Operating machinery

Abstract

The working machine comprises: a working machine installed on a vehicle body; a posture detection device for detecting posture information of the working machine; a control device for calculating a specific position of the working machine based on the posture information, setting a restricted area where the working machine is prohibited from entering, calculating a distance between the restricted area and the specific position of the working machine, i.e., a movable distance, and limiting the movement of the working machine based on the movable distance in order to prevent the working machine from entering the restricted area; and an input device for inputting input information input by an operator's operation into the control device. The control device comprises a storage device for storing boundary information related to a plurality of different shapes of the boundary of the restricted area, and selects one of the shapes of the boundary of the plurality of restricted areas of the boundary information based on the input information input from the input device, and sets the boundary of the restricted area of ​​the selected shape type.

Description

Technical Field

[0001] The invention relates to a working machine. Background Art

[0002] Working machines represented by hydraulic excavators rarely operate in a state where there are no obstacles within the working range that the front working machine can reach. For example, there are electric wires and roofs of buildings above the working machine, or there are walls, vehicles such as dump trucks in front of the working machine, or there are walls and pedestrian walkways on the left and right sides of the working machine, or there are buried pipes below the working machine. In this way, working machines mostly operate in an environment where there are many obstacles within the working range. In addition, when working with working machines, even if there are no obstacles within the working range, delicate operations such as forming a slope with an error within a determined tolerance range or digging a straight groove are required.

[0003] Therefore, the operator of the operating machine needs to always pay attention to the operating area and the operating accuracy, which causes fatigue of the operator. In addition, the operator is required to be skilled when performing the operation while paying attention to the operating area and the operating accuracy.

[0004] In order to improve this, a working machine has been proposed, which has the following functions, namely, a so-called machine control function and an area restriction function: an area (restricted area) that the working machine is prohibited from entering is pre-set, and the speed of the actuator is automatically controlled according to the distance between the area and the vehicle body.

[0005] For example, Patent Document 1 proposes a working machine having a function of automatically stopping the working machine by invalidating the operation of a hydraulic excavator performed by an operator when the operator wants to leave a predetermined area, and having a control device that slowly limits the amount of lever operation according to the distance between the working machine and the restricted area, thereby preventing an emergency stop.

[0006] Patent document 2 proposes a working machine having a control device capable of selecting one of two setting methods: a method of inputting a numerical value of a specific distance through a numerical input switch and setting a restricted area according to the input numerical value (numerical input setting method); and a method of setting a restricted area according to the current bucket position by pressing a direct setting switch (direct teaching setting method).

[0007] Patent Document 3 proposes an excavator having a control device that sets a virtual wall according to the arrangement of objects (eg, load cones) around the excavator and restricts the movement of an actuator so that the excavator does not cross the virtual wall.

[0008] Prior art literature

[0009] Patent Literature

[0010] Patent Document 1: Japanese Patent Publication No. 07-094735

[0011] Patent Document 2: Japanese Patent No. 3308450

[0012] Patent Document 3: International Publication No. 2019-189030 Summary of the invention

[0013] Problems to be solved by the invention

[0014] In any of the technologies described in patent documents 1, 2, and 3, it is common that the restricted area is set according to the operator's intention. This is because, as a contemplated method of use, the area to be restricted varies according to the operating conditions and operating environment at the time. When considering this, it is conceivable that in addition to the restricted area of ​​simple shapes, it is also desirable to set the restricted area of ​​complex shapes. However, in the case of setting the restricted area of ​​complex shapes, it is also conceivable that the time spent on the operator's input operation of the information required for the setting of the restricted area becomes huge. For example, in the case of indicating the restricted area in a coordinate system with the rotation center of the vehicle body as the origin, the left and right direction of the vehicle body as the X-axis, and the front and rear direction of the vehicle body as the Y-axis, the operator needs to input a large number of coordinate points (combinations of X and Y) in order to indicate the complex area, which requires a lot of time in the preparation stage before the actual operation.

[0015] The technology described in Patent Document 3 is a means for easily setting restricted areas of complex shapes. It detects specific objects (such as load cones) through image recognition, etc., and automatically converts them into coordinate points to set restricted areas, without the need for the operator to input numerical values. However, it is troublesome to configure the objects. In addition, for example, if the camera's field of view is blocked by an obstacle, there is a new concern that the object cannot be recognized. In addition, although it is possible to set restricted areas of complex shapes, on the other hand, in simple area settings such as "setting a virtual wall 5 meters in front of the vehicle body", there is also a problem that it takes more time than numerical input.

[0016] The area restriction function that restricts the movement of the work machine to prevent the work machine from entering the restricted area is a work assisting function that assists the operator. Therefore, it is important to have good usability of the area restriction function, and it is necessary to achieve a high balance between the operator's effort and the effect of the area restriction function.

[0017] The present invention is designed to solve the above-mentioned problems, and its object is to provide a working machine that can easily set a restricted area of ​​a shape corresponding to the working conditions and working environment, and has good usability of the area restriction function.

[0018] Means for solving problems

[0019] A working machine according to one aspect of the present invention comprises: a working machine installed on a vehicle body; a posture detection device for detecting posture information of the working machine; a control device for calculating a specific position of the working machine based on the posture information from the posture detection device, setting a restricted area that the working machine is prohibited from entering, calculating a distance between the restricted area and the specific position of the working machine, that is, a movable distance, and limiting the movement of the working machine based on the movable distance in order to prevent the working machine from entering the restricted area; and an input device for inputting input information input by an operator's operation into the control device. The control device has a storage device for storing boundary information related to a plurality of different shape types of the boundary of the restricted area, and selects one of the plurality of shape types of the boundary of the restricted area in the boundary information based on the input information input from the input device, and sets the boundary of the restricted area of ​​the selected shape type.

[0020] Effects of the Invention

[0021] According to the present invention, it is possible to provide a working machine capable of easily setting a restricted area having a shape (simple shape or complex shape) corresponding to a working condition or working environment, and having an area restriction function with good usability. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a diagram showing the appearance of a hydraulic excavator shown as an example of a working machine according to the first embodiment of the present invention.

[0023] Figure 2 It is a diagram showing the system configuration of a hydraulic excavator.

[0024] Figure 3 is a diagram showing an operator user interface of the area restriction function.

[0025] Figure 4 This is a functional block diagram of the main controller related to the area restriction function.

[0026] Figure 5 This is a diagram showing a coordinate system of the hydraulic excavator related to the area restriction function.

[0027] Figure 6 This is a diagram showing an example of a restricted area.

[0028] Figure 7 This is a diagram showing an example in which the restriction area is set as a “polygonal area”.

[0029] Figure 8 Only excerpts Figure 7A view of Face 1 (Front) in the restricted area shown.

[0030] Fig. 9 This is a diagram showing the hierarchy of the monitor menu related to the area restriction function enabling / disabling process.

[0031] Fig.10 This is a diagram showing an example of a screen for switching between enabling and disabling the area restriction function.

[0032] Fig.11 This is a diagram showing an example of a restriction area selection screen.

[0033] Fig. 12A It means in Fig.11 The figure of the restriction area setting screen displayed when "Type 3: Arbitrary straight line" is selected in the restriction area selection screen of , and shows a state where the restriction area is not set (initial state).

[0034] Fig. 12B It means in Fig.11 The figure of the restriction area setting screen displayed when "Type 3: Arbitrary straight line" is selected in the restriction area selection screen of shows an example of a state in which only "Surface 1 (front)" is set as a surface constituting the restriction area.

[0035] Fig. 12C It means in Fig.11 The figure of the restricted area setting screen that is displayed when "Type 3: Arbitrary straight line" is selected in the restricted area selection screen, showing an example of a state in which all four surfaces, namely "Surface 1 (front)", "Surface 2 (right)", "Surface 3 (back)", and "Surface 4 (left)" are set as surfaces that constitute the restricted area.

[0036] Fig.13A It means in Fig.11 The figure of the restriction area setting screen displayed when "Type 2: Tangent of concentric circles" is selected in the restriction area selection screen of , and shows a state where the restriction area is not set (initial state).

[0037] Fig. 13B It means in Fig.11 The figure of the restriction area setting screen displayed when "Type 2: Tangent of concentric circles" is selected in the restriction area selection screen of , showing an example of a state in which only "Surface 1 (front)" is set as a surface constituting the restriction area.

[0038] Fig. 13C It means in Fig.11The figure of the restricted area setting screen displayed when "Type 2: Tangent of concentric circles" is selected in the restricted area selection screen, showing an example of a state in which all four surfaces, namely "Surface 1 (front)", "Surface 2 (right)", "Surface 3 (back)", and "Surface 4 (left)" are set as surfaces that constitute the restricted area.

[0039] Fig.14A It means in Fig.11 The figure of the restriction area setting screen displayed when "Type 1: Rectangle" is selected in the restriction area selection screen of , and shows a state where the restriction area is not set (initial state).

[0040] Fig. 14B It means in Fig.11 The figure of the restriction area setting screen displayed when "Type 1: Rectangle" is selected in the restriction area selection screen of , and shows an example of a state in which only "Surface 1 (front)" is set as a surface constituting the restriction area.

[0041] Fig. 14C It means in Fig.11 The figure of the restricted area setting screen displayed when "Type 1: Rectangle" is selected in the restricted area selection screen, showing an example of a state in which all four surfaces, namely "Surface 1 (front)", "Surface 2 (right)", "Surface 3 (back)", and "Surface 4 (left)" are set as surfaces that constitute the restricted area.

[0042] Fig.15 This is a diagram showing a list of variables related to setting of restricted areas used in this embodiment.

[0043] Fig.16A This is a block diagram showing the processing contents of the area setting unit, and shows the input and output of the area setting unit in area 1.

[0044] Fig. 16B This is a block diagram showing the processing contents of the area setting unit, and shows the input and output of the area setting unit of area 2.

[0045] Fig. 16C This is a block diagram showing the processing contents of the area setting unit, and shows the input and output of the area setting unit in area 3.

[0046] Fig.16D 4 is a block diagram showing the processing contents of the area setting unit, and shows the input and output of the area setting unit.

[0047] Fig.17 This is a flowchart showing the processing contents of the area setting unit of area 1.

[0048] Fig.18 This is a flowchart showing the processing contents of the subroutine for coordinate setting when area restriction is invalid.

[0049] Fig.19 This is a flowchart showing the processing contents of a subroutine for setting coordinates when the shape type of the boundary of the restriction area is a rectangle.

[0050] Fig. 20 This is a flowchart showing the processing contents of a subroutine for setting coordinates when the shape type of the boundary of the restriction area is a tangent line of a concentric circle.

[0051] Fig.21 This is a diagram showing a specific example of one restriction area when the type of shape of the boundary of the restriction area is a tangent line of concentric circles.

[0052] Fig. 22 This is a flowchart showing the processing contents of a subroutine for setting coordinates when the shape type of the boundary of the restriction area is an arbitrary straight line.

[0053] Fig.23 This is a flowchart showing the processing contents of a subroutine for coordinate transformation of a first coordinate point when the shape type of the boundary of the restriction area is an arbitrary straight line.

[0054] Fig.24 This is a flowchart showing the processing contents of a subroutine for coordinate transformation of a second coordinate point when the shape type of the boundary of the restriction area is an arbitrary straight line.

[0055] Fig.25 This is a diagram showing a restriction region setting screen for a polygonal region in the second embodiment of the present invention, and shows a state where no restriction region is set (initial state).

[0056] Fig.26 This is a diagram showing a list of selection items based on various status information on the presence or absence of a numerical value input to a numerical value input area in the second embodiment of the present invention.

[0057] Fig. 27 This is a diagram showing an example of a limited area setting screen when a numerical value is input to the first distance input unit and the area determination switch is pressed.

[0058] Fig.28 This is a diagram showing an example of a limited area setting screen when only numerical values ​​are input to the first distance input unit and the first angle input unit and the area determination switch is pressed.

[0059] Fig.29 This is a diagram showing an example of a limit area setting screen when numerical values ​​are input to all four of the first distance input unit, the first angle input unit, the second distance input unit, and the second angle input unit and the area determination switch is pressed.

[0060] Fig.30This is a diagram showing an example of a restricted area setting screen in a state where numerical values ​​are input to the first distance input unit, the first angle input unit, and the second distance input unit, and no input is made to the second angle input unit.

[0061] Fig.31 This is a diagram showing an example of a restriction area setting screen when different types of restriction area boundary shapes are combined. DETAILED DESCRIPTION

[0062] A working machine according to an embodiment of the present invention will be described with reference to the drawings.

[0063] <First embodiment>

[0064] (Hydraulic Excavator)

[0065] Figure 1 FIG. 1 is a diagram showing the appearance of a hydraulic excavator 100 as an example of a working machine according to the first embodiment of the present invention. Figure 1 As shown, the hydraulic excavator 100 includes a crawler-type lower traveling body 1, an upper swing body 2 that is swingably provided relative to the lower traveling body 1, and a front working device 3 mounted on the upper swing body 2. In the present embodiment, the lower traveling body 1 and the upper swing body 2 constitute a body of the hydraulic excavator 100.

