solve the above-mentioned problems, the working machine of the present invention comprises: a working area setting device, which sets the working area for performing motion restriction control of the working machine; an acquisition device, which acquires at least one of the position and posture of the working machine; a controller, which switches between a valid state in which the motion restriction control of the working machine in the working area is valid and an invalid state in which the motion restriction control of the working machine in the working area is invalid, and when the motion restriction control is switched to valid, the motion restriction control of the working machine in the working area is performed; and a designated area setting device, which sets any designated area within the working site and the validity or invalidity of the motion restriction control in the working area based on the designated area, and when the working machine is included in the designated area, the controller makes the motion restriction control in the working area valid or invalid according to the valid or invalid setting of the motion restriction control based on the designated area set by the designated area setting device.

[0013] Effects of the Invention

[0014] According to the present invention, the work area can be set regardless of whether it is inside or outside the work area, and a work machine in the work area can be prevented from being stopped, thereby improving construction efficiency.

[0015] Other problems, structures, and effects than those described above will become clear from the following description of the embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a perspective view showing an example of a working machine according to the first embodiment of the present invention.

[0017] Figure 2 This is a circuit diagram showing an example of a hydraulic circuit of a working machine according to the first embodiment of the present invention.

[0018] Figure 3 This is a plan view showing an example of a work area, a designated area, and a work machine according to the first embodiment of the present invention.

[0019] Figure 4 This is a system configuration diagram of Example 1 of the present invention.

[0020] Figure 5 This is a flowchart of the operation area validity determination according to the first embodiment of the present invention.

[0021] Figure 6 This is a flowchart of the work area motion control according to the first embodiment of the present invention.

[0022] Figure 7 This is a system structure diagram of Example 2 of the present invention.

[0023] Figure 8 This is a flowchart of the operation area validity determination according to the second embodiment of the present invention.

[0024] Figure 9 This is a plan view showing an example of a work area, a designated area, and a work machine according to a second embodiment of the present invention.

[0025] Figure 10 This is a flowchart of the operation area validity determination according to the third embodiment of the present invention.

[0026] Figure 11 This is a plan view showing an example of a work area, a designated area, and a work machine according to a third embodiment of the present invention.

[0027] Figure 12 This is a system structure diagram of Example 4 of the present invention.

[0028] Figure 13 This is a flowchart of the operation area validity determination according to the fourth embodiment of the present invention.

[0029] Figure 14 This is a plan view showing an example of a work area, a designated area, and a work machine according to a fourth embodiment of the present invention.

[0030] Figure 15 It is a perspective view showing an example of a working machine according to a fifth embodiment of the present invention.

[0031] Figure 16 This is a diagram showing an example of a display screen of a display device according to a fifth embodiment of the present invention. DETAILED DESCRIPTION

[0032] The following describes an embodiment of the present invention using the accompanying drawings. In the various figures, parts having the same function are sometimes labeled with the same reference numerals and repeated descriptions are omitted. Below, a hydraulic excavator is used as an example of a working machine as an embodiment of the present invention. Furthermore, the working machine to which the present invention can be applied may also be a working machine having a working device and a moving device other than a hydraulic excavator, such as a wheel loader, a road roller, a dump truck, a bulldozer, etc., and the method is not limited thereto.

[0033] [Example 1]

[0034] (Overall structure)

[0035] Figure 1 It is a perspective view of a hydraulic excavator as an example of a working machine equipped with the control system according to the first embodiment of the present invention.

[0036] The hydraulic excavator 1 includes a lower traveling structure 1C, an upper revolving structure 1B rotatably mounted on the lower traveling structure 1C via a revolving device 4, and a working device 1A mounted on the upper revolving structure 1B for performing excavation, loading, and other operations. In this embodiment, the lower traveling structure 1C and the upper revolving structure 1B constitute a moving device 1D (hereinafter also referred to as a vehicle body) that performs traveling and revolving operations.

