Operating machinery

Abstract

The object of the present invention is to provide a working machine capable of flexibly setting a non-intrusive area of ​​a working device according to the intention of an operator. To this end, a controller (40) sets the position of a working tool (8) when a setting switch (33) is operated as a first position, sets the position of the working tool (8) when the setting switch (33) is operated after the first position is set as a second position, and sets a plane (70) passing through a first reference point (A) and a second reference point (B) and perpendicular to the ground contact surface of a lower traveling body (1) as a boundary surface of the non-intrusive area, wherein the first reference point is one of a plurality of reference points (8L, 8R) pre-set to the working tool (8) when the working tool (8) is located at the first position, and the second reference point is one of a plurality of reference points (8L, 8R) when the working tool (8) is located at the second position.

Description

Technical Field

[0001] The present invention relates to working machines such as hydraulic excavators and hydraulic cranes, and in particular to a method for setting a no-intrusion zone of a working device. Background Art

[0002] In the past, hydraulic excavators, which are representative examples of working machines, have the following characteristics: by simultaneously driving multiple front parts such as the boom, the arm, and the bucket, complex movements can be efficiently performed, but on the other hand, the working efficiency varies greatly depending on the proficiency of the operator. In recent years, in order to balance the processing of the slope and the working speed without relying on the proficiency of the operator, mechanical control has been proposed, such as semi-automatic control of the front part during excavation, and area restriction control that prevents contact with surrounding obstacles and departure from a set area by slowing down the vehicle body and the front part when approaching the target surface.

[0003] For example, Patent Document 1 discloses a technique in which an operator sets an avoidance area (non-intrusion area) for limiting the intrusion of a working device (front part), and limits the movement of an upper swing body or a working device according to the distance from a reference point pre-set at the claw tip position of a bucket to the avoidance area so that the vehicle body (lower traveling body and upper swing body) or the working device does not intrude into the avoidance area. In addition, Patent Document 1 describes a method for setting an avoidance area in which two points in space are designated by a reference point pre-set at the claw tip position of a bucket, and a vertical plane passing through the two points is used as a boundary surface of the non-intrusion area.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: International Publication No. 2020 / 012609 Summary of the invention

[0007] Problems to be solved by the invention

[0008] In Patent Document 1, two points in space are specified by a reference point pre-set at the center of the bucket claw tip, and a vertical plane passing through the two points is calculated as the boundary surface of the inviolable area. For example, in order to prevent the working device from colliding with a structure, it is necessary to set the area in front of the wall surface of the structure as the inviolable area. In this case, it is preferable to make the boundary surface of the inviolable area coincide with the wall surface. However, when the upper rotating body is not facing the wall surface, it is impossible to specify a point on the wall surface at the center of the bucket claw tip. Therefore, the boundary surface is set at a position away from the wall surface, or the boundary surface is set in a manner that intersects with the wall surface.

[0009] 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 capable of flexibly setting a non-intrusive area of ​​a working device according to an operator's intention.

[0010] Means for solving problems

[0011] In order to achieve the above-mentioned object, the working machine of the present invention comprises: a lower traveling body; an upper revolving body which is mounted on the lower traveling body in a revolving manner; a working device which is mounted on the upper revolving body in a manner that allows rotation in the up-down direction and includes a working tool; a plurality of actuators which drive the working device; and a controller which controls the operation of the plurality of actuators so that the working device does not intrude into a non-intrusive area set in the surroundings, wherein the working machine comprises: a setting switch which is operated by an operator to set the non-intrusive area, the controller sets the position of the working tool when the setting switch is operated as a first position, sets the position of the working tool when the setting switch is operated after the setting of the first position as a second position, and sets a plane which passes through a first reference point and a second reference point and is perpendicular to a ground contact surface of the lower traveling body as a boundary surface of the non-intrusive area, the first reference point being one of a plurality of reference points which are pre-set to the working tool when the working tool is located at the first position, and the second reference point being one of the plurality of reference points when the working tool is located at the second position.

[0012] According to the present invention configured as described above, a reference point used when setting the no-entry area of ​​the working device can be selected from a plurality of reference points pre-set on the working tool, thereby flexibly setting the no-entry area of ​​the working device according to the operator's intention.

[0013] Effects of the Invention

[0014] According to the working machine of the present invention, it is possible to flexibly set a no-intrusion zone in accordance with the operator's intention. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is an external view of a hydraulic excavator in the first embodiment of the present invention.