[0066] A pair of left and right travel hydraulic motors (not shown) are disposed on the lower travel body 1, and the crawlers are independently driven to rotate by the travel hydraulic motors and their speed reduction mechanisms, so that the vehicle travels forward or backward.

[0067] The upper revolving body 2 is provided with a cab 4 equipped with operating devices for performing various operations of the hydraulic excavator 100 and a driver's seat for an operator. In addition, the upper revolving body 2 is equipped with a prime mover such as an engine, a hydraulic pump, and a swing motor (not shown). The upper revolving body 2 is rotated to the right or left relative to the lower traveling body 1 by the swing motor. A display device 5 for displaying various measuring instruments and machine body information is provided inside the cab 4. Therefore, the operator riding in the cab 4 can confirm the operating status of the hydraulic excavator 100 by observing the information displayed on the display device 5.

[0068] The front working machine 3 is a multi-jointed working machine installed on the upper revolving body 2 constituting the vehicle body, and has a plurality of hydraulic actuators and a plurality of driven parts (front parts) driven by the plurality of hydraulic actuators. The front working machine 3 is a structure in which three driven parts (a boom 3a, an arm 3b, and a bucket 3c) are connected in series. The base end of the boom 3a is rotatably connected to the front of the upper revolving body 2 via a boom pin. The base end of the arm 3b is rotatably connected to the front end of the boom 3a via an arm pin. The bucket 3c is rotatably connected to the front end of the arm 3b via a bucket pin.

[0069] The boom 3a is driven to rotate by the extension and retraction of the boom cylinder 3d, which is a hydraulic actuator (hydraulic cylinder). The arm 3b is driven to rotate by the extension and retraction of the arm cylinder 3e, which is a hydraulic actuator (hydraulic cylinder). The bucket 3c is driven to rotate by the extension and retraction of the bucket cylinder 3f, which is a hydraulic actuator (hydraulic cylinder).

[0070] (Posture Detection Device)

[0071] The hydraulic excavator 100 includes a posture detection device 102 (see Figure 2 ), which has a plurality of posture sensors 6 to 10 for detecting information (hereinafter also referred to as posture information) related to the posture of the hydraulic excavator 100 (the posture of the front working machine 3, the posture of the upper swing body 2, and the posture of the lower traveling body 1). The plurality of posture sensors 6 to 10 include IMUs (Inertial Measurement Units) 6, 7, 8 and angle sensors 9, 10.

[0072] A boom IMU 6 is mounted on the side of the boom 3a, an arm IMU 7 is mounted on the side of the arm 3b, and a bucket IMU 8 is mounted on the side of the bucket link 3g. The IMUs 6, 7, and 8 obtain angular velocities and accelerations of the three orthogonal axes of the boom 3a, arm 3b, and bucket 3c, and output them to the main controller 11.

[0073] The frame of the upper rotating body 2 is provided with a tilt angle sensor 9, which detects the tilt angle of the upper rotating body 2 in the front-rear direction (hereinafter, also referred to as the pitch angle) and the tilt angle of the upper rotating body 2 in the left-right direction (hereinafter, also referred to as the roll angle) relative to a reference plane (e.g., a horizontal plane), and outputs the detection results to the main controller 11. The center joint (not shown) connecting the lower traveling body 1 and the upper rotating body 2 is provided with a rotation angle sensor 10, which detects the relative angle of the upper rotating body 2 relative to the lower traveling body 1 (hereinafter, also referred to as the rotation angle), and outputs the detection results to the main controller 11.

[0074] A main controller (vehicle controller) 11 for controlling the operation of each part of the hydraulic excavator 100 is mounted in the cab 4 of the hydraulic excavator 100. The main controller 11 has functions such as inputting signals from various sensors, outputting signals for driving hydraulic equipment such as hydraulic pumps and control valves, and communicating with other vehicle-mounted controllers such as an engine controller.

[0075] In the present embodiment, IMU6, 7, 8 and the tilt angle sensor 9, the rotation angle sensor 10 are electrically connected to the main controller 11. The main controller 11 calculates the rotation angle (boom angle) of the boom 3a relative to the upper rotating body 2, the rotation angle (arm angle) of the dipper arm 3b relative to the boom 3a, the rotation angle (bucket angle) of the bucket 3c relative to the dipper arm 3b, the pitch angle, roll angle and rotation angle of the upper rotating body 2 based on the signals from the IMU6, 7, 8 and the tilt angle sensor 9, the rotation angle sensor 10.

[0076] (System structure and equipment installed on hydraulic excavators)

[0077] Figure 2 1 is a diagram showing the system configuration of the hydraulic excavator 100. The cab 4 of the hydraulic excavator 100 of the present embodiment includes: a main controller 11 for controlling the overall operation of the hydraulic excavator 100; a lock switch 12, which is a lever switch for operating the lock valve 22; a display device 5, which displays various measuring instruments and machine body information in a manner that allows the operator to confirm the status of the hydraulic excavator 100; a switch box 13, which is used to manually change the engine speed (rotation speed) or operate the display device 5; and a monitor controller 14, which receives various switch inputs from the switch box 13 and changes the display content of the display device 5.

[0078] The monitor controller 14 and the main controller 11 are each composed of a computer including a processor 81, 91 such as a CPU (Central Processing Unit), an MPU (Micro Processing Unit), and a DSP (Digital Signal Processor), a non-volatile memory 82, 92 as a storage device such as a ROM (Read Only Memory), a flash memory, and a hard disk drive, a volatile memory 83, 93 called a so-called RAM (Random Access Memory), an input / output interface 84, 94, and a bus that electrically connects these devices. In addition, the monitor controller 14 and the main controller 11 may each be composed of one computer or a plurality of computers.

[0079] Programs capable of executing various operations are stored in the nonvolatile memories 82 and 92. That is, the nonvolatile memories 82 and 92 are storage media capable of reading programs that implement the functions of the present embodiment. The processors 81 and 91 are processing devices that expand and execute the programs stored in the nonvolatile memories 82 and 92 in the volatile memories 83 and 93, and perform predetermined operations on the signals taken in from the input / output interfaces 84 and 94, the nonvolatile memories 82 and 92, and the volatile memories 83 and 93 according to the programs.

[0080] The input section of the input / output interface 84, 94 converts the signal input from the external device (switch box 13, operating device 15, lock switch 12, various sensors 6 to 10, 23, 25, 26, etc.) in a manner that can be operated by the processor 81, 91. In addition, the output section of the input / output interface 84, 94 generates an output signal corresponding to the operation result in the processor 81, 91, and outputs the signal to the external device (display device 5, pilot pressure control pressure reducing valve 24, lock valve 22, pump regulator 21, etc.).

[0081] As described above, the operating device for performing various operations of the hydraulic excavator 100 is provided in the cab 4 of the hydraulic excavator 100. Figure 2 In the figure, an operating device 15 is displayed as a representative, which is one of the multiple operating devices for performing boom raising operation, boom lowering operation, boom pushing operation, boom dumping operation, bucket pushing operation, bucket dumping operation, left turning operation, right turning operation, right forward driving operation, right reverse driving operation, left forward driving operation, and left reverse driving operation.

[0082] The hydraulic excavator 100 of this embodiment is equipped with an engine 16 as a prime mover. An engine controller 17 electrically connected to the engine 16 detects the state of the engine 16 based on signals output from temperature sensors and pickup sensors installed in the engine 16, and controls the rotation speed and torque of the engine 16 through control valves and the like.

[0083] The main controller 11, the monitor controller 14, and the engine controller 17 are connected by CAN communication, and each performs necessary information transmission and reception. For example, regarding the engine speed control, the main controller 11 determines the engine target speed based on the engine control dial voltage, the operating state of the operating device 15, the load state of the hydraulic pump 18, and the temperature condition, and sends the engine target speed to the engine controller 17. The engine controller 17 controls the engine 16 so that the actual engine speed is the engine target speed. The engine controller 17 calculates the actual engine speed based on the signal of the pickup sensor built into the engine 16, and sends the actual engine speed to the main controller 11.

[0084] The monitor controller 14 controls the display device 5 based on information from the switch box 13, the main controller 11, the engine controller 17, various sensors, etc. The monitor controller 14 can obtain the engine target speed and the engine actual speed on the CAN communication. Therefore, the monitor controller 14 can display the engine target speed and the engine actual speed on the display device 5 as one of the information indicating the operating state of the hydraulic excavator 100.

[0085] The hydraulic pump 18 is a variable displacement hydraulic pump driven by the engine 16, and discharges hydraulic oil as a working fluid. The hydraulic oil discharged from the hydraulic pump 18 is supplied to the travel motor 1a, the swing motor 2a, the boom cylinder 3d, the arm cylinder 3e, and the bucket cylinder 3f through a control valve 19 that controls the flow of oil to each hydraulic actuator. In addition, generally, a plurality of hydraulic pumps are installed in a hydraulic excavator in consideration of the situation of operating a plurality of actuators at the same time, but in Figure 2 Among them, one is shown as a representative.

[0086] In the present embodiment, the operating device 15 is an electric operating lever device having a tiltable operating lever. A PWM output signal corresponding to the operation amount of the operating lever is input from the operating device 15 to the main controller 11 .

[0087] The hydraulic oil discharged from the hydraulic source 20 such as the pilot pump driven by the engine 16 is supplied to the pump regulator 21 and the lock valve 22. The pilot primary pressure introduced to the hydraulic source 20, the pump regulator 21 and the lock valve 22 is maintained at a predetermined pressure (e.g., 4 MPa) by a pilot relief valve (not shown).

[0088] The pump regulator 21 has a pump flow control valve, which is an electromagnetic proportional valve used to reduce the pilot primary pressure from the hydraulic source 20. The pump flow control valve reduces the pilot primary pressure according to the current (mA) output by the main controller 11 and outputs the secondary pressure. The pump regulator 21 has a tilt (displacement) control mechanism of the hydraulic pump 18 built in. The pump regulator 21 controls the volume of the hydraulic pump 18, that is, the discharge flow rate, according to the output (secondary pressure) of the pump flow control valve, that is, the pump flow control pressure.

[0089] The pump regulator 21 sets the pump capacity to the minimum when the pump flow control pressure is minimum (0 MPa), and sets the pump capacity to the maximum when the pump flow control pressure is maximum (4 MPa). The pump flow control valve is in the cut-off position (0 MPa) in the non-control state (0 mA), and the pump flow control pressure increases as the command current from the main controller 11 increases.

[0090] The pump regulator 21 has a pump flow control pressure sensor 23 for detecting the pump flow control pressure. The signal of the pump flow control pressure sensor 23 is input to the main controller 11. The main controller 11 refers to the characteristics of the pump volume with respect to the pump flow control pressure, calculates the pump volume according to the input pump flow control pressure, and calculates the discharge flow rate of the hydraulic pump 18 by multiplying the calculation result by the engine speed.

[0091] The lock valve 22 is an operation lock device that can switch whether all hydraulic actuators of the hydraulic excavator 100 can be operated. The lock valve 22 is switched between a cut-off position and a connection position by a solenoid driven by the main controller 11. When the lock lever provided in the cab 4 is in the lock position, the lock switch 12 is in an open state (the terminals are open). When the lock lever provided in the cab 4 is in the lock release position, the lock switch 12 is in an on state (the terminals are conductive).

[0092] The main controller 11 monitors the state of the lock switch 12, and sets the lock valve 22 to the circuit disconnection position of the non-excitation state when the lock switch 12 is turned off. The main controller 11 monitors the state of the lock switch 12, and applies 24V to the lock valve 22 to set it to the circuit connection position of the excitation state when the lock switch 12 is turned on.

[0093] A pilot pressure control reducing valve 24 is provided in the pilot circuit between the lock valve 22 and the control valve 19. The main controller 11 drives the pilot pressure control reducing valve 24 according to the magnitude of the lever operation amount as an input signal of the operating device 15.

[0094] When the lock valve 22 is in the circuit connection position, the pilot primary pressure is supplied to the pilot pressure control pressure reducing valve 24, and the pilot operating pressure is generated by the pilot pressure control pressure reducing valve 24. The pilot operating pressure generated by the pilot pressure control pressure reducing valve 24 activates a plurality of valve cores (directional switching valves) in the control valve 19, thereby adjusting the flow of the hydraulic oil discharged from the hydraulic pump 18, thereby enabling the corresponding actuator to be operated.

[0095] When the lock valve 22 is in the circuit cutoff position, no pilot primary pressure is supplied to the pilot pressure control reducing valve 24. As a result, no pilot operating pressure is generated (the pilot operating pressure is 0 MPa), and thus the actuators (travel motor 1a, swing motor 2a, boom cylinder 3d, arm cylinder 3e, and bucket cylinder 3f) cannot be operated.