[0037] The working device 1A includes: a boom 8 rotatably mounted on the upper rotating body 1B; an arm 9 rotatably mounted on the boom 8; a bucket 10 rotatably mounted on the arm 9; a bucket link 13 rotatably mounted on the bucket 10 and the arm 9; a boom hydraulic cylinder 5 connected to the boom 8 and the upper rotating body 1B and capable of arbitrarily changing the rotation angle of the boom 8 and the upper rotating body 1B; an arm hydraulic cylinder 6 connected to the boom 8 and the arm 9 and capable of arbitrarily changing the rotation angle of the boom 8 and the arm 9; and a bucket hydraulic cylinder 7 connected to the arm 9 and the bucket link 13 and capable of arbitrarily changing the rotation angle of the arm 9 and the bucket 10.

[0038] The lower traveling structure 1C is driven by a travel motor 3, enabling the vehicle to be moved to any position. The slewing mechanism 4 comprises a slewing motor 11, which arbitrarily changes the rotation angle (i.e., the slewing angle) of the lower traveling structure 1C and the upper slewing structure 1B. Hereinafter, the boom cylinder 5, arm cylinder 6, and bucket cylinder 7 for driving the working mechanism 1A, the travel motor 3 for traveling, and the slewing motor 11 for slewing are referred to as actuators of the hydraulic excavator 1.

[0039] In the upper rotating body 1B, an oil tank 14 ( Figure 2 ), variable pump 15, engine (prime mover) 16, flow control valve (unit) 17, interface 18, controller 500, etc. Although not shown in the figure, controller 500 is configured as a computer that includes a CPU (Central Processing Unit) that performs various calculations, a ROM (Read Only Memory) that stores programs used to execute the CPU's calculations, a storage device such as an HDD (Hard Disk Drive), and a RAM (Random Access Memory) that serves as a work area for the CPU to execute programs. The various functions of controller 500 are implemented by the CPU loading various programs stored in the storage device into the RAM and executing them.

[0040] The interface 18 is used to input the work area, designated area, and the validity and invalidation of the work area based on the designated area (described later). Furthermore, the setting of the work area, designated area, etc. is not limited to the operator; it can also be performed by nearby staff, etc., and the input method is not limited. Furthermore, in this embodiment, the work area, designated area, etc. are input and set via the interface 18 provided on the upper slewing body 1B (e.g., the cab). The work area, designated area, etc. can also be input and set from outside the vehicle body, for example, via a server.

[0041] That is, the interface 18 constitutes the operation area setting device 501 for inputting the setting of the operation area and the designated area setting device 504 for inputting the setting of the designated area and the validity and invalidity of the operation area based on the designated area in the present control system. Figure 4 ).

[0042] As sensors, the hydraulic excavator 1 includes IMUs 51a, 51b, and 51c (hereinafter collectively referred to as the work machine IMU 51) mounted on the boom 8, arm 9, and bucket 10 to measure the ground angles of the link joints; an upper slewing body IMU 53 mounted on the upper slewing body 1B to measure the ground angles of the upper slewing body 1B; and a GNSS 52 to measure the global coordinates of the upper slewing body 1B. The position and posture of the vehicle body can be calculated based on the measurement results of the GNSS 52 and the upper slewing body IMU 53. The position and posture of the work mechanism 1A can be calculated based on the measurement results of the work machine IMU 51 (51a, 51b, 51c). While the IMU is used as an example for acquiring position and posture in this embodiment, any method for acquiring position displacement using an acquisition device can be used, as long as it can detect and calculate position and posture, such as a rotation sensor, potentiometer, camera, GNSS, or total station. Furthermore, the hydraulic excavator 1 may acquire the position and posture as output from a detection device (a camera or the like) provided outside the vehicle body, for example, via a server.

[0043] That is, the GNSS 52 and the upper rotary body IMU 53 constitute the working machine position and posture acquisition device 502 for acquiring the position and posture of the vehicle body in this control system, and the working machine IMU 51 constitutes the working device position and posture acquisition device 503 for acquiring the position and posture of the working device 1A in this control system ( Figure 4 ).

[0044] The hydraulic circuit constituting the hydraulic excavator 1 will be described. Figure 2 An example of a hydraulic circuit of the hydraulic excavator 1 is shown.