[0016] Figure 2 is a functional block diagram of a controller in the first embodiment of the present invention.

[0017] Figure 3 is a flowchart showing the processing of the controller in the first embodiment of the present invention.

[0018] Figure 4 This is a diagram showing the operation of a working machine when a no-intrusion zone is set in the conventional technology (part 1).

[0019] Figure 5 This is a diagram showing the operation of the working machine when the non-intrusive zone is set in the conventional technology (part 2).

[0020] Figure 6 It is a diagram showing the operation of the working machine when the no-intrusion zone is set in the first embodiment of the present invention.

[0021] Figure 7 is a functional block diagram of a controller in a second embodiment of the present invention.

[0022] Figure 8 is a flowchart showing the processing of the controller in the second embodiment of the present invention.

[0023] Fig. 9 It is a diagram showing the operation of the working machine when the no-intrusion zone is set in the second embodiment of the present invention.

[0024] Fig.10 is a flowchart showing the processing of the controller in the third embodiment of the present invention. DETAILED DESCRIPTION

[0025] Hereinafter, a hydraulic excavator will be described as an example of a working machine according to an embodiment of the present invention with reference to the accompanying drawings. In addition, in each figure, the same reference numerals are given to the same components, and repeated descriptions are appropriately omitted.

[0026] Example 1

[0027] Figure 1 FIG. 1 is an external view of a hydraulic excavator according to a first embodiment of the present invention. Figure 1 In the figure, the hydraulic excavator 100 includes: a lower traveling body 1; an upper revolving body 2 which is mounted on the lower traveling body 1 in a revolvable manner; and a working device 3 which is mounted on the front side of the upper revolving body 2 in a manner that allows it to rotate in the up-down direction. The lower traveling body 1 is driven by left and right traveling motors 4 (only the left side is shown in the figure), and the upper revolving body 2 is driven by a revolving motor 5.

[0028] The working device 3 includes a boom 6 mounted on the front part of the upper swing body 2 in a manner that allows it to rotate in the up-down direction, an arm 7 mounted on the front end of the boom 6 in a manner that allows it to rotate in the up-down direction and in the front-rear direction, and a bucket 8 mounted on the front end of the arm 7 in a manner that allows it to rotate in the up-down direction and in the front-rear direction. The boom 6 is driven by a boom cylinder 9, the arm 7 is driven by an arm cylinder 10, and the bucket 8 is driven by a bucket cylinder 11. The front end of the bucket cylinder 11 is rotatably supported by the arm 7 and the bucket 8 via a bucket link 12.

[0029] The upper revolving body 2 is equipped with a hydraulic device 13 for driving the actuators 4, 5, 9 to 11. The hydraulic device 13 is composed of a prime mover, a hydraulic pump driven by the prime mover, and a control valve for controlling the flow rate of the pressure oil supplied from the hydraulic pump to the actuators 4, 5, 9 to 11. A cab 14 for an operator to ride is provided on the front left side of the upper revolving body 2.

[0030] An angle sensor 21 for detecting the relative angle (rotation angle) of the upper rotating body 2 with respect to the lower traveling body 1 is built into the center joint 15 provided between the lower traveling body 1 and the upper rotating body 2. IMU sensors 22 to 24 are respectively installed on the boom 6, the arm 7, and the bucket link 12. The IMU sensors 22 to 24 can measure the angles of the boom 6, the arm 7, and the bucket 8 (the posture of the working device 3) based on the angular velocities of the boom 6, the arm 7, and the bucket link 12.

[0031] The cab 14 is provided with an operating device 31 for instructing the movement of the upper swing body 2 and the working device 3, a monitor 32 for various settings (non-intrusive area settings, other vehicle body settings) or field of vision assistance, and a controller 40 for performing vehicle body control and area restriction-related control. Figure 2 The monitor 32 has a touch panel, and the operator can make various settings by operating the buttons and switches displayed on the monitor 32. The switches displayed on the monitor 32 include: setting switch 33 ( Figure 2 ), which is used to notify the controller 40 that the positioning of the bucket 8 is completed; and the selection switch 34 ( Figure 2 As shown), it is used to select a reference point used when setting a non-intrusive area from a plurality of reference points pre-set on the bucket 8.

[0032] Figure 2 is a functional block diagram of the controller 40. Figure 2 In the embodiment, the controller 40 includes a coordinate calculation unit 41 , a reference point selection unit 42 , a boundary surface calculation unit 43 , a target speed calculation unit 44 , a target speed correction unit 45 , and an operation command generation unit 46 .