[0096] An operating pressure sensor 25 for detecting the pilot operating pressure is provided in the pilot circuit between the pilot pressure control reducing valve 24 and the control valve 19. The signal of the operating pressure sensor 25 is input to the main controller 11. The main controller 11 monitors the operating condition of the hydraulic excavator 100 and whether the pilot pressure control reducing valve 24 is operating normally.

[0097] A pump discharge pressure sensor 26 for detecting the pump discharge pressure is provided in the transfer circuit between the hydraulic pump 18 and the control valve 19. A signal of the pump discharge pressure sensor 26 is input to the main controller 11. The main controller 11 monitors the load of the hydraulic pump 18 of the hydraulic excavator 100.

[0098] The main controller 11 calculates the pump target flow rate based on the operation according to the engine speed and the input of the operating device 15. The main controller 11 calculates the limited horsepower (kW) according to the engine speed, the operation status and other vehicle body conditions (temperature, etc.), and calculates the pump upper limit flow rate based on the horsepower limitation according to the input of the pump discharge pressure sensor 26 and the limited horsepower. The main controller 11 selects the smaller of the pump target flow rate based on the operation and the pump upper limit flow rate based on the horsepower limitation as the pump target flow rate, and drives the pump flow control valve of the pump regulator 21 to achieve the flow rate.

[0099] (Operator user interface for the area restriction function)

[0100] Figure 3 1 is a diagram showing an operator user interface of the area restriction function. The monitor controller 14 receives the state information (input information) of each switch from the switch box 13, and switches various information accordingly. The monitor controller 14 outputs this information to the display device 5 as image data. The operator can know various state information of the hydraulic excavator 100 by observing the image (still image, dynamic image) displayed on the display screen of the display device 5. When the operator performs various settings such as the setting of the area restriction function, he can perform input operations for various settings while observing the related information displayed on the display device 5.

[0101] The monitor controller 14 and the main controller 11 communicate with each other via CAN communication. In the present embodiment, the control device 110 is composed of a main controller 11 that performs control for exerting an area restriction function (area restriction control) and a monitor controller 14 that sends information related to the area restriction function to the main controller 11. The information related to the area restriction function includes information on the effective / ineffective state of the area restriction function, information related to the type of shape of the boundary of the restricted area, information on whether there are multiple settings for each restricted area, and information on the coordinates of each coordinate point that specifies the boundary of the restricted area (position designation information that specifies the position of the surface that constitutes the restricted area). The details of this information will be described later. In addition, the restricted area refers to an area where the front working machine 3 and the upper slewing body 2 are prohibited from entering.

[0102] In addition, information related to the type of shape of the boundary of the restricted area to be described later (hereinafter also referred to as boundary information) is pre-stored in the non-volatile memory 82 of the monitor controller 14. The switch box 13 inputs the input information input by the operator's operation to the monitor controller 14. For example, when the type of shape of the boundary of the restricted area is selected by the operator's operation on the switch box 13, the selected information is input to the monitor controller 14 as input information. Thus, the monitor controller 14 selects one from a plurality of different types of shapes of the boundary of the restricted area based on the input information input, referring to the boundary information stored in the non-volatile memory 82. That is, the monitor controller 14 selects one from a plurality of types of shapes of the boundary of the restricted area in the boundary information based on the input information. Furthermore, the monitor controller 14 causes the display device 5 to display the area setting screen ( Fig. 12A , Fig.13A , Fig.14A The details of the method of setting the restricted area will be described later.

[0103] The display device 5 has a display screen such as a liquid crystal display. The display device 5 is controlled by the monitor controller 14. Figure 3 The basic screen is as shown in FIG. 1 . In the basic screen, a status display unit 27 is arranged at the top, a meter display unit 28 is arranged below it, a camera image display unit 29 is arranged below it, and an air conditioner / radio information display unit 30 is arranged at the bottom. The status display unit 27 displays various states of the hydraulic excavator 100, such as the current operation mode, power mode, stopwatch, and travel mode (high speed / low speed). The meter display unit 28 displays the cooling water temperature and the remaining fuel. The camera image display unit 29 displays the image of the surrounding monitoring camera. The air conditioner / radio information display unit 30 displays the status of the air conditioner and the radio.

[0104] As described later, when the operator performs various settings of the area restriction function, the monitor controller 14 displays a dedicated screen (such as an area setting screen described later) on the display screen of the display device 5 regardless of the display pattern of the basic screen.

[0105] The switch box 13 is an input device for operating the display device 5 and performing various setting operations related to the area restriction function. The switch box 13 includes a previous screen return switch 31, a basic screen return switch 32, and a selection / determination switch 33. The switch box 13 outputs information input by operating each switch as input information. The input information output from the switch box 13 is input to the monitor controller 14. The selection / determination switch 33 is a switch that can be rotated left and right and pressed.

[0106] When the selection / confirmation switch 33 is pressed while the display device 5 is displaying the basic screen, the screen is transferred to the setting menu screen for performing various settings. In addition, the setting process related to the area restriction function will be described later. The switch box 13 also has a numeric keypad 34. The numeric keypad 34 is used when the operator performs a numerical input operation.

[0107] (Function of the main controller)

[0108] Figure 4 FIG. 1 is a functional block diagram of the main controller 11 related to the area restriction function. Figure 4 As shown, the main controller 11 functions as a required pilot pressure command unit 35 , a limit control unit 36 ​​, a posture calculation unit 37 , a region setting unit 38 , and a distance calculation unit 39 .

[0109] The main controller 11 receives the PWM signal from the operating device 15 and converts it into the operation amount of the operating lever. The operation amount of the operating lever is expressed as a value of 0% when the lever is in neutral and 100% when the lever is fully operated (maximum operation), for example.

[0110] The required pilot pressure command unit 35 determines the required pilot pressure (secondary pressure) of the pilot pressure control reducing valve 24 according to the amount of operation of each operating lever. The required pilot pressure based on the lever operation is input to the limit control unit 36. The limit control unit 36 ​​converts the required pilot pressure into a proportional solenoid valve current value corresponding thereto, and outputs a control current to the solenoid of the pilot pressure control reducing valve 24 to drive the pilot pressure control reducing valve 24. As a result, the hydraulic excavator 100 operates according to the lever operation intended by the operator.

[0111] The main controller 11 is connected to the IMU 6, 7, 8, the tilt angle sensor 9, and the rotation angle sensor 10 constituting the posture detection device 102, and the signals of these sensors are input to the posture calculation unit 37. The non-volatile memory 92 or other storage device of the main controller 11 stores constants of various dimensional data and angle data of the hydraulic excavator 100. The posture calculation unit 37 calculates the specific position (hereinafter also referred to as the specific position) of the front working machine 3 and the upper rotating body 2 when the origin O in the hydraulic excavator reference coordinate system (in this embodiment, it is set on the lower surface of the lower traveling body just below the rotation center of the hydraulic excavator 100) is used as a reference, and calculates the range in which the front working machine 3 and the upper rotating body 2 of the hydraulic excavator 100 exist in the working space.

[0112] The posture calculation unit 37 calculates the coordinates (X, Y, Z) of the coordinate points of the preset specific positions of the front working machine 3 (for example, the left and right ends of the tooth tip of the bucket 3c). The posture calculation unit 37 outputs the calculated coordinates of each coordinate point to the distance calculation unit 39.

[0113] The area setting unit 38 receives information on the type of shape of the boundary of the restricted area, information on whether or not there are multiple restricted areas, information on the coordinates of each coordinate point of the boundary of the designated restricted area, and information on the valid / invalid state of the area restriction function, sent from the monitor controller 14, and based on this information, calculates the parameters of the function representing the boundary of the restricted area (the surface constituting the restricted area) (hereinafter referred to as function parameters), and outputs the calculated function parameters to the distance calculation unit 39.

[0114] For example, when the boundary of the restricted area is represented by a straight line passing through two points, the area setting unit 38 calculates the numerical values ​​representing the X coordinates and Y coordinates of each of the two points as function parameters representing the boundary of the restricted area. When the function parameters are determined, the boundary of the restricted area is determined. That is, the area setting unit 38 sets the boundary of the restricted area by calculating the function parameters (that is, sets the restricted area). The area on the side where the hydraulic excavator 100 exists relative to the boundary of the restricted area is an area where the hydraulic excavator 100 can move (non-restricted area). The area on the side where the hydraulic excavator 100 does not exist relative to the boundary of the restricted area is a restricted area where the front working machine 3 and the upper swing body 2 are prohibited from entering.

[0115] The details will be described later. When the region setting unit 38 receives input of information (position designation information) specifying the coordinates of each coordinate point of the boundary of the restricted region, the region setting unit 38 calculates a function parameter (value) representing the boundary of the restricted region based on the position designation information and the position designation method corresponding to the selected shape type, thereby setting the boundary of the restricted region (the surface constituting the restricted region). In addition, the position designation method is determined according to the shape type of the boundary of the restricted region and is pre-stored in the non-volatile memory 92. When the region setting unit 38 receives input of information on the shape type of the boundary of the restricted region, the region setting unit 38 refers to the non-volatile memory 92 based on the information and selects a position designation method corresponding to the shape type of the boundary of the restricted region that has been input.

[0116] The distance calculation unit 39 receives the coordinates of each coordinate point of the front working machine 3 and the upper rotating body 2 output by the posture calculation unit 37 and the function parameters indicating the boundaries of each restricted area output by the area setting unit 38. The distance calculation unit 39 calculates and outputs the distance between the coordinate points of each specific position of the front working machine 3 and the upper rotating body 2 and the boundary of the restricted area (the surface constituting the restricted area), that is, the movable distance d, based on the received information. The distance calculation unit 39 calculates the distance (movable distance d) between the coordinate points of each specific position of the front working machine 3 and the upper rotating body 2 and the boundary of the restricted area represented by the input function parameters and the predetermined function (mathematical formula), and sends the movable distance d to the restriction control unit 36.

[0117] The limiting control unit 36 ​​receives inputs of the required pilot pressure of the pilot pressure control reducing valve 24 from the required pilot pressure instruction unit 35, the distance (movable distance d) between the coordinate points of each specific position of the front working machine 3 and the upper rotating body 2 and the boundary of the restricted area from the distance calculation unit 39, and information on the valid / invalid status of the area limiting function from the monitor controller 14.

[0118] The operator selects the effective / ineffective state of the area restriction function by operating various switches of the switch box 13 while viewing the setting menu of the display device 5. When the area restriction function is set to be invalid, the restriction control unit 36 ​​determines the output of the pilot pressure control reducing valve 24 in such a manner that the required pilot pressure of the pilot pressure control reducing valve 24 is always generated from the required pilot pressure instruction unit 35, regardless of the distance (movable distance d) between the coordinate points of each specific position of the front working machine 3 and the upper swing body 2 and the boundary of the restriction area.

[0119] When the area restriction function is set to be effective, the restriction control unit 36 ​​limits the upper limit of the output of the pilot pressure control pressure reducing valve 24 according to the movable distance d. The smaller the movable distance d, the smaller the upper limit of the output (secondary pressure) of the pilot pressure control pressure reducing valve 24 is set by the restriction control unit 36. Thus, for example, during excavation, if the front working machine 3 approaches the restricted area, the front working machine 3 decelerates and can stop the front working machine 3 before the front working machine 3 reaches the restricted area. In this way, in order to suppress the front working machine 3 from entering the restricted area, the main controller 11 limits the movement of the front working machine 3 according to the movable distance d. In other words, the main controller 11 suppresses the movement of the front working machine 3 so that the front working machine 3 does not deviate from the area where it can move (non-restricted area) to the restricted area side. In addition, when the upper rotating body 2 is rotated, the movement of the upper rotating body 2 is limited according to the movable distance d.

[0120] The limiting control unit 36 ​​limits the upper limit of the output of the pilot pressure control reducing valve 24 only when an operation is performed to move the front working machine 3 in the direction of entering the restricted area (in the direction of moving the front working machine 3 close to the restricted area). That is, the limiting control unit 36 ​​does not limit the upper limit of the output of the pilot pressure control reducing valve 24 for an operation to return the front working machine 3 from the restricted area side to the non-restricted area side, or an operation to move the front working machine 3 away from the restricted area.

[0121] (Description of coordinate system)

[0122] Figure 5 1 is a diagram showing a coordinate system of the hydraulic excavator 100 related to the area restriction function. In the present embodiment, an orthogonal coordinate system and a cylindrical coordinate system are used to set the restriction area. The main controller 11 determines the origin O of the coordinate system for setting the boundary of the restriction area. In the present embodiment, the main controller 11 determines the intersection of the rotation center axis of the hydraulic excavator 100 and the bottom of the lower traveling body 1 as the origin O of the orthogonal coordinate system and the cylindrical coordinate system.