[0045] The hydraulic circuit includes: an engine 16 for generating power; an oil tank 14 positioned at an arbitrary position on the upper slewing structure 1B; a variable pump 15 connected to the engine 16 to convert the hydraulic oil in the oil tank 14 into hydraulic oil of a desired pressure or flow rate using the power of the engine 16; a flow control valve 17 connected to the variable pump 15, actuators 12 such as the boom cylinder 5, arm cylinder 6, bucket cylinder 7, slewing motor 11, and travel motor 3, and a controller 500 to enable delivery of a desired flow rate of the hydraulic oil discharged from the variable pump 15 to the actuators 12; and the controller 500 for controlling the flow rate of the flow control valve 17. The controller 500 can limit the operating speed of the actuators 12, thereby limiting the operating speed (deceleration or stopping) of the working mechanism 1A and the moving mechanism 1D, by outputting a control command to control the flow rate delivered from the flow control valve 17 to the actuators 12.

[0046] It should be noted that the engine 16 is an example of a power generating device, and any form of engine, electric motor, etc., is acceptable as long as it can generate power. Furthermore, the flow control valve 17 can be any valve capable of controlling the flow rate, and may be an indirect control method such as using a solenoid valve to control the pilot pressure of a hydraulic pilot valve, or a direct control method such as using a solenoid valve.

[0047] Figure 3 This is a plan view showing an example of a work area, a designated area, and a work machine according to the first embodiment of the present invention.

[0048] The working area 111 includes a deceleration area 111a for limiting the speed of one or both of the working device 1A and the moving device 1D of the hydraulic excavator 1, a stop area 111b for stopping the movement of one or both of the working device 1A and the moving device 1D, and a non-restricted area 111c where the speed and movement of the working device 1A and the moving device 1D are not restricted.

[0049] The working area 111 is not limited in form as long as it is an area that imposes arbitrary rules on the actuator operation. In addition to the state of the first embodiment, it can also be a state where the operation of a specific actuator is prohibited, or the working machine is controlled to follow a specific posture.

[0050] Furthermore, the deceleration area 111 a , the stop area 111 b , and the non-restricted area 111 c of the work area 111 are not limited in their three-dimensional shape or number of divisions as long as they are included in the work area 111 .

[0051] In addition, in this control system, it is possible to switch between the "valid state of the working area 111" in which the motion restriction control of the working device 1A and the mobile device 1D in the working area 111 (111a, 111b, 111c) is valid, and the "invalid state of the working area 111" (described later) in which the motion restriction control of the working device 1A and the mobile device 1D in the working area 111 (111a, 111b, 111c) is invalid.

[0052] The designated area 401 is an arbitrary space within the work site and is used to set the validity and invalidity of the work area 111 (that is, the validity and invalidity of the motion restriction control within the work area 111). The designated area 401 may be included inside the work area 111 ( Figure 3 ) and may also be included outside the working area 111.

[0053] (System Structure)

[0054] Figure 4 It is a system structure diagram of this embodiment.

[0055] The control system of this embodiment comprises: a work area setting device 501, which can set the work area 111 to any three-dimensional or two-dimensional shape input through the interface 18; a work machine position and posture acquisition device 502, which measures and calculates the position and posture of the vehicle body of the hydraulic excavator (work machine) 1 through the GNSS52 and the upper rotating body IMU53; a work device position and posture acquisition device 503, which measures and calculates the position and posture of the work device 1A through the work machine IMU51; a designated area setting device 504, which can set the designated area 401 to any three-dimensional or two-dimensional shape input through the interface 18; and a controller 500, which performs calculations.