[0033] The coordinate calculation unit 41 calculates the coordinates of the reference points pre-set on the working device 3 based on the rotation angle and the posture of the working device 3, and outputs them to the reference point selection unit 42. The reference points mentioned here are set at one or more positions on the working device 3 that are most likely to be close to obstacles or construction objects. In addition, the coordinate calculation unit 41 calculates the coordinates of the reference points on the bucket 8 when the setting switch 33 is operated, and outputs them to the reference point selection unit 42. In this embodiment, the first reference point is set at the left end position 8L of the bucket claw tip, and the second reference point is set at the right end position 8R of the bucket claw tip, but the number and positions of the reference points are not limited to this.

[0034] The reference point selection unit 42 sets the coordinates of the first reference point or the second reference point as a point on the boundary surface of the intrusion-free area (the first designated point or the second designated point) according to the operation of the selection switch 34 , and outputs the coordinates to the boundary surface calculation unit 43 .

[0035] The boundary surface calculation unit 43 sets a plane (hereinafter referred to as a vertical plane) passing through the first designated point and the second designated point and perpendicular to the ground contact surface of the lower traveling structure 1 as a boundary surface of the non-intrusive region, and outputs it to the target speed correction unit 45 .

[0036] The target speed calculation unit 44 calculates the target speeds of the actuators 4 , 5 , 9 to 11 based on the operation amounts input from the operation device 31 , and outputs the target speeds to the target speed correction unit 45 .

[0037] The target speed correcting unit 45 corrects the target speeds of the actuators 4 , 5 , 9 to 11 so that a reference point preset on the working device 3 does not move forward of the boundary surface of the non-intrusive area, and outputs the corrected target speeds to the operation command generating unit 46 .

[0038] The motion command generation unit 46 generates motion commands corresponding to target speeds of the actuators 4, 5, 9 to 11, and outputs them to the hydraulic device 13. Thus, the actuators 4, 5, 9 to 11 are driven so that the working implement 3 does not intrude into the non-intrusive area.

[0039] Figure 3 : is a flowchart showing the processing of the controller 40. Hereinafter, each step will be described in sequence.

[0040] The controller 40 first determines whether the setting switch 33 is operated (step S101 ). If the determination result of step S101 is NO, the process returns to step S101 .

[0041] If the result of determination in step S101 is YES, the position of the bucket 8 at this time is set as the first position, and it is determined which of the bucket claw tip left end position 8L (first reference point) and the bucket claw tip right end position 8R (second reference point) is selected via the selection switch 34 (step S102). If the bucket claw tip left end position 8L is selected, the bucket claw tip left end position 8L is set as the first designated point (step S103), and if the bucket claw tip right end position 8R is selected, the bucket claw tip right end position 8R is set as the first designated point (step S104).

[0042] Following step S103 or step S104, it is determined whether the setting switch 33 has been operated again (step S105). If the determination result of step S105 is NO, the process returns to step S105.

[0043] If the result of determination in step S105 is YES, the position of the bucket 8 at this time is set to the second position, and it is determined which of the bucket claw tip left end position 8L and the bucket claw tip right end position 8R is selected via the selection switch 34 (step S106). If the bucket claw tip left end position 8L is selected, the bucket claw tip left end position 8L is set as the second designated point (step S107), and if the bucket claw tip right end position 8R is selected, the bucket claw tip right end position 8R is set as the second designated point (step S108).

[0044] Following step S107 or step S108 , a vertical plane passing through the first designated point and the second designated point is calculated as a boundary plane of the inviolable area (step S109 ), and the process ends.

[0045] Here, use Figure 4 and Figure 5 The problem of the conventional method of setting the inviolable region will be described. In addition, in this embodiment, the case where the region in front of the wall surface of the structure is set as the inviolable region in order to prevent the working device 3 from colliding with the structure will be described.

[0046] exist Figure 4 and Figure 5 In the example shown, two points in space are specified by the reference point pre-set at the center position 8C of the bucket claw tip, and the vertical plane 70 passing through the two points is calculated as the boundary surface of the inviolable area. However, when the upper rotating body 2 is not directly facing the wall surface 60, it is impossible to specify a point on the wall surface 60 at the center position 8C of the bucket claw tip. Figure 4 As shown, the boundary surface 70 is set at a position away from the wall surface 60, or as shown in Figure 5 As shown, the boundary surface 70 is set so as to intersect the wall surface 60 .