[0123] like Figure 5 As shown in (a), the orthogonal coordinate system is a three-dimensional coordinate system composed of mutually orthogonal X-axis, Y-axis, and Z-axis, and the position is represented by X-coordinate, Y-coordinate, and Z-coordinate. The Y-axis is a coordinate axis extending from the origin O to the front and rear horizontal direction (travel direction) of the lower traveling body 1. The positive direction of the Y-axis is the front direction of the lower traveling body 1 from the origin O, and the negative direction of the Y-axis is the rear direction of the lower traveling body 1 from the origin O. The X-axis is a coordinate axis extending from the origin O to the left and right horizontal direction of the lower traveling body 1. The positive direction of the X-axis is the right direction of the lower traveling body 1, and the negative direction of the X-axis is the left direction of the lower traveling body 1. The Z-axis is a coordinate axis extending from the origin O to the gravity direction (i.e., the vertical direction) in the upward and downward directions. The positive direction of the Z-axis is the upward direction from the origin O, and the negative direction of the Z-axis is the downward direction from the origin O.

[0124] like Figure 5 As shown in (b), the cylindrical coordinate system is a three-dimensional coordinate system composed of an r-axis, a θ-axis, and a Z-axis, and the position is represented by the r-coordinate, the θ-coordinate, and the Z-coordinate. The Z-axis is the same as the Z-axis of the above-mentioned orthogonal coordinate system. The r-coordinate is equivalent to the radial horizontal distance from the origin O. When the θ-coordinate is set as the angle reference line L0 (0°) as the horizontal line extending from the origin O to the front direction of the lower traveling body 1, it is equivalent to the angle from the angle reference line L0. With respect to the θ-axis, the direction in which the upper rotating body 2 rotates clockwise from the angle reference line L0 is the positive direction, and the direction in which the upper rotating body 2 rotates counterclockwise from the angle reference line L0 is the negative direction. The range of the angle θ is ±180°.

[0125] In addition, regarding the orthogonal coordinate system and the cylindrical coordinate system, Figure 5As shown in (c), regardless of the pitch angle and roll angle of the upper rotating body 2, the XY direction is defined as being parallel to the horizontal ground.

[0126] (Description of restricted areas)

[0127] Reference Figure 6 , an example of a restricted area is given below. Figure 6 As shown in the figure, the restricted area is set as, for example, the area outside the rectangular space surrounded by the six faces of the top, bottom, front, right, back, and left. Hereinafter, such a restricted area is defined as a polygonal area. In addition, the restricted area is set as the area outside the space surrounded by the top, bottom, and the surface of a cylinder with a fan-shaped bottom surface defined by the operation radius, the left rotation angle, and the right rotation angle. Hereinafter, such a restricted area is defined as a cylindrical area.

[0128] In the present embodiment, the following description will focus on the restricted areas of the "polygonal area", especially the front, rear, left and right directions of the vehicle body. Hereinafter, the front side of the restricted area on the front side of the lower traveling body 1 (the surface constituting the restricted area in the front direction of the vehicle body) will be described as "surface 1 (front)", the right side of the restricted area on the right side of the lower traveling body 1 (the surface constituting the restricted area in the right direction of the vehicle body) will be described as "surface 2 (right)", the rear side of the restricted area on the rear side of the lower traveling body 1 (the surface constituting the restricted area in the rear direction of the vehicle body) will be described as "surface 3 (rear)", and the left side of the restricted area on the left side of the lower traveling body 1 (the surface constituting the restricted area in the left direction of the vehicle body) will be described as "surface 4 (left)". In addition, in the "polygonal area", "surface 1 (front)", "surface 2 (right)", "surface 3 (rear)", and "surface 4 (left)" do not necessarily need to be closed into a rectangle, and are areas consisting of a maximum of four surfaces.

[0129] The restricted area is set by the main controller 11. When a plurality of surfaces are set as boundaries of the restricted area, the main controller 11 sets an area outside the area surrounded by each surface as the restricted area.

[0130] (Functions and function parameters representing the boundaries of each restricted area)

[0131] Next, the function (mathematical expression) representing the boundary of the restriction area in the distance calculation unit 39 and the function parameter (numerical value) sent from the area setting unit 38 will be described.

[0132] (Restricted areas above and below the vehicle body)

[0133] The upper surface of the upper restricted area of ​​the hydraulic excavator 100 (the boundary of the restricted area on the upper side of the vehicle body) and the lower surface of the lower restricted area of ​​the hydraulic excavator 100 (the boundary of the restricted area under the vehicle body) are defined as surfaces parallel to the XY plane.

[0134] The function representing the upper surface as the boundary of the restriction area on the upper side of the vehicle body is represented by the following mathematical formula.

[0135] z=VuPosZ

[0136] The function indicating the boundary of the restriction area below the vehicle body is expressed by the following mathematical formula.

[0137] z=VdPosZ

[0138] Here, VuPosZ and VdPosZ are scalars with a unit of m (meter), and are sent from the area setting unit 38 to the distance calculation unit 39 as function parameters with a value of 0.1 m unit.

[0139] (Restricted areas in front, behind, left and right of the vehicle body)

[0140] “Surface 1 (front)”, “Surface 2 (right)”, “Surface 3 (back)”, and “Surface 4 (left)” are defined as surfaces perpendicular to the XY plane (that is, surfaces parallel to the vertical direction).

[0141] The function representing "Surface 1 (front)" is represented by the following mathematical formula.

[0142] (V1PosX2-V1PosX1)(y-V1PosY1)=(V1PosY2-V1PosY1)(x-V1PosX1)

[0143] The function representing "surface 2 (right)" is represented by the following mathematical formula.

[0144] (V2PosX2-V2PosX1)(y-V2PosY1)=(V2PosY2-V2PosY1)(x-V2PosX1)

[0145] The function representing "surface 3 (back)" is represented by the following mathematical formula.

[0146] (V3PosX2-V3PosX1)(y-V3PosY1)=(V3PosY2-V3PosY1)(x-V3PosX1)

[0147] The function representing "surface 4 (left)" is represented by the following mathematical formula.

[0148] (V4PosX2-V4PosX1)(y-V4PosY1)=(V4PosY2-V4PosY1)(x-V4PosX1)

[0149] Here, V1PosX1, V1PosX2, V1PosY1, V1PosY2, V2PosX1, V2PosX2, V2PosY1, V2PosY2, V3PosX1, V3PosX2, V3PosY1, V3PosY2, V4PosX1, V4PosX2, V4PosY1, and V4PosY2 are scalars with units of m (meters), and are sent from the area setting unit 38 to the distance calculation unit 39 as function parameters with values ​​in units of 0.001 m.

[0150] Figure 7 is a diagram showing an example of setting the restricted area to a "polygonal area". Figure 7 In the example, (X, Y, Z) is used to represent the coordinates of the coordinate point indicating the position of the boundary of the restricted area (the surface constituting the restricted area). Figure 7 As shown, in the "polygonal area", "surface 1 (front)", "surface 2 (right)", "surface 3 (back)", and "surface 4 (left)" do not necessarily need to be closed into a rectangle. Figure 7 When the surfaces are set as shown, the area from the left front of the vehicle body to the right rear of the vehicle body is restricted by the restriction area formed by the four surfaces, but the area behind the left rear of the vehicle body is not restricted.

[0151] (Specify the coordinates of each point on the boundary of each restricted area and transform them into function parameters)

[0152] Next, the “coordinates of each coordinate point specifying the boundary of the restricted area” transmitted from the monitor controller 14 to the main controller 11 will be described.

[0153] As described above, each surface constituting the restriction area arranged in the front, rear, left, and right sides of the vehicle body requires information on two coordinate points. Therefore, in order to set the restriction area, information on eight coordinate points is required in total on the four surfaces constituting the restriction area.

[0154] The operator needs to decide where to place the restricted area. The operator operates the switch box 13 to input a numerical value while viewing the screen of the display device 5 . As a result, a numerical value is set in the monitor controller 14 .

[0155] In this embodiment, in consideration of the ease of use when the operator inputs a coordinate point, the information input by the operator is not set as the X-coordinate and Y-coordinate of the coordinate point, but as the distance r from the origin O and the angle θ from the angle reference line L0 in the cylindrical coordinate system. When the operator performs work using the hydraulic excavator 100, he or she operates the hydraulic excavator 100 while paying attention to the working radius (the distance from the center of rotation to the front end of the front working machine 3) and the rotation angle. Therefore, when inputting the position of the restricted area, it is easy for the operator to understand by inputting the distance and angle.

[0156] Figure 8 Only excerpts Figure 7 The figure of "Surface 1 (front)" in the restriction area is shown. Two coordinate points for specifying the position of "Surface 1 (front)" as the boundary of the restriction area are expressed as follows in the orthogonal coordinate system.

[0157] Point 1 (x, y) = (V1PosX1, V1PosY1)

[0158] Point 2 (x, y) = (V1PosX2, V1PosY2)

[0159] In addition, the position of the same coordinate point is expressed as follows in the cylindrical coordinate system.

[0160] Point 1 (r, θ) = (V1PosR1, V1PosT1)

[0161] The second point (r, θ) = (V1PosR2, V1PosT2)

[0162] Here, V1PosR1 and V1PosR2 are scalars with a unit of m (meter), and are sent from the monitor controller 14 to the area setting unit 38 of the main controller 11 as values ​​in units of 0.1 m. In addition, V1PosT1 and V1PosT2 are scalars with a unit of ° (degree), and are sent from the monitor controller 14 to the area setting unit 38 of the main controller 11 as values ​​in units of 1 °.

[0163] Similarly, two coordinate points for specifying the position of "Surface 2 (right)" which is the boundary of the restricted area are expressed as follows in the cylindrical coordinate system.

[0164] Point 1 (r, θ) = (V2PosR1, V2PosT1)

[0165] The second point (r, θ) = (V2PosR2, V2PosT2)

[0166] Similarly, two coordinate points for specifying the position of "Surface 3 (back)" which is the boundary of the restricted area are expressed as follows in the cylindrical coordinate system.

[0167] Point 1 (r, θ) = (V3PosR1, V3PosT1)

[0168] The second point (r, θ) = (V3PosR2, V3PosT2)

[0169] Similarly, two coordinate points for specifying the position of "Surface 4 (left)" which is the boundary of the restricted area are expressed as follows in the cylindrical coordinate system.

[0170] Point 1 (r, θ) = (V4PosR1, V4PosT1)

[0171] Point 2 (r, θ) = (V4PosR2, V4PosT2)

[0172] In this way, each surface constituting the restricted area is expressed by a coordinate point (position specifying information) of the cylindrical coordinate system.

[0173] (Transformation of function parameters from cylindrical coordinates to orthogonal coordinates)

[0174] The orthogonal coordinate system and the cylindrical coordinate system can be transformed by calculation. For example, two coordinate points related to "plane 1 (front)" can be transformed by the following formula.

[0175] V1PosX1=V1PosR1·sin(V1PosT1×π / 180)

[0176] V1PosY1=V1PosR1·cos(V1PosT1×π / 180)

[0177] V1PosX2=V1PosR2·sin(V1PosT2×π / 180)

[0178] V1PosY2=V1PosR2·cos(V1PosT2×π / 180)

[0179] In addition, the coordinate points representing the positions of "Surface 2 (right)", "Surface 3 (back)", and "Surface 4 (left)" can also be transformed by calculation in the same manner as "Surface 1 (front)". The area setting unit 38 performs the above-mentioned coordinate transformation and outputs the function parameters representing the boundary of the restricted area to the distance calculation unit 39.

[0180] (Menu structure for setting the area restriction function)

[0181] Fig. 9This is a diagram showing the hierarchy of the monitor menu related to the process of enabling / disabling the area restriction function. When the select / confirm switch 33 is pressed while the display device 5 is displaying the basic screen, the screen of the display device 5 changes to the main menu screen that displays the items of the monitor function at a glance. As items displayed on the main menu screen, there are items such as "Warning List" and "Operation Mode". When "Warning List" is selected, the screen changes to a warning list screen that can confirm the warning information currently generated in the hydraulic excavator 100 (for example, a charging warning displayed when the power generation of the AC generator is low). When "Operation Mode" is selected, the screen changes to a setting change screen for using the operation mode of the crushing device and the crusher.

[0182] Among the items displayed on the main menu screen, there is an item called "Regional Restriction" which is changed to a screen for changing settings related to the regional restriction function. When the operator rotates the selection / determination switch 33 to select the "Regional Restriction" item and presses the selection / determination switch 33 in this state, the screen changes to the regional restriction screen.

[0183] The area restriction screen displays two items, "Enable / Disable" and "Restricted Area Setting". When the operator presses the selection / determination switch 33 in the state where "Enable / Disable" is selected, the screen changes to the enabling / disabling switching screen for switching between enabling and disabling the area restriction function. When the operator presses the selection / determination switch 33 in the state where "Restricted Area Setting" is selected, the screen changes to a screen for specifying the type of shape of the boundary of the restricted area and the position of the restricted area as a screen for setting the restricted area.