[0056] The controller 500 has: an operation area recording unit 505, which records the operation area 111 set by the operation area setting device 501; a designated area recording unit 512, which records the validity and invalidity of the designated area 401 and the operation area 111 based on the designated area 401 set by the designated area setting device 504; an operation machine position and posture calculation unit 509, which calculates the position and posture data obtained by the operation machine position and posture acquisition device 502, and calculates it into a shape of data suitable for the operation area action control unit 511 and the operation area validity and invalidity judgment unit 506, such as coordinate transformation; an operation device position and posture calculation unit 510, which calculates the position and posture data obtained by the operation device position and posture acquisition device 503, and calculates it into a shape of data suitable for the operation area action control unit 511 and the operation area validity and invalidity judgment unit 506. The shape of the data of the area validity determination unit 506, such as coordinate transformation, etc.; the working area validity determination unit 506, which determines the validity or invalidity of the working area 111 based on the posture calculated by the working machine position and posture calculation unit 509 and the working device position and posture calculation unit 510 and the information of the designated area 401 recorded in the designated area recording unit 512; and the working area action control unit 511, which determines the action of the working device 1A and the moving device 1D of the hydraulic excavator 1 in the working area 111 based on the information of the working area 111 recorded in the working area recording unit 505, the posture of the vehicle body calculated by the working machine position and posture calculation unit 509, the posture of the device 1A calculated by the working device position and posture calculation unit 510, and the validity judgment value output by the working area validity determination unit 506.

[0057] In the controller 500, the working area validity determination unit 506 repeatedly determines whether the position of the hydraulic excavator 1 is included in the designated area 401. When the position of the hydraulic excavator 1 is included in the designated area 401, the validity determination value that makes the working area 111 valid or invalid is output to the working area action control unit 511 according to the validity and invalidity of the working area 111 based on the designated area 401 recorded in the designated area recording unit 512 (consistent with the validity and invalidity of the working area 111 based on the designated area 401).

[0058] The work area operation control unit 511 determines whether the position of the hydraulic excavator 1 is within the work area 111 (deceleration area 111a, stop area 111b, and unrestricted area 111c). If the position of the hydraulic excavator 1 is within the work area 111 (deceleration area 111a, stop area 111b, and unrestricted area 111c), the control unit 511 outputs a control command to perform motion restriction control on the working device 1A and the movable device 1D of the hydraulic excavator 1. At this time, the work area operation control unit 511 sets the work area 111 to an active or inactive state (switches it) based on the active / inactive determination value (active / inactive of the work area 111) output from the work area active / inactive determination unit 506. When the work area 111 is active, the control unit 511 outputs a control command to perform the aforementioned motion restriction control on the working device 1A and the movable device 1D of the hydraulic excavator 1.

[0059] (action)

[0060] Figure 5 The flow of the operation state of the operation control within the work area 111 based on the designated area 401 is shown.

[0061] First, an operator or the like sets the shape (spatial information) of the designated area 401 and the validity or invalidity of the work area 111 in the designated area setting device 504 via the interface 18 (S001). The shape of the designated area 401 and the validity or invalidity of the work area 111 set by the designated area setting device 504 are recorded in the designated area recording unit 512 (S002). The work area validity / invalidity determination unit 506 repeatedly determines whether the hydraulic excavator 1 is within the designated area 401 using the designated area 401 recorded in the designated area recording unit 512 and the vehicle body posture calculated by the work machine position and posture calculation unit 509 (S003). If the hydraulic excavator 1 is within the designated area 401 in S003 (S003: Yes), the work area validity / invalidity setting recorded in the designated area recording unit 512 is determined (S006). If the operation area validity setting is valid in S006 (S006: Yes), the validity judgment value (S004) for making the operation area 111 valid is output; if the operation area validity setting is invalid in S006 (S006: No), the validity judgment value (S005) for making the operation area invalid is output.

[0062] Figure 6 The flow of motion control within the work area 111 is shown.

[0063] In the work area operation control unit 511, first, based on the validity determination value ( Figure 5Flow) determines whether the working area 111 is valid or invalid (S101). If the working area 111 is valid in S101 (S101: Yes), it is determined whether the working device 1A or the mobile device 1D is in the stop area 111b (S102). If the working device 1A or the mobile device 1D is in the stop area 111b in S102 (S102: Yes), a control instruction to stop the working device 1A and the mobile device 1D is output (S103). On the other hand, if the working device 1A or the mobile device 1D is outside the stop area 111b in S102 (S102: No), it is determined whether the working device 1A or the mobile device 1D is in the deceleration area 111a (S104). If the working device 1A or the mobile device 1D is in the deceleration area 111a in S104 (S104: Yes), a control instruction to perform deceleration control on the working device 1A and the mobile device 1D is output (S105). On the other hand, when the working device 1A or the mobile device 1D is outside the deceleration area 111a in S104 (S104: No), the process returns to the determination in S102 and the process is repeated.