[0047] Next, use Figure 6 The operation procedure of the operator when setting the no-intrusion zone in this embodiment is described.

[0048] Operation 1: Position the bucket 8. Specifically, the bucket claw tip left end position 8L or the bucket claw tip right end position 8R is brought into contact with the wall surface 60. Figure 4 In the example shown, the bucket claw tip right end position 8R (second reference point) is located at point A on the wall surface 60 .

[0049] Operation 2: When the positioning of bucket 8 is completed, the right end position 8R (second reference point) of the bucket claw tip in contact with the wall surface 60 is selected via the selection switch 34, and the setting switch 33 is operated. Thus, the position of bucket 8 at this time is set to the first position, and point A on the wall surface 60 is set as the first designated point.

[0050] Operation 3: Position the bucket 8 again. Specifically, the bucket claw tip left end position 8L or the bucket claw tip right end position 8R is brought into contact with the wall surface 60 at a position different from the first position. Figure 6 In the example shown, the bucket claw tip left end position 8L (first reference point) is located at point B on the wall surface 60 .

[0051] Operation 4: When the positioning of the bucket 8 is completed, the right end position 8R (first reference point) of the bucket claw tip in contact with the wall surface 60 is selected via the selection switch 34, and the setting switch 33 is operated. As a result, the position of the bucket 8 at this time is set to the second position, the point B on the wall surface 60 is set as the second designated point, and the vertical plane 70 passing through the first designated point A and the second designated point B is calculated as the boundary surface of the non-intrusive area.

[0052] (Summarize)

[0053] In this embodiment, the working machine 100 comprises: a lower traveling body 1; an upper rotating body 2 mounted on the lower traveling body 1 in a rotatable manner, a working device 3 including a working tool 8 mounted on the upper rotating body 2 in a rotatable manner in the up-down direction, a plurality of actuators 4, 5, 9 to 11 driving the working device 3, and a controller 40 for controlling the actions of the plurality of actuators 4, 5, 9 to 11 so that the working device 3 does not invade a non-intrusive area set in the surroundings, the working machine has a setting switch 33 for setting the non-intrusive area by an operator's operation, and the controller 40 sets the setting switch 33 The position of the working tool 8 during operation is set to the first position, and the position of the working tool 8 when the setting switch 33 is operated after the first position is set is set to the second position, and a plane 70 passing through the first reference point A and the second reference point B and perpendicular to the ground contact surface of the lower traveling body 1 is set as the boundary surface 70 of the inviolable area, the first reference point A is one of the multiple reference points 8L and 8R pre-set to the working tool 8 when the working tool 8 is located at the first position, and the second reference point B is one of the multiple reference points 8L and 8R when the working tool 8 is located at the second position.

[0054] According to the present embodiment constructed as described above, the reference point used when setting the inviolable area of ​​the working device 3 can be selected from multiple reference points 8L, 8R pre-set on the working tool 8, thereby enabling the inviolable area of ​​the working device 3 to be flexibly set according to the operator's intention.

[0055] In addition, the working machine 100 in this embodiment has a selection switch 34 for selecting any one of the plurality of reference points 8L and 8R, and the controller 40 selects the first reference point A from the plurality of reference points 8L and 8R when the working tool 8 is located at the first position, and selects the second reference point B from the plurality of reference points 8L and 8R when the working tool 8 is located at the second position, according to the operation of the selection switch 34. Thus, the operator can select the reference point used for setting the non-intrusive area from the plurality of reference points 8L and 8R on the working tool 8.

[0056] In addition, the working tool 8 in this embodiment is a bucket, and the plurality of reference points 8L and 8R include a point 8L located at the left end of the claw tip of the bucket 8 and a point 8R located at the right end of the claw tip of the bucket 8. Thus, in the working machine 100 having the bucket 8, a no-entry area that meets the operator's intention can be flexibly set.

[0057] Example 2

[0058] The second embodiment of the present invention will be described focusing on the differences from the first embodiment.

[0059] Figure 7 40 is a functional block diagram of the controller 40 in this embodiment. Figure 7 In the embodiment, the controller 40 does not have the reference point selection unit 42 ( Figure 2 The coordinate calculation unit 41 calculates the coordinates of the reference points 8L and 8R on the bucket 8 when the setting switch 33 is operated, and outputs the coordinates to the boundary surface calculation unit 43.