[0184] As the shape of the restriction area, the above-mentioned "cylindrical area" and "polygonal area" can be selected, but in the description of this embodiment, the description is focused on the "polygonal area", and in particular, the description is focused on the restriction areas in the front, rear, left and right of the vehicle body.

[0185] (Switch the regional restriction function to enable or disable)

[0186] Fig.10 1 is a diagram showing an example of a screen for switching between the region restriction function. The monitor controller 14 sets the region restriction function to be valid or invalid based on the input information input from the switch box 13. When the main menu screen is changed to the screen for switching between the region restriction function and the region restriction function, the display Fig.10 The area restriction function is disabled in the initial setting when the engine is started.

[0187] When the regional restriction function is invalid, such as Fig.10As shown in (a) of FIG. 1 , as a display indicating whether the current area restriction function is effective or not, “ineffective” is displayed in the display area 40. When the operator rotates the selection / determination switch 33 to align the cursor with the display area 40 and presses the selection / determination switch 33, as shown in FIG. Fig.10 As shown in (b) of FIG. 1 , a selection screen 41 is displayed.

[0188] In this state, when the operator rotates the selection / determination switch 33 to select "valid" and presses the selection / determination switch 33, the monitor controller 14 sets the area restriction function to be valid. Fig.10 As shown in (c) of FIG. 1 , the display in the display area 40 is switched to “valid”.

[0189] When the area restriction function is in effect, in order to notify the operator of this state, Fig.10 As shown in (d) of FIG. 5 , the monitor controller 14 displays, on the basic screen of the display device 5 , a valid state icon 42 indicating that the area restriction function is valid.

[0190] The monitor controller 14 transmits the state of whether the area restriction is effective or not as a CAN signal to the main controller 11. Here, the value of the effective or not state is set to a numerical value of 0 or 1, and is set to 0 when effective and 1 when effective.

[0191] (Select the restricted area from multiple different shapes)

[0192] Fig.11 FIG. 1 is a diagram showing an example of a restriction area selection screen. The restriction area selection screen is a screen for prompting the operator to select the type of shape of the boundary of the restriction area. Fig. 9 This is displayed when "Polygonal Area" is selected from "Area Limitation Settings" in the hierarchy of the monitor menu shown in the figure. Fig.11 As shown, the restriction area selection screen displays a type 1 selection switch 43, a type 2 selection switch 44, and a type 3 selection switch 45 for selecting one of a plurality of different shapes of the boundary of the restriction area. The operator rotates the selection / determination switch 33 to select one of the switches (43 to 45) according to the shape of the restriction area that he or she wants to create, and presses the selection / determination switch 33 to determine.

[0193] When the selection / determination switch 33 is pressed, the monitor controller 14 selects the type of shape of the restricted area. When the type of shape of the boundary of the restricted area is selected, the screen of the display device 5 changes, and the information sent from the monitor controller 14 to the main controller 11, that is, the value indicating the type of shape of the boundary of the restricted area is switched. Here, the type of shape of the boundary of the restricted area (first to third shapes) is represented by a numerical value of 1 to 3. The numerical value is 1 when "Type 1: Rectangle" is selected as the first shape, 2 when "Type 2: Tangent of concentric circles" is selected as the second shape, and 3 when "Type 3: Arbitrary straight line" is selected as the third shape. When the type of shape of the boundary of the restricted area is selected, the monitor controller 14 causes the display device 5 to display the restricted area setting screen corresponding to the selected type of shape. The restricted area setting screen is a screen for prompting the operator to perform an input operation of position designation information for designating the position of the boundary of the restricted area.

[0194] In addition, when "Type 1: Rectangle" is selected, the control device 110 sets a plane that is arranged at a distance r from the origin O in a predetermined direction (for example, the front of the vehicle body) and is parallel to the vertical direction and orthogonal to the predetermined direction (for example, the front of the vehicle body) as the boundary of the restricted area in front of the vehicle body. The control device 110 also sets the boundaries of the restricted areas on the right side of the vehicle body, the rear side of the vehicle body, and the left side of the vehicle body in the same way. By setting the boundaries of the restricted areas in the front, rear, left, and right sides of the vehicle body, a rectangular non-restricted area and the restricted areas outside it are set. In addition, when "Type 2: Tangent of concentric circles" is selected, the control device 110 sets the tangent plane that is tangent to the cylinder with the vertical axis passing through the origin O as the center axis at the above-mentioned one coordinate point as the boundary of the restricted area based on information related to one coordinate point. By setting the boundaries of multiple restricted areas, a polygonal non-restricted area and the restricted areas outside it are set. When "Type 3: Arbitrary straight line" is selected, the control device 110 sets an arbitrary plane passing through the two coordinate points and parallel to the vertical direction as the boundary of the restricted area based on the information related to the two coordinate points. By setting the boundaries of multiple restricted areas, a polygonal non-restricted area and a restricted area outside the polygonal non-restricted area are set. The following describes in detail the area setting method when Types 1 to 3 are selected for the types of shapes used as the boundaries of the restricted area.

[0195] First, a method of setting an area when “Type 3: arbitrary straight line” is selected as the type of shape of the boundary of the limitation area will be described. Figures 12A to 12C It means in Fig.11 Figure 2 shows the restriction area setting screen that is displayed when "Type 3: Arbitrary straight line" is selected in the restriction area selection screen of . Fig. 12A This shows an example of the restricted area setting screen in a state where no restricted area is set (initial state).

[0196] like Fig. 12A As shown in FIG. 1 , a plurality of setting surface selection tabs 46 for selecting which boundary (surface) of a restricted area is to be set are arranged at the upper right portion of the restricted area setting screen. When the operator rotates the selection / determination switch 33 to select the tab of the surface to be set and presses the selection / determination switch 33, a screen (restricted area setting screen) for specifying the position of the surface is displayed. Fig. 12A The screen showing the position of the "Surface 1 (front)" of the designated restricted area displays the "Surface 1 (front)" label and other labels in different colors, thereby allowing the operator to easily recognize the selected label.

[0197] On the left side of the screen, there is a diagram showing the position of the surface constituting the currently set restricted area, namely, a work area diagram Wa. This allows the operator to visually recognize the currently set restricted area. The work area diagram Wa schematically shows the space viewed from the upper side of the vehicle body. In the work area diagram Wa, there are displayed an illustration of the hydraulic excavator 100 showing the direction of the hydraulic excavator 100 (especially the upper swing body 2), a numerical value indicating the distance in the XY direction, a numerical value indicating the angle from the angle reference line L0 (the front direction of the lower traveling body), and a scale line serving as a reference for the distance.

[0198] As described later, when a restricted area is set, a straight line corresponding to the position is displayed in the operation area map Wa. Fig. 12A In the embodiment, the display range of the work area map Wa is 20 m from -10 m to +10 m in both the X and Y directions, but the display range is not limited thereto. The display range of the work area map Wa can be changed according to the vehicle specification (body size) of the hydraulic excavator 100, and can also be arbitrarily enlarged or reduced by the operator through switch operation such as the numeric keypad 34.

[0199] On the right side of the screen, a numerical input area 48 is provided for the operator to specify the position of the surface of the restriction area. When the type of the shape of the boundary of the restriction area is "Type 3: arbitrary straight line", a first distance input unit 49, a first angle input unit 50, a second distance input unit 51, and a second angle input unit 52 are displayed in the numerical input area 48.

[0200] When the operator rotates the selection / determination switch 33 to align the cursor with the first distance input unit 49 and presses the selection / determination switch 33, the first distance input unit 49 is in a numerical input waiting state. When the first distance input unit 49 is in a numerical input waiting state, the operator can input a numerical value (change the numerical value) by rotating the selection / determination switch 33 or pressing a numerical button of the numeric keypad 34. In addition, in order to correct or delete the value at this time, a dedicated button can be added to the buttons of the numeric keypad 34, and these functions can also be assigned to a specific button (for example, the numeric 0 key) by long pressing.

[0201] The range of the value that the operator can input may be limited. For example, even if 100 m is input as the distance from the origin O to the restricted area, the restricted area is too far from the hydraulic excavator 100, and thus the area restriction function cannot be achieved. By setting the upper limit of the operator's manual input range to a practical range that can flexibly utilize the area restriction function, such as 15 m, the operator can easily understand the setting of the range.

[0202] When the operator presses the selection / determination switch 33 in a state where the numerical value matches the distance to be set, the value of the first distance input unit 49 is determined. The operator also inputs numerical values ​​to the first angle input unit 50, the second distance input unit 51, and the second angle input unit 52 in the same process. However, at this stage, the setting operation of the surface of the restriction area is not completed.

[0203] At the lower right of the screen, an area clear switch 53 and an area determination switch 54 are arranged. After inputting values ​​to the first distance input unit 49, the first angle input unit 50, the second distance input unit 51, and the second angle input unit 52, the operator rotates the selection / determination switch 33 to align the cursor with the area determination switch 54 and presses the selection / determination switch 33, thereby completing the setting operation of the surface of the restricted area. However, when the coordinate point information (distance r and angle θ) of the first point is the same as the coordinate point information (distance r and angle θ) of the second point, the area determination switch 54 cannot be pressed.

[0204] When the operator presses the select / determine switch 33 while placing the cursor on the area clear switch 53, the setting of the surface of the currently set restriction area is cleared. As a result, the work area returns to a state where there is no restriction (regarding the surface).

[0205] In addition, if Figure 3As shown, the monitor controller 14 sends information on the coordinates of each coordinate point of the boundary of the restricted area to the main controller 11. When the setting operation of the surface of the restricted area by the operator is completed, the monitor controller 14 updates the information on the coordinates of each coordinate point of the boundary of the restricted area and sends it to the main controller 11. The main controller 11 calculates the function parameters representing the boundary of the restricted area based on the input information and sets the restricted area.

[0206] When the operator's setting operation of the surface of the restricted area is completed, Fig. 12A A straight line indicating the position of the restricted area is added to the work area diagram Wa shown. In the present embodiment, the function indicating the boundary of the restricted area calculated by the main controller 11 and the function parameter are input to the monitor controller 14, and the monitor controller 14 displays the straight line indicating the boundary of the restricted area on the display screen of the display device 5 based on the input function and function parameter.

[0207] Below, with Figure 8 When the monitor controller 14 performs a setting operation for "Face 1 (front)", the value input to the first distance input unit 49 is set to V1PosR1, the value input to the first angle input unit 50 is set to V1PosT1, the value input to the second distance input unit 51 is set to V1PosR2, and the value input to the second angle input unit 52 is set to V1PosT2.

[0208] When the monitor controller 14 performs the setting operation for "Surface 2 (right)", the value input to the first distance input unit 49 is set to V2PosR1, the value input to the first angle input unit 50 is set to V2PosT1, the value input to the second distance input unit 51 is set to V2PosR2, and the value input to the second angle input unit 52 is set to V2PosT2.

[0209] When the monitor controller 14 performs the setting operation for "Surface 3 (rear)", the value input to the first distance input unit 49 is set to V3PosR1, the value input to the first angle input unit 50 is set to V3PosT1, the value input to the second distance input unit 51 is set to V3PosR2, and the value input to the second angle input unit 52 is set to V3PosT2.

[0210] When the monitor controller 14 performs the setting operation for "Plane 4 (left)", the value input to the first distance input unit 49 is set to V4PosR1, the value input to the first angle input unit 50 is set to V4PosT1, the value input to the second distance input unit 51 is set to V4PosR2, and the value input to the second angle input unit 52 is set to V4PosT2.

[0211] The monitor controller 14 transmits the position designation information (V1PosR1, V1PosT1, V1PosR2, V1PosT2, V2PosR1, V2PosT1, V2PosR2, V2PosT2, V3PosR1, V3PosT1, V3PosR2, V3PosT2, V4PosR1, V4PosT1, V4PosR2, V4PosT2) to the main controller 11. In addition, the monitor controller 14 transmits information on whether each restriction area is set to the main controller 11. When the setting operation of the surface of the restriction area by the operator is completed, the monitor controller 14 updates the transmission information on whether the corresponding restriction area is set.

[0212] Here, the information on whether or not the boundary of the restricted area (the surface constituting the restricted area) is set is a numerical value of 0 or 1. The numerical value of whether or not the boundary of the restricted area is set is set to 0 when the boundary of the restricted area is not set (when it is cleared), and is set to 1 when the boundary of the restricted area is set. Assuming that only "Surface 1 (front)" is set as the boundary of the restricted area (the surface constituting the restricted area), the value of whether or not the boundary of "Surface 1 (front)" is set to "1", and the values ​​of whether or not the boundary of "Surface 2 (right)", "Surface 3 (back)", and "Surface 4 (left)" are set to "0".