[0064] Furthermore, while deceleration and stopping are shown as an example of motion control within the work area 111, any content is not limited as long as it is motion control according to specific rules, such as stopping a specific actuator within the work area 111 or restricting a specific posture. Therefore, in one example, the stop area and deceleration area shown as fixed areas may also be variable depending on the current state of the work machine.

[0065] In addition, in this embodiment, based on the information output from the work area setting device 501, the work machine position and posture acquisition device 502, the work device position and posture acquisition device 503, and the designated area setting device 504, the controller 500 mounted on the hydraulic excavator (work machine) 1 makes a validity judgment on the work area 111 and calculates the control instructions for the work device 1A and the mobile device 1D, but the validity judgment and control instruction calculation can also be made by the server (controller set on the server) and sent to the hydraulic excavator 1.

[0066] (Effects of Example 1)

[0067] As described above, in this embodiment 1, the working machine includes: a working area setting device 501, which sets the working area 111 in which the motion restriction control of the hydraulic excavator (working machine) 1 is performed; an acquisition device (a working machine position and posture acquisition device 502, a working device position and posture acquisition device 503) which acquires at least one of the position and posture of the hydraulic excavator (working machine) 1; a controller 500, which switches between a valid state in which the motion restriction control of the hydraulic excavator (working machine) 1 in the working area 111 is valid and an invalid state in which the motion restriction control of the hydraulic excavator (working machine) 1 in the working area 111 is invalid, and when the motion restriction control is switched to valid, the motion restriction control of the hydraulic excavator (working machine) 1 in the working area 111 is performed; and a designated area setting device 504, which sets an arbitrary designated area 401 in the working site, and the validity or invalidity of the motion restriction control in the working area 111 based on the designated area 401. When the hydraulic excavator (working machine) 1 is included in the designated area 401, the controller 500 makes the action restriction control in the working area 111 valid or invalid according to the valid or invalid setting of the action restriction control based on the designated area 401 set by the designated area setting device 504.

[0068] As a specific example of the operation of a hydraulic excavator (work machine) 1, an operator sets a "designated area 401" representing any space at the work site, "whether designated area 401 validates or invalidates work area 111," and "work area 111" (designated area setting device 504, work area setting device 501) at any location. After setting, the operator moves the hydraulic excavator 1 at an appropriate time. When the hydraulic excavator 1 enters designated area 401, this control system validates or invalidates work area 111 according to the pre-set settings (work area validation / invalidation determination unit 506 and work area operation control unit 511 of the controller 500).

[0069] According to the present embodiment 1, an arbitrary designated area 401 for switching between valid and invalid within the working area 111 is further provided. When setting the working area 111, the working area 111 can be set at any position regardless of whether it is inside or outside the working area 111, thereby preventing the hydraulic excavator 1 from being stopped within the working area 111 and improving construction efficiency.

[0070] [Example 2]

[0071] (System Structure)

[0072] Figure 7 A diagram showing the system configuration of this embodiment.

[0073] In addition to the configuration of Example 1, the control system of this embodiment further includes a designated area semi-automatic setting device 601, which determines whether the operator uses the work area 111 within the designated area 401 (in other words, whether the designated area 401 is set to coincide with the work area 111). Designated area semi-automatic setting device 601 can be located within interface 18 or external to interface 18. Furthermore, the setting is not limited to the operator; it can also be input by nearby staff, etc., and the input method is not limited. Furthermore, the input and setting can also be performed from outside the vehicle, for example, via a server.

[0074] In addition, in addition to the structure of Example 1, the controller 500 also has a designated area semi-automatic calculation unit 602, which uses the spatial information (coordinate points and shape) of the working area 111 set by the working area setting device 501, the spatial information (coordinate points and shape) of the designated area 401 set by the designated area setting device 504, and whether to use the information of the working area 111 set by the designated area semi-automatic setting device 601 to calculate the designated area 401.