[0060] Figure 8 1 is a flowchart showing the processing of the controller 40 in this embodiment. Hereinafter, each step will be described in sequence.

[0061] The controller 40 first determines whether the setting switch 33 is operated (step S201). If the determination result of step S201 is NO, the process returns to step S201.

[0062] If the result of determination in step S201 is YES, the position of the bucket 8 at that time is set as the first position, and the bucket claw tip left end position 8L and the bucket claw tip right end position 8R are respectively set as first designated points (step S202).

[0063] Following step S202, it is determined whether the setting switch 33 has been operated again (step S203). If the determination result in step S203 is NO, the process returns to step S202.

[0064] If the result of determination in step S203 is YES, the position of the bucket 8 at that time is set as the second position, and the bucket claw tip left end position 8L and the bucket claw tip right end position 8R are respectively set as second designated points (step S204).

[0065] Following step S204, all vertical planes passing through the first designated point and the second designated point are calculated (step S205).

[0066] Next, in step S205, the vertical plane with the largest distance from the center of rotation among the plurality of vertical planes calculated in step S205 is set as the boundary plane of the inviolable area (step S206), and the process ends. In addition, in the present embodiment, all vertical planes passing through the first designated point and the second designated point are calculated, but since it is possible to determine which vertical plane has the largest distance from the center of rotation based on the positional relationship between the first designated point and the second designated point, it is not necessary to calculate all vertical planes.

[0067] use Fig. 9 The operation procedure of the operator when setting the no-intrusion zone in this embodiment is described.

[0068] Operation 1: Position the bucket 8. Specifically, the bucket claw tip left end position 8L or the bucket claw tip right end position 8R is brought into contact with the wall surface 60. Fig. 9 In the example shown, the bucket claw tip right end position 8R is located at point A on the wall surface 60 .

[0069] Operation 2: Operate the setting switch 33. The position of the bucket 8 at this time is set to the first position.

[0070] Operation 3: Position the bucket 8 again. Specifically, the bucket claw tip left end position 8L or the bucket claw tip right end position 8R is brought into contact with the wall surface 60 at a position different from the first position. Fig. 9 In the example shown, the bucket claw tip left end position 8L is located at point B on the wall surface 60 .

[0071] Operation 4: Operate the setting switch 33. The position of the bucket 8 at this time is set to the second position. Thus, four vertical planes 70 to 73 passing through one of the two reference points 8L and 8R (first designated points) when the bucket 8 is in the first position and one of the two reference points 8L and 8R (second designated points) when the bucket 8 is in the second position are calculated, and the vertical plane 70 with the largest distance from the rotation center among the four vertical planes 70 to 73 is set as the boundary plane of the non-intrusive area.

[0072] (Summarize)

[0073] In this embodiment, the first reference point and the second reference point are reference points on a plane 70 that is the longest distance from the center of rotation of the upper rotating body 2, among a plurality of planes 70 to 73 that pass through each of a plurality of reference points 8L and 8R when the working tool 8 is in the first position and each of a plurality of reference points 8L and 8R when the working tool 8 is in the second position in a state perpendicular to the ground contact surface.

[0074] In addition, the controller 40 in this embodiment calculates multiple planes 70 to 73 that pass through each of the multiple reference points 8L, 8R when the working tool 8 is in the first position and each of the multiple reference points 8L, 8R when the working tool 8 is in the second position and are perpendicular to the ground contact surface of the lower traveling body 1, and sets the plane 70 with the largest distance from the rotation center of the upper rotating body 2 among the calculated planes 70 to 73 as the boundary surface of the inviolable area.

[0075] In the present embodiment constructed as described above, the inviolable area can be flexibly set to meet the operator's intention, as in the first embodiment. Furthermore, the operator does not need to select a reference point on the working tool 8 when setting the first designated point and the second designated point, so the inviolable area can be set more simply than in the first embodiment.

[0076] Example 3

[0077] The third embodiment of the present invention will be described focusing on the differences from the second embodiment.

[0078] In the first embodiment or the second embodiment, when the lower traveling body 1 moves during the period from setting the first designated point to setting the second designated point, the coordinate axis when calculating the coordinates of the first designated point and the coordinate axis when calculating the second designated point do not coincide, and thus a boundary surface that the operator does not want may be set. This embodiment is intended to solve this problem.