[0213] Fig. 12B 1 is a diagram showing an example of a restricted area setting screen in which only "Surface 1 (front)" is set as a surface constituting a restricted area. In this example, "7.0" m is input to the first distance input unit 49, "-60"° is input to the first angle input unit 50, "10.0" m is input to the second distance input unit 51, and "45"° is input to the second angle input unit 52. Therefore, "Surface 1 (front)" constituting the restricted area in front of the vehicle body is represented by a straight line passing through these two points. In the operation area diagram Wa, a straight line indicating the position of the restricted area, a figure (circle) indicating two coordinate points, and numerical values ​​(1 and 2) for distinguishing the first point from the second point are displayed in an overlapping manner.

[0214] Fig. 12CThis is a diagram showing an example of a restricted area setting screen in which all four surfaces, namely "Surface 1 (front)", "Surface 2 (right)", "Surface 3 (back)", and "Surface 4 (left)", are set as surfaces constituting the restricted area. In this figure, the restricted area setting screen for "Surface 1 (front)" is displayed on the basis of the four surfaces set in the restricted area. At this time, four straight lines representing the positions of the four surfaces constituting the restricted area are displayed in the working area diagram Wa. In addition, in the working area diagram Wa, the straight line corresponding to the currently selected "Surface 1 (front)" is displayed with a thicker line than the other three straight lines. In addition, regarding the display of the graphic (circle) representing the two coordinate points and the numerical values ​​(1 and 2) used to distinguish between the first point and the second point, only the content corresponding to the currently selected "Surface 1 (front)" is displayed.

[0215] In this way, by highlighting the information corresponding to the surface of the currently selected restriction area, the operator can easily recognize which surface he / she has set, thereby improving the usability of the area restriction function.

[0216] Next, a method of setting a region when “Type 2: Tangent lines of concentric circles” is selected as the type of shape of the boundary of the limitation region will be described. Figures 13A to 13C It means in Fig.11 Figure 2 shows the restriction area setting screen that is displayed when "Type 2: Concentric circle tangent" is selected in the restriction area selection screen of . Fig.13A This shows an example of the restricted area setting screen in a state where no restricted area is set (initial state).

[0217] like Fig.13A As shown in the figure, when "Type 2: Tangent of concentric circles" is selected, the Fig. 12A Compared to the screen for “Type 3: Arbitrary straight line” of FIG. 1 , the display content of the numerical input area 48 is different, and only the first distance input unit 49 and the first angle input unit 50 are displayed on the restriction area setting screen.

[0218] When the operator inputs numerical values ​​to the first distance input unit 49 and the first angle input unit 50 and presses the area determination switch 54, the restricted area in front of the vehicle body is determined. In the case of "Type 2: Tangent of concentric circles", no value is input to the second distance input unit 51 and the second angle input unit 52. Therefore, the variables (for example, V1PosR2, V1PosT2) representing the coordinates sent from the monitor controller 14 to the area setting unit 38 of the main controller 11 are not updated. At this time, these variables that are not updated are input with 0 (zero) as the initial value and sent from the monitor controller 14 to the main controller 11.

[0219] Fig. 13B1 is a diagram showing an example of a restricted area setting screen in which only "Surface 1 (front)" is set as a surface constituting a restricted area. In this example, "7.0" m is input to the first distance input unit 49, and "45"° is input to the first angle input unit 50. Therefore, the surface constituting the restricted area in front of the vehicle body is represented by a tangent line circumscribed to a circle with a radius of 7 m centered at the origin O at a position at an angle of 45° from the angle reference line L0. In the operation area diagram Wa, a straight line indicating the position of the restricted area and a graphic (circle) indicating a coordinate point are displayed in an overlapping manner.

[0220] Fig. 13C This is a diagram showing an example of a restricted area setting screen in which all four surfaces, namely "Surface 1 (front)", "Surface 2 (right)", "Surface 3 (back)", and "Surface 4 (left)" are set as surfaces constituting a restricted area. In this figure, on the basis of the restricted area setting of four surfaces, the restricted area setting screen of "Surface 1 (front)" is displayed. At this time, four straight lines representing the positions of the four surfaces constituting the restricted area are displayed in the working area diagram Wa. In addition, in the working area diagram Wa, the straight line corresponding to the currently selected "Surface 1 (front)" is displayed with a thicker line than the other three straight lines. In addition, with respect to the display of the graphic (circle) representing the coordinate point, only the content corresponding to the currently selected "Surface 1 (front)" is also displayed.

[0221] In this way, by highlighting the information corresponding to the surface of the currently selected restriction area, the operator can easily recognize which surface he / she has set, thereby improving the usability of the area restriction function.

[0222] Next, a description will be given of a method of setting an area when “Type 1: Rectangle” is selected as the type of shape of the boundary of the limitation area. Figures 14A to 14C It means in Fig.11 Figure of the restricted area setting screen that is displayed when "Type 1: Rectangle" is selected in the restricted area selection screen of . Fig.14A This shows an example of the restricted area setting screen in a state where no restricted area is set (initial state).

[0223] like Fig.14A As shown in the figure, when "Type 1: Rectangle" is selected, the Fig. 12A Compared to the screen for “Type 3: Arbitrary straight line” of FIG. 1 , the display content of the numerical input area 48 is different, and only the first distance input unit 49 is displayed on the restriction area setting screen.

[0224] When the operator inputs a numerical value to the first distance input unit 49 and presses the area determination switch 54, the restricted area in front of the vehicle body is determined. In the case of "Type 1: Rectangle", no value is input to the first angle input unit 50, the second distance input unit 51, and the second angle input unit 52. Therefore, the variables (for example, V1PosT1, V1PosR2, V1PosT2) representing the coordinates sent from the monitor controller 14 to the area setting unit 38 of the main controller 11 are not updated. At this time, these variables that have not been updated are input with 0 (zero) as the initial value and sent from the monitor controller 14 to the main controller 11.

[0225] Fig. 14B 1 is a diagram showing an example of a restricted area setting screen in which only "Surface 1 (front)" is set as a surface constituting the restricted area. When the restricted area is set to "Type 1: Rectangle", the control device 110 automatically determines the position of the area according to which of "Surface 1 (front)", "Surface 2 (right)", "Surface 3 (rear)", and "Surface 4 (left)" is set. That is, when "Surface 1 (front)" is set, the control device 110 automatically determines that the position of the area is in the front direction of the vehicle body (if expressed as an angle, it is the 0° direction), and the position of the area can be determined by only inputting a distance value to the first distance input unit 49.

[0226] If it is "Surface 1 (front)", the control device 110 determines that it is an area where Y is parallel to the X axis and is in the positive range. In this example, "7.0" m is input to the first distance input unit 49, so the restricted area is represented by a straight line parallel to the X axis passing through (x, y) = (0, 7.0). Similarly, if it is "Surface 2 (right)", the control device 110 determines that it is an area where X is parallel to the Y axis and is in the positive range, if it is "Surface 3 (back)", it is determined that it is an area where Y is parallel to the X axis and is in the negative range, and if it is "Surface 4 (left)", it is determined that it is an area where X is parallel to the Y axis and is in the negative range.

[0227] Fig. 14C This is a diagram showing an example of a restricted area setting screen in which all four surfaces, namely "Surface 1 (front)", "Surface 2 (right)", "Surface 3 (back)", and "Surface 4 (left)" are set as surfaces constituting a restricted area. In this figure, the restricted area setting screen for "Surface 1 (front)" is displayed on the basis of the restricted area setting for the four surfaces. At this time, four straight lines representing the positions of the four surfaces constituting the restricted area are displayed in the working area diagram Wa. In addition, in the working area diagram Wa, the straight line corresponding to the currently selected "Surface 1 (front)" is displayed with a thicker line than the other three straight lines. In addition, regarding the display of the graphic (circle) representing the coordinate point, only the content corresponding to the currently selected "Surface 1 (front)" is also displayed.

[0228] In this way, by highlighting the information corresponding to the surface of the currently selected restriction area, the operator can easily recognize which surface he / she has set, thereby improving the usability of the area restriction function.

[0229] (List of variables related to restricted area settings)

[0230] Fig.15 : is a diagram showing a list of variables for setting the relationship of the restricted area used in this embodiment. Fig.15 As shown, by calculating the coordinate transformation from the cylindrical coordinate system to the orthogonal coordinate system, a set of combinations of distances and angles of coordinate points sent from the monitor controller 14 to the area setting unit 38 of the main controller 11 is transformed by the area setting unit 38 into a set of combinations of X-coordinates and Y-coordinates of the coordinate points.

[0231] However, if you use Figures 13A to 13C and Figures 14A to 14C As described above, when the type of the shape of the boundary of the restricted area is set to "Type 1: Rectangle" or "Type 2: Tangent of concentric circles", not all the information of the coordinate points for determining the position of the surface is input. Therefore, it is necessary to change the method of calculating the X-coordinate and Y-coordinate of the coordinate point (i.e., the method of specifying the position of the boundary of the restricted area) according to the type of the shape of the boundary of the restricted area and whether the area is set.

[0232] (The function parameter representing the area is determined according to the area setting operation of the operator)

[0233] FIG. 16A to FIG. 16D 3 is a block diagram showing the processing contents of the area setting unit 38. The area setting unit 38 includes a control unit for determining function parameters representing the boundaries of the four restricted areas, namely, an area setting unit 55 for area 1, an area setting unit 56 for area 2, an area setting unit 57 for area 3, and an area setting unit 58 for area 4.

[0234] Hereinafter, the restricted area in front of the vehicle body formed by the aforementioned “surface 1 (front)” will also be referred to as “area 1” or “surface 1 (front)” area. The restricted area on the right side of the vehicle body formed by the aforementioned “surface 2 (right)” will also be referred to as “area 2” or “surface 2 (right)” area. The restricted area on the rear side of the vehicle body formed by the aforementioned “surface 3 (rear)” will also be referred to as “area 3” or “surface 3 (rear)” area. The restricted area on the left side of the vehicle body formed by the aforementioned “surface 4 (left)” will also be referred to as “area 4” or “surface 4 (left)” area.

[0235] Fig.16A 1 is a diagram showing the input and output of the area setting unit 55 of area 1. Fig.16AAs shown, the information sent from the monitor controller 14, that is, the valid / invalid state of the area restriction function, the type of shape of the boundary of the restriction area, the presence or absence of setting of each restriction area, and the data related to the "Face 1 (front)" area among the coordinates of each coordinate point specifying the boundary of the restriction area, is input to the area 1 area setting unit 55. In addition, the area 1 area setting unit 55 outputs the function parameter representing the boundary of the "Face 1 (front)" area (that is, the function parameter representing the "Face 1 (front)") to the distance calculation unit 39.

[0236] Fig. 16B 2 is a diagram showing the input and output of the area setting unit 56 of area 2. Fig. 16B As shown, data related to the “plane 2 (right)” region among the information sent from the monitor controller 14 is input to the region 2 region setting unit 56. Furthermore, the region 2 region setting unit 56 outputs the function parameter representing the boundary of the “plane 2 (right)” region (i.e., the function parameter representing the “plane 2 (right)”) to the distance calculation unit 39.

[0237] Fig. 16C 3 is a diagram showing the input and output of the area setting unit 57. Fig. 16C As shown, data related to the “surface 3 (back)” area among the information sent from the monitor controller 14 is input to the area 3 area setting unit 57. Furthermore, the area 3 area setting unit 57 outputs the function parameter representing the boundary of the “surface 3 (back)” (i.e., the function parameter representing the “surface 3 (back)”) to the distance calculation unit 39.

[0238] Fig.16D 4 is a diagram showing the input and output of the area setting unit 58. Fig.16D As shown, data related to the “plane 4 (left)” area among the information sent from the monitor controller 14 is input to the area 4 area setting unit 58. Furthermore, the area 4 area setting unit 58 outputs the function parameters representing the boundaries of each “plane 4 (left)” area (i.e., the function parameters representing “plane 4 (left)”) to the distance calculation unit 39.

[0239] The processing contents performed by the area setting unit 55 for area 1, the area setting unit 56 for area 2, the area setting unit 57 for area 3, and the area setting unit 58 for area 4 are the same. Therefore, the processing contents of the area setting unit 55 for area 1 will be described as a representative. The correspondence of variables in the transformation formula may differ depending on the configuration of the restriction areas in front, back, left, and right directions, but the idea of ​​deriving the coordinates of the coordinate points is the same, so the description of the processing contents of the area setting unit 56 for area 2, the area setting unit 57 for area 3, and the area setting unit 58 for area 4 will be omitted. In addition, a list of these input and output signals (variables) is described in Fig.15 middle.

[0240] Fig.17 1 is a flowchart showing the processing contents of the area 1 area setting unit 55. The area 1 area setting unit 55 first determines whether the area restriction function is "valid" (step S1). In step S1, if it is determined that the area restriction function is not "valid" ("invalid"), the procedure proceeds to a subroutine for setting coordinates when the area restriction is invalid (step S2). In step S1, if it is determined that the area restriction function is "valid", the procedure proceeds to step S3.