[0075] The designated area semi-automatic calculation unit 602 primarily determines whether area setting has been performed by the designated area semi-automatic setting device 601 (for designated area setting using the work area). If area setting has been performed, the designated area 401 is set based on the shape of the work area 111 set by the work area setting device 501 (here, the shape of the work area 111 is identical). If area setting has not been performed, the designated area semi-automatic calculation unit 602 sets the designated area 401 based on the shape of the designated area 401 set by the designated area setting device 504.

[0076] (action)

[0077] Figure 8 The flow of the operational state of the validity determination of the motion control within the work area 111 by the designated area 401 in this embodiment is shown.

[0078] In the designated area semi-automatic calculation unit 602, the operator first determines whether the designated area semi-automatic setting device 601 has set the area (S011). If the designated area has been set in S011 (S011: Yes), the operator determines whether the work area 111 has been set by the work area setting device 501 (S012). If the work area 111 has been set in S012 (S012: Yes), the operator records the work area 111 as the designated area 401 (S013) in the designated area recording unit 512 (S002). If the designated area has not been set in S011 (S011: No) or if the work area 111 has not been set in S012 (S012: No), the operator determines whether the designated area 401 has been set by the designated area setting device 504 (S001). If the designated area 401 has been set in S001 (S001: Yes), the area set by the designated area setting device 504 is recorded as the designated area 401 in the designated area recording unit 512 (S002). If the designated area 401 has not been set in S001 (S001: No), the process returns to the determination in S011. The operation after S002 is the same as that in Example 1 (see Figure 5 ).

[0079] The motion control in the working area 111 is the same as that in the first embodiment (see Figure 6 ).

[0080] Figure 9 Indicates Figure 3 In the example in which this embodiment is applied, the designated area 401 is the same as the work area 111.

[0081] (Effects of Example 2)

[0082] As described above, in the second embodiment, the designated area semi-automatic setting device 601 is provided for setting the designated area 401 in accordance with the shape of the work area 111 (here, to match the shape of the work area 111 ).

[0083] According to the second embodiment, in addition to the effects of the first embodiment, when setting the designated area 401 so that the work area 111 coincides with the designated area 401 , the designated area 401 can be easily set, which can reduce the operator's trouble in setting the designated area 401 .

[0084] [Example 3]

[0085] (System Structure)

[0086] The control system of this embodiment is the same as that of Embodiment 2. However, the designated area semi-automatic calculation unit 602 primarily determines whether an area setting has been performed by the designated area semi-automatic setting device 601. If an area setting has been performed, the designated area 401 is set based on the shape of the work area 111 set by the work area setting device 501 (here, in a shape that is exclusive to the shape of the work area 111). It should be noted that this exclusive relationship means that, for example, if a hydraulic excavator 1 within the work area 111 completes work within the work area 111 and exits the work area 111, it is prevented from re-entering the work area 111. By setting the designated area 401 outside the work area 111, the hydraulic excavator 1 outside the work area 111 enters the designated area 401, thereby activating the motion restriction control and preventing it from entering the work area 111.

[0087] (action)

[0088] Figure 10 The flow of the operational state of the validity determination of the motion control within the work area 111 by the designated area 401 in this embodiment is shown.

[0089] Instead of S013 of Example 2, when the work area 111 has been set in S012 (S012: Yes), the area having an exclusive relationship with the work area 111 is set as the designated area 401 (S014) and recorded in the designated area recording unit 512 (S002).

[0090] Figure 11 Indicates Figure 3 This embodiment is applied in an example in which the designated area 401 and the work area 111 are in an exclusive relationship (that is, an example in which the designated area 401 is set outside the work area 111).

[0091] (Effects of Example 3)

[0092] As described above, in the third embodiment, the designated area semi-automatic setting device 601 is provided for setting the designated area 401 according to the shape of the work area 111 (here, a shape that is exclusive to the shape of the work area 111 ).