[0079] Fig.10 : is a flowchart showing the processing of the controller 40 in this embodiment. In this embodiment, after the step S202 is implemented, it is determined whether the travel operation is performed (step S202A). If the determination result of step S202A is yes, the process returns to step S201, and if the determination result is no, it transfers to step S203. Thus, if the lower travel body 1 travels during the period from the setting of the first position of the working tool 8 to the setting of the second position of the working tool 8, the setting of the first position is reset, so that it is possible to prevent the second designated point from being calculated in a coordinate system different from the coordinate system when the first designated point is calculated.

[0080] (Summarize)

[0081] The controller 40 in this embodiment resets the setting of the first position when the lower traveling structure 1 travels during the period from when the working tool 8 is set to the first position to when the working tool 8 is set to the second position.

[0082] According to the present embodiment configured as described above, it is possible to prevent the second designated point from being calculated in a coordinate system different from the coordinate system used when the first designated point was calculated, and thus it is possible to prevent an unauthorized no-intrusion area from being set.

[0083] The embodiments of the present invention are described in detail above, but the present invention is not limited to the above embodiments and includes various modifications. For example, the above embodiments are described in detail to explain the present invention in an easy-to-understand manner and are not limited to all the structures described. In addition, a part of the structure of another embodiment may be added to the structure of a certain embodiment, or a part of the structure of a certain embodiment may be deleted or replaced with a part of another embodiment.

[0084] Explanation of symbols

[0085] 1…lower traveling body, 2…upper swing body, 3…working device, 4…travel motor (actuator), 5…swing motor (actuator), 6…boom, 7…arm, 8…bucket (working tool), 9…boom cylinder (actuator), 10…arm cylinder (actuator), 11…bucket cylinder (actuator), 12…bucket link, 13…hydraulic device, 14…operator’s cab, 15…center joint, 21…angle sensor, 22 to 24…IMU sensor, 31…operating device, 32…monitor, 33…setting switch, 34…selection switch, 40…controller, 41…coordinate calculation unit, 42…reference point selection unit, 43…boundary surface calculation unit, 44…target speed calculation unit, 45…target speed correction unit, 46…motion command generation unit, 60…wall surface, 70…vertical surface (boundary surface), 71 to 73…vertical surface, 100…hydraulic excavator (working machine).

Claims

1. A working machine having: Lower running body; An upper rotating body, which is mounted on the lower traveling body in a rotatable manner; A working device, which is mounted on the upper rotating body in a manner that allows it to rotate in the up-down direction, and includes a working tool; A plurality of actuators driving the working devices; as well as a controller that controls the actions of the plurality of actuators so that the working device does not intrude into a non-intrusive area set around the working device; It is characterized in that The working machine includes: a setting switch which is operated by an operator to set the non-intrusive area; The controller sets the position of the working tool when the setting switch is operated to a first position, The controller sets the position of the working tool when the setting switch is operated after the first position is set to a second position, The controller sets a plane that passes through a first reference point and a second reference point and is perpendicular to the ground contact surface of the lower traveling body as a boundary surface of the inviolable area, wherein the first reference point is one of a plurality of reference points pre-set at the working tool when the working tool is at the first position, and the second reference point is one of the plurality of reference points when the working tool is at the second position.

2. The working machine according to claim 1, It is characterized in that The working machine comprises: a selection switch for selecting any one of the plurality of reference points; The controller selects the first reference point from the plurality of reference points when the working tool is located at the first position, and selects the second reference point from the plurality of reference points when the working tool is located at the second position, according to an operation of the selection switch.

3. The working machine according to claim 1, It is characterized in that The first reference point and the second reference point are reference points located on a plane with the largest distance from the rotation center of the upper rotating body among multiple planes that pass through each of the multiple reference points when the working tool is in the first position and each of the multiple reference points when the working tool is in the second position in a state perpendicular to the ground contact surface.

4. The working machine according to claim 1, It is characterized in that The controller calculates a plurality of planes that pass through each of the plurality of reference points when the working tool is at the first position and each of the plurality of reference points when the working tool is at the second position and are perpendicular to the contact surface. The controller sets a plane having the largest distance from the rotation center of the upper rotating body among the calculated planes as the boundary surface of the non-intrusive region.

5. The working machine according to claim 1, It is characterized in that The working tool is a bucket, The plurality of reference points include a point located at a left end of a claw tip of the bucket and a point located at a right end of the claw tip of the bucket.

6. The working machine according to claim 1, It is characterized in that The controller resets the setting of the first position when the lower traveling structure travels during a period from when the first position is set to when the second position is set.

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