[0241] In step S3, the area 1 area setting unit 55 determines whether the "Face 1 (front)" area is "set". In step S3, if it is determined that the "Face 1 (front)" area is not "set" (is "not set"), the process proceeds to the subroutine for setting coordinates when area restriction is invalid (step S2). In step S3, if it is determined that the "Face 1 (front)" area is "set", the process proceeds to step S4.

[0242] In step S4, the area 1 area setting unit 55 determines what the shape type of the boundary of the "surface 1 (front)" area is. In step S4, if it is determined that the shape type of the boundary of the "surface 1 (front)" area is "type 1: rectangle", the process proceeds to the subroutine for setting the coordinates when it is a rectangle (step S5). In step S4, if it is determined that the shape type of the boundary of the "surface 1 (front)" area is "type 2: tangent of concentric circles", the process proceeds to the subroutine for setting the coordinates when it is a tangent of concentric circles (step S6). In step S4, if it is determined that the shape type of the boundary of the "surface 1 (front)" area is "type 3: arbitrary straight line", the process proceeds to the subroutine for setting the coordinates when it is an arbitrary straight line (step S7).

[0243] In each subroutine (steps S2, S5, S6, and S7), the X coordinate V1PosX1 of the first coordinate point, the Y coordinate V1PosY1 of the first coordinate point, the X coordinate V1PosX2 of the second coordinate point, and the Y coordinate V1PosY2 of the second coordinate point are determined and output as function parameters representing the boundaries of each restricted area according to each position specifying method.

[0244] (Coordinate setting when area restriction is invalid)

[0245] Fig.18 1 is a flowchart showing the processing contents of the subroutine (step S2) for setting coordinates when area restriction is invalid. When area restriction is invalid, the operation of the hydraulic excavator 100 is not always restricted. Therefore, the position of the restricted area is set in advance to a position that the front working machine 3 obviously will not reach.

[0246] When the subroutine for setting coordinates when area restriction is invalid (step S2) starts, the area 1 area setting unit 55 determines the coordinates V1PosX1, V1PosY1, V1PosX2, and V1PosY2 of each coordinate point as follows (step S8).

[0247] X coordinate of the first point V1PosX1 = -100 [m]

[0248] Y coordinate of the first point V1PosY1 = 100 [m]

[0249] X coordinate of the second point V1PosX2 = 100 [m]

[0250] The Y coordinate of the second point V1PosY2 = 100 [m]

[0251] Thus, the surface constituting the "area 1" is set to be parallel to the XZ plane 100 m forward from the origin O. Since this surface is sufficiently away from the front working machine 3, the movement of the front working machine 3 is not restricted.

[0252] Furthermore, when the area restriction function is set to "invalid", the restriction control unit 36 ​​performs processing such that the operation of the hydraulic excavator 100 is not restricted. Therefore, the coordinate setting here is not essential, but it is necessary to cope with the case where the area restriction function is "valid" and the restriction area is "not set".

[0253] (Coordinate setting when the shape of the boundary of the restriction area is a rectangle)

[0254] Fig.19 This is a flowchart of the processing contents of the subroutine (step S5) for setting coordinates when the shape type of the boundary of the restricted area is a rectangle. In the function (straight line formula) representing the boundary of the restricted area in the distance calculation unit 39, two coordinate points of the orthogonal coordinate system located at different positions are necessary. However, when the shape type of the boundary of the restricted area is a rectangle, the numerical value (position designation information) input by the operator is only the distance V1PosR1 of the first coordinate point.

[0255] Therefore, in the subroutine for setting coordinates in the case of a rectangle (step S5), the area 1 area setting unit 55 determines the coordinates V1PosX1, V1PosY1, V1PosX2, and V1PosY2 of each coordinate point as follows (step S9).

[0256] X coordinate of the first point V1PosX1 = -1 [m]

[0257] The Y coordinate of the first point V1PosY1=V1PosR1[m]

[0258] X coordinate of the second point V1PosX2 = 1 [m]

[0259] The Y coordinate of the second coordinate point V1PosY2=V1PosR1[m]

[0260] Thus, the surface constituting the “region 1 ” is set to be a surface parallel to the XZ plane at V1PosR1[m] forward from the origin O.

[0261] In addition, -1m is set for V1PosX1 and 1m is set for V1PosX2, but the magnitude of the numerical values ​​is meaningless. At least in this calculation method (this position specification method), the X coordinate of the first point and the X coordinate of the second point of the coordinate point can be set in such a way as to set a surface parallel to the XZ plane. That is, in this calculation method (this position specification method), different values ​​are set for V1PosX1 and V1PosX2, and the distance V1PosR1 as the position specification information is set for V1PosY1 and V1PosY2 respectively.

[0262] (Coordinate setting when the shape of the boundary of the restriction area is a tangent line of a concentric circle)

[0263] Fig. 20 This is a flowchart of the processing contents of the subroutine (step S6) for setting coordinates when the type of shape of the boundary of the restricted area is a tangent of concentric circles. In the function (straight line formula) representing the boundary of the restricted area in the distance calculation unit 39, two coordinate points of the orthogonal coordinate system located at different positions are necessary. However, when the type of shape of the boundary of the restricted area is a tangent of concentric circles, the numerical value (position designation information) input by the operator is only the distance V1PosR1 of the first coordinate point and the angle V1PosT1 of the first coordinate point.

[0264] Therefore, in the subroutine for setting coordinates for tangent lines of concentric circles (step S6), the area 1 area setting unit 55 determines the coordinates V1PosX1, V1PosY1, V1PosX2, and V1PosY2 of each coordinate point by the calculation method (position specifying method) described below.

[0265] When the subroutine for setting the coordinates of the tangent lines of the concentric circles (step S6) starts, the area 1 area setting unit 55 first determines whether the angle V1PosT1 of the first coordinate point is 0° (step S10). In step S10, if it is determined that the angle V1PosT1 of the first coordinate point is 0°, the process proceeds to step S11. The position of the surface constituting the restricted area when the angle V1PosT1 of the first coordinate point is 0° is the same as the position of "Surface 1 (front)" set when the type of the shape of the boundary of the restricted area is "Type 1: Rectangle".

[0266] Therefore, the area 1 area setting unit 55 determines the coordinates V1PosX1, V1PosY1, V1PosX2, and V1PosY2 of each coordinate point in step S11 as follows, and ends the process.

[0267] X coordinate of the first point V1PosX1 = -1 [m]

[0268] The Y coordinate of the first point V1PosY1=V1PosR1[m]

[0269] X coordinate of the second point V1PosX2 = 1 [m]

[0270] The Y coordinate of the second coordinate point V1PosY2=V1PosR1[m]

[0271] In step S10, if it is determined that the angle V1PosT1 of the first coordinate point is not 0°, the process proceeds to step S12. In step S12, the region 1 area setting unit 55 determines whether the angle V1PosT1 of the first coordinate point is 90°. In step S12, if it is determined that the angle V1PosT1 of the first coordinate point is 90°, the process proceeds to step S13. The position of the surface constituting the restricted area when the angle V1PosT1 of the first coordinate point is 90° is the same as the position of "Surface 2 (right)" set when the type of shape of the boundary of the restricted area is "Type 1: Rectangle".

[0272] Therefore, in step S13, the area 1 area setting unit 55 determines the coordinates V1PosX1, V1PosY1, V1PosX2, and V1PosY2 of each coordinate point as follows, and ends the process.

[0273] X coordinate of the first point V1PosX1=V1PosR1[m]

[0274] The Y coordinate of the first point V1PosY1 = -1 [m]

[0275] The X coordinate of the second point V1PosX2 = V1PosR1 [m]

[0276] The Y coordinate of the second point V1PosY2 = 1 [m]

[0277] In step S12, if it is determined that the angle V1PosT1 of the first coordinate point is not 90°, the process proceeds to step S14. In step S14, the region 1 region setting unit 55 determines whether the angle V1PosT1 of the first coordinate point is +180° or -180°. In step S14, if it is determined that the angle V1PosT1 of the first coordinate point is +180° or -180°, the process proceeds to step S15. The position of the surface constituting the restricted area when the angle V1PosT1 of the first coordinate point is +180° or -180° is the same as the position of "Surface 3 (back)" set when the type of shape of the boundary of the restricted area is "Type 1: Rectangular".

[0278] Therefore, in step S15, the area 1 area setting unit 55 determines the coordinates V1PosX1, V1PosY1, V1PosX2, and V1PosY2 of each coordinate point as follows, and ends the process.

[0279] X coordinate of the first point V1PosX1 = -1 [m]

[0280] The Y coordinate of the first point V1PosY1 = -V1PosR1 [m]

[0281] X coordinate of the second point V1PosX2 = 1 [m]

[0282] The Y coordinate of the second point V1PosY2 = -V1PosR1[m]

[0283] In step S14, if it is determined that the angle V1PosT1 of the first coordinate point is neither +180° nor -180°, the process proceeds to step S16. In step S16, the region 1 region setting unit 55 determines whether the angle V1PosT1 of the first coordinate point is -90°. In step S16, if it is determined that the angle V1PosT1 of the first coordinate point is -90°, the process proceeds to step S17. The position of the surface constituting the restricted area when the angle V1PosT1 of the first coordinate point is -90° is the same as the position of "Surface 4 (left)" set when the shape of the boundary of the restricted area is "Type 1: Rectangle".

[0284] Therefore, in step S17 , the area 1 area setting unit 55 determines the coordinates V1PosX1 , V1PosY1 , V1PosX2 , and V1PosY2 of each coordinate point as follows, and ends the process.

[0285] X coordinate of the first point V1PosX1 = -V1PosR1[m]

[0286] The Y coordinate of the first point V1PosY1 = -1 [m]

[0287] The X coordinate of the second point V1PosX2 = -V1PosR1[m]

[0288] The Y coordinate of the second point V1PosY2 = 1 [m]

[0289] In step S16, if it is determined that the angle V1PosT1 of the first coordinate point is not -90°, the process proceeds to step S18. If the angle V1PosT1 of the first coordinate point is not any one of 0°, 90°, +180°, -180°, and -90°, the coordinate point input by the operator exists in the range of -180<θ<-90, -90<θ<0, 0<θ<90, and 90<θ<180 of the cylindrical coordinate system. Therefore, in step S18, the area setting unit 55 of area 1 determines two coordinate points by transforming the coordinates from the cylindrical coordinate system to the orthogonal coordinate system using trigonometric functions.

[0290] In step S18, the area 1 area setting unit 55 calculates the X coordinate and Y coordinate of the coordinate point 1 using the following formula based on the information of the coordinate point 1 (the distance V1PosR1 of the coordinate point 1 and the angle V1PosT1 of the coordinate point 1) input by the operator, and proceeds to step S19.

[0291] Coordinate point X coordinate of the first point V1PosX1 = V1PosR1 sin(V1PosT1×π / 180)[m]

[0292] Coordinate point Y coordinate of the first point V1PosY1=V1PosR1·cos(V1PosT1×π / 180)[m]

[0293] The coordinate point 2 is the y-intercept of the straight line that passes through the coordinate point 1 and is perpendicular to the straight line connecting the origin O and the coordinate point 1. To this end, it is first necessary to calculate the slope a1 of the straight line connecting the origin O and the coordinate point 1 and the slope a2 of the straight line perpendicular to the straight line. In step S19, the area 1 area setting unit 55 calculates the slopes a1 and a2 according to the following formula based on the angle V1PosT1 of the coordinate point 1 input by the operator, and proceeds to step S20.

[0294] a1=tan((90-V1PosT1)×π / 180)

[0295] a2=-1 / a1

[0296] In step S20, the area 1 area setting unit 55 calculates the X coordinate and Y coordinate of the second coordinate point using the following equations using the slope a2 calculated in step S19 and the X coordinate V1PosX1 and Y coordinate V1PosY1 of the first coordinate point calculated in step S18, and ends the process.

[0297] X coordinate of the second point V1PosX2 = 0 [m]

[0298] The Y coordinate of the second point V1PosY2 = V1PosY1-a2·V1PosX1[m]

[0299] Fig.21 FIG. 1 is a diagram showing a specific example of a restriction area when the type of shape of the boundary of the restriction area is a tangent line of concentric circles. Fig.21 , the restricted area is set when the operator inputs a distance (V1PosR1) of 7.0 m from the origin O and an angle (V1PosT1) of 30° from the angle reference line L0 as position designation information (information of coordinate points) for designating the position of the restricted area.

[0300] pass Fig. 20 The processing of the coordinate setting subroutine (step S6) shown in the figure calculates the X coordinate (V1PosX1) of the first point 3.5m, the Y coordinate (V1PosY1) of the first point 6.062m, the X coordinate (V1PosX2) of the second point 0m, and the Y coordinate (V1PosY2) of the second point 8.083m as two coordinate points representing the position of the restricted area.

[0301] according to Fig.21 From the graph, it can be confirmed that the straight line A passing through the coordinate points 1 and 2 is a straight line circumscribing a circle with a radius of 7m centered at the origin O at an angle of 30° from the angle reference line L0 (0°).