[0093] According to the third embodiment, in addition to the effects of the first embodiment, when setting the designated area 401 having an exclusive relationship with the work area 111 having a complex shape, the designated area 401 can be easily set, which can reduce the operator's trouble in setting the designated area 401.

[0094] [Example 4]

[0095] (System Structure)

[0096] Figure 12 A diagram showing the system configuration of this embodiment.

[0097] In addition to the configuration of Example 1, the control system of this embodiment further includes a designated area semi-automatic setting device 701, which determines whether the operator should cause the actuator operation within the work area 111 determined by the work area operation control unit 511 to be reflected in the designated area 401 (in other words, whether the designated area 401 should be set to coincide with the unrestricted area 111c within the work area 111). The designated area semi-automatic setting device 701 can be located within or outside the interface 18. Furthermore, the setting is not limited to the operator but can also be performed by nearby staff, etc., and the input method is not limited. Furthermore, the input and setting can also be performed from outside the vehicle, for example, via a server.

[0098] In addition, in addition to the structure of Example 1, the controller 500 also has a designated area semi-automatic calculation unit 702, which uses the actuator action in the working area 111 determined by the working area action control unit 511, the spatial information of the working area 111 set by the working area setting device 501, the spatial information of the designated area 401 set by the designated area setting device 504, and the information set by the designated area semi-automatic setting device 701 on whether the actuator action in the working area 111 determined in the working area action control unit 511 is reflected to calculate the designated area 401.

[0099] The designated area semi-automatic calculation unit 702 mainly determines whether the area setting (designated area setting for reflecting the actuator action within the working area 111) has been performed by the designated area semi-automatic setting device 701. When the area setting is performed, the designated area 401 is set according to the action control content within the working area 111 (here, in a manner consistent with the shape of the non-restricted area 111c within the working area 111).

[0100] (action)

[0101] Figure 13 The flow of the operational state of the validity determination of the motion control within the work area 111 by the designated area 401 in the fourth embodiment is shown.

[0102] Instead of S013 of Example 2, when the work area 111 has been set in S012 (S012: Yes), the non-restricted area 111c in the work area 111 is recorded as the designated area 401 (S015) in the designated area recording unit 512 (S002).

[0103] Figure 14 Indicates Figure 3In the case where this embodiment is applied, the designated area 111 becomes (coincides with) an example of a non-restricted area 111 c within the working area 111 .

[0104] (Effects of Example 4)

[0105] As described above, in this embodiment 4, there is a designated area semi-automatic setting device 701 that sets the designated area 401 according to the action control content in the working area 111 (here, in a manner consistent with the shape of the non-restricted area 111c in the working area 111).

[0106] According to this embodiment 4, in addition to the effects of embodiment 1, in a working area 111 having a complex shape, when setting a designated area 401 having the same shape as a non-restricted area 111c that does not restrict the movement of the hydraulic excavator (working machinery) 1, the setting of the designated area 401 can be easily performed, which can reduce the trouble of the operator in setting the designated area 401.

[0107] [Example 5]

[0108] (Overall structure)

[0109] Figure 15 A hydraulic excavator is shown as an example of a working machine to which this embodiment is applied.

[0110] In this embodiment, in addition to the configuration of the first embodiment, the hydraulic excavator 1 includes a display device 20 that displays the work area 111 and the designated area 401. Alternatively, the display device 20 may be provided in a server that controls the hydraulic excavator 1.

[0111] (action)

[0112] Figure 16 An example of a display screen of the display device 20 is shown.

[0113] In the display device 20, the designated area 401, the working area 111, the validity of the working area 111, and the hydraulic excavator (working machinery) 1 are marked on the same screen with a top view or a three-dimensional view, and displayed with different patterns or different colors, so that the designated area 401, the working area 111, and the validity of the working area 111 can be distinguished at a glance.

[0114] (Effects of Example 5)

[0115] As described above, in the fifth embodiment, the display device 20 is provided which simultaneously displays the designated area 401 , the work area 111 , and the valid state or invalid state of the motion restriction control in the work area 111 .

[0116] According to the fifth embodiment, in addition to the effects of the first embodiment, the operator can easily confirm the validity of the designated area 401, the work area 111, and the validity of the work area 111, thereby improving the construction efficiency.

[0117] The present invention is not limited to the above-described embodiment, and includes various modifications. The above-described embodiment is described in detail to facilitate understanding of the present invention, and is not limited to necessarily having all the described configurations.

[0118] In addition, the various functions of the controller of the above-mentioned embodiment can also be implemented by hardware, for example, by designing part or all of them into an integrated circuit. Alternatively, they can be implemented by software by having a processor interpret and execute programs that implement each function. In addition to the storage device within the controller, the information such as the programs, tables, and files that implement each function can also be placed on a recording device such as a hard disk or SSD (Solid State Drive), or a recording medium such as an IC card, SD card, or DVD.

[0119] Explanation of symbols

[0120] 1—Hydraulic excavator (working machine), 1A—working device, 1B—upper rotating body, 1C—lower traveling body, 1D—moving device, 18—interface, 20—display device (Example 5), 51—working machine IMU, 52—GNSS, 53—upper rotating body IMU, 111—working area, 111a—deceleration area, 111b—stop area, 111c—unrestricted area, 401—designated area, 500—controller, 501—working area setting device, 502—working machine position and posture acquisition device, 503—working device Position and posture acquisition device, 504—designated area setting device, 505—operation area recording unit, 506—operation area validity determination unit, 509—operation machinery position and posture calculation unit, 510—operation device position and posture calculation unit, 511—operation area action control unit, 512—designated area recording unit, 601—designated area semi-automatic setting device (Example 2), 602—designated area semi-automatic calculation unit (Example 2), 701—designated area semi-automatic setting device (Example 4), 702—designated area semi-automatic calculation unit (Example 4).

Claims

1. A working machine, characterized in that: have: an operating area setting device for setting an operating area for performing motion restriction control on the operating machine; an acquisition device for acquiring at least one of a position and a posture of the working machine; a controller configured to switch between an effective state in which a motion restriction control of the working machine within the working area is effective and an ineffective state in which the motion restriction control of the working machine within the working area is ineffective, and to perform the motion restriction control of the working machine within the working area when the motion restriction control is switched to effective; as well as A designated area setting device is composed of an interface, and is configured to set an arbitrary designated area within the work site and a relationship between whether the position of the work machine is included in the designated area and the validity or invalidity of the action restriction control within the work area based on input to the interface. When the working machine moves and the position of the working machine is included in the designated area, the controller makes the action restriction control in the working area valid or invalid according to the relationship between whether the position of the working machine is included in the designated area and the validity or invalidity of the action restriction control set by the designated area setting device.

2. The working machine according to claim 1, characterized in that: A designated area semi-automatic setting device is provided, which sets the designated area according to the shape of the work area.

3. The working machine according to claim 1, characterized in that: A designated area semi-automatic setting device is provided, which sets the designated area to coincide with the working area or outside the working area.

4. The working machine according to claim 1, wherein: A designated area semi-automatic setting device is provided, which sets the designated area according to the motion control content in the working area.

5. The working machine according to claim 1, characterized in that: A display device is provided, which simultaneously displays the designated area, the work area, and the valid state or invalid state of the motion restriction control in the work area.

6. A control system for an operating machine, comprising: a work area setting device for setting a work area for controlling the operation of the work machine; and an acquisition device for acquiring at least one of a position and a posture of the working machine, The control system of the working machine switches between an effective state in which the motion restriction control of the working machine in the working area is effective and an invalid state in which the motion restriction control of the working machine in the working area is invalid. When the motion restriction control is switched to effective, the motion restriction control of the working machine in the working area is performed. The control system of the working machine is characterized in that: The device further comprises a designated area setting device, which is composed of an interface and sets an arbitrary designated area within the work site and a relationship between whether the position of the work machine is included in the designated area and the validity or invalidity of the action restriction control in the work area based on input to the interface. When the working machine moves and the position of the working machine is included in the designated area, the control system of the working machine makes the action restriction control in the working area valid or invalid according to the relationship between whether the position of the working machine is included in the designated area and the validity or invalidity of the action restriction control set by the designated area setting device.

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