[0302] (Coordinate setting when the shape of the boundary of the restriction area is an arbitrary straight line)

[0303] Fig. 22 This is a flowchart of the processing contents of the subroutine (step S7) for setting coordinates when the type of shape of the boundary of the restricted area is an arbitrary straight line. In the function (the equation of the straight line) representing the boundary of the restricted area in the distance calculation unit 39, two coordinate points of the orthogonal coordinate system located at different positions are necessary. However, when the type of shape of the boundary of the restricted area is an arbitrary straight line, the numerical values ​​input by the operator are two coordinate points of the cylindrical coordinate system.

[0304] Therefore, in the subroutine for setting coordinates for an arbitrary straight line (step S7), the area 1 area setting unit 55 performs coordinate conversion from the cylindrical coordinate system to the orthogonal coordinate system for each of the two coordinate points by the calculation method (position specifying method) described below.

[0305] When the type of shape of the boundary of the restricted area is an arbitrary straight line, the operator inputs information of two coordinate points. When the subroutine for setting the coordinates of the arbitrary straight line (step S7) starts, the area 1 area setting unit 55 sequentially executes the subroutine for coordinate transformation of the first coordinate point (step S21) and the subroutine for coordinate transformation of the second coordinate point (step S22).

[0306] Fig.23 This is a flowchart showing the processing contents of the subroutine (step S21) for coordinate transformation of the first coordinate point when the shape of the boundary of the restricted area is an arbitrary straight line. When the subroutine (step S21) starts, the area setting unit 55 of area 1 determines the X coordinate V1PosX1 and the Y coordinate V1PosY1 of the first coordinate point by coordinate transformation from the cylindrical coordinate system to the orthogonal coordinate system using the following equations using trigonometric functions (step S31).

[0307] Coordinate point X coordinate of the first point V1PosX1 = V1PosR1 sin(V1PosT1×π / 180)[m]

[0308] Coordinate point Y coordinate of the first point V1PosY1=V1PosR1·cos(V1PosT1×π / 180)[m]

[0309] Fig.24 This is a flowchart showing the processing contents of the subroutine (step S22) for coordinate transformation of the second coordinate point when the type of shape of the boundary of the restricted area is an arbitrary straight line. When the subroutine (step S22) starts, the area setting unit 55 of area 1 determines the X coordinate V1PosX2 and the Y coordinate V1PosY2 of the second coordinate point by coordinate transformation from the cylindrical coordinate system to the orthogonal coordinate system using the following equations using trigonometric functions (step S40).

[0310] Coordinate point X coordinate of the second point V1PosX2 = V1PosR2 sin(V1PosT2×π / 180)[m]

[0311] Coordinate point Y coordinate of the second point V1PosY2 = V1PosR2·cos(V1PosT2×π / 180)[m]

[0312] (Effects of the First Embodiment)

[0313] In the first embodiment of the present invention configured as described above, the following effects can be obtained.

[0314] (1) The control device 110 of the present embodiment includes a nonvolatile memory (storage device) 82 that stores boundary information related to a plurality of different shapes of the boundary of the restricted area (rectangle, tangent of concentric circles, arbitrary straight line). The control device 110 selects one of the shapes of the boundaries of the plurality of restricted areas of the boundary information based on the input information input from the switch box (input device) 13 in accordance with the operation of the operator, and sets the boundary of the restricted area of ​​the selected shape. According to this structure, a restricted area of ​​a shape (simple shape or complex shape) corresponding to the working condition and working environment can be easily set, and a hydraulic excavator (working machine) 100 with good usability of the area restriction function can be provided.

[0315] In this embodiment, the types of shapes of the boundary of the restriction area that the operator can select, particularly in a polygonal area, include three types: "Type 1: rectangle", "Type 2: tangent of concentric circles", and "Type 3: arbitrary straight line". Thus, even if the area to be restricted changes depending on the work situation and work environment, the operator can handle it in accordance with the situation.

[0316] (2) The control device 110 stores a position specifying method corresponding to the type of shape of the boundary of the restriction area in the nonvolatile memory (storage device) 92. The input information input from the switch box (input device) 13 to the control device 110 includes position specifying information that specifies the position of the boundary of the restriction area. The control device 110 generates a position specifying method based on the position specifying information input from the switch box (input device) 13 and the position specifying method stored in the nonvolatile memory (storage device) 92 (see Fig.19 , Fig. 20 , Fig. 22 ), set the boundary of the restricted area. In this embodiment, the control device 110 specifies the method from multiple positions (refer to Fig.19 , Fig. 20 , Fig. 22 ) selects a position specifying method corresponding to the type of shape of the boundary of the selected restriction area. And the control device 110 sets the boundary of the restriction area according to the selected position specifying method and the position specifying information.

[0317] By only selecting the position designation method when "Type 3: Arbitrary straight line" is selected, it is also possible to set a restricted area of ​​the same shape as when "Type 1: Rectangle" or "Type 2: Tangent of concentric circles" is selected. However, in this case, the operator needs to input a lot of coordinate point information for the shape of a simple restricted area, which is time-consuming and laborious. In this embodiment, when "Type 1: Rectangle" is selected as the first shape as the type of shape of the boundary of the restricted area, the control device 110 selects the first shape according to the type of coordinate point information. Fig.19 The position specifying method described in the previous section sets the boundary of the restricted area. In this position specifying method, the input coordinate point is 1 point, and the numerical input is only 1 place (refer to Fig. 14B ). When "Type 2: tangent of concentric circles" as the second shape is selected as the type of shape of the boundary of the restriction area, the control device 110 performs the following operations according to the Fig. 20 The position specifying method described in the previous section sets the boundary of the restricted area. In this position specifying method, the input coordinate point is 1 point, and the numerical input is only 2 places (refer to Fig. 13B ). When "Type 3: arbitrary straight line" as the third shape is selected as the type of shape of the boundary of the restriction area, the control device 110 performs the following operations according to the Figure 22 to Figure 24 The position specifying method described in the previous section sets the boundaries of the restricted area. In this position specifying method, two coordinate points are input and four numerical inputs are input (see Fig. 12B ). Thus, in the present embodiment, the number of times the numerical value is input varies in association with the complexity of the shape that the operator wants to set, and in the case where a simple shape is possible, the boundary of the restricted area can be set with less effort, which can improve the usability of the area restriction function.

[0318] (3) The control device 110 determines the origin O of the coordinate system for setting the boundary of the restricted area. If the distance r from the origin O and the information of the angle θ from the angle reference line L0 extending from the origin O (for example, V1PosR1, V1PosT1) are input from the switch box (input device) 13 as position designation information, then based on this information, the coordinate points in the coordinate system (for example, V1PosX1, V1PosY1) are set, and the boundary of the restricted area is set based on the coordinate points. That is, the coordinates input by the operator are not the coordinates of the orthogonal coordinate system, but the coordinates of the cylindrical coordinate system. Therefore, the operator can imagine the operating radius of the front working machine 3 that he usually pays attention to in association with the rotation angle, thereby improving the usability of the area restriction function.

[0319] (4) In the present embodiment, even if the type of the shape of the boundary of the restricted area changes, only the amount of information input by the operator changes, and the type of the input information does not change. Assume that when the type of the shape of the boundary of the restricted area is "Type 2: Tangent of concentric circles", the distance r and angle θ of the cylindrical coordinate system are input as input information, while in contrast, when it is "Type 3: Arbitrary straight line", the X coordinate and Y coordinate of the orthogonal coordinate system are input as input information. In this case, when the operator inputs a numerical value, it is necessary to consider the two coordinate systems of the cylindrical coordinate system and the orthogonal coordinate system according to the situation, which leads to troublesome input. In contrast, in the present embodiment, regardless of the type of the shape of the boundary of the restricted area, the input information of the operator is the distance r and angle θ of the cylindrical coordinate system, and the coordinates are transformed into the orthogonal coordinate system in the main controller 11. Therefore, the operator only needs to consider the cylindrical coordinate system. Therefore, according to the present embodiment, it is easy to distinguish the types of the shapes of the boundaries of the three restricted areas, and the usability of the area restriction function can be improved.

[0320] (5) The control device 110 displays an input area (numerical input area 48) for the user to input position designation information and a diagram (operation area diagram Wa) indicating the boundary of the currently set restriction area in a row on the display screen of the display device 5. Thus, the operator can input a numerical value, change the boundary of the restriction area, or set a new boundary of the restriction area while checking the boundary of the currently set restriction area through the operation area diagram Wa, thereby improving the usability for the operator.

[0321] (6) The control device 110 causes the display device 5 to display a selection screen for the shape of the boundary of the restriction area (see Fig.11 ). The input information input from the switch box (input device) 13 to the control device 110 includes information on the type of shape of the boundary of the restriction area. When the control device 110 receives information for selecting the type of shape of the boundary of the restriction area from the switch box (input device) 13, the control device 110 selects one of the types of shape of the boundary of the restriction area based on the input information, and causes the display device 5 to display a restriction area setting screen ( Fig. 12A , Fig.13A , Fig.14A ). Thereafter, when the position designation information is input from the switch box (input device) 13, the control device 110 sets the boundary of the restricted area according to the position designation information and the position designation method corresponding to the type of shape of the boundary of the restricted area selected. In this structure, the operator can select the type of shape of the boundary of the restricted area before inputting the position designation information. In this embodiment, the control device 110 causes the display device 5 to display a display screen corresponding to the type of shape of the boundary of the restricted area ( Fig. 12A , Fig.13A , Fig.14A ), therefore, the operator can easily understand what to input as the position designation information.

[0322] <Second embodiment>

[0323] Reference Figures 25 to 31 , a hydraulic excavator 100 according to a second embodiment will be described. In addition, the same reference numerals are given to the same or corresponding parts as those in the first embodiment, and the differences will be mainly described. In the first embodiment, the control device 110 is input with input information of the type of shape of the boundary of the restricted area (refer to Fig.11 ), one of the types of shapes of the boundary of the restriction area is selected based on the input information, and then, when position designation information is input, the position designation method corresponding to the position designation information and the type of shape of the boundary of the restriction area selected is performed (see Fig.19 , Fig. 20 , Fig. 22 ), the boundary of the restricted area is set. In contrast, in the second embodiment, the control device 110 selects one of the shapes of the boundary of the restricted area from a plurality of shapes according to the position designation information input from the switch box 13. That is, in the second embodiment, the shape of the boundary of the restricted area is automatically determined according to the input information of the coordinate point.

[0324] The second embodiment of the present invention is different from the first embodiment only in the part related to the setting of the restriction area by the operator, and the other system configurations and the control contents in the main controller 11 are the same as those of the first embodiment. Hereinafter, only the differences between the first embodiment and the second embodiment will be described, and the description of the common parts will be omitted.

[0325] Fig.25 FIG. 1 is a diagram showing a polygonal area restriction setting screen in the second embodiment of the present invention. Fig. 9 In the hierarchy of the monitor menu shown in FIG. 1 , when “polygonal area” is selected from “area limitation setting” in the monitor menu, the display is displayed. Fig.11 In the restriction area selection screen shown in FIG. 1 , the operator first determines the type of shape of the boundary of the restriction area. In contrast, in the second embodiment, the restriction area selection screen is not displayed (see FIG. 1 ). Fig.11 ) to display the restricted area setting screen (refer to Fig.25 ).

[0326] also, Fig.25 This shows the setting screen in a state where no restriction area is set (initial state). Fig.25The restricted area setting screen shown is different from the restricted area setting screen described in the first embodiment ( Fig. 12A ). Fig.25 As shown in FIG. 1 , a plurality of setting surface selection tabs 46 for selecting which boundary (surface) of a restricted area is to be set are arranged at the upper right portion of the restricted area setting screen. When the operator rotates the selection / determination switch 33 to select the tab of the surface to be set and presses the selection / determination switch 33, a screen (restricted area setting screen) for specifying the position of the surface is displayed. Fig.25 The screen showing the position of the surface "Surface 1 (front)" for setting the restriction area displays the "Surface 1 (front)" label and other labels in different colors, so that the operator can easily identify the selected label.

[0327] On the left side of the screen, there is a work area diagram Wa showing the position of the surface constituting the currently set restricted area. This allows the operator to visually recognize the currently set restricted area. The work area diagram Wa schematically shows the space viewed from the upper side of the vehicle body. The work area diagram Wa shows an illustration of the hydraulic excavator 100 showing the direction of the hydraulic excavator 100 (particularly the upper swing body 2), a numerical value showing the distance in the XY direction, a numerical value showing the angle from the angle reference line L0 (in the front direction of the lower traveling body), and a scale line serving as a reference for the distance.

[0328] When a restricted area is set, a straight line corresponding to the position is displayed in the operation area map Wa. Fig.25 In the embodiment, the display range of the work area map Wa is 20 m from -10 m to +10 m in both the X and Y directions, but the display range is not limited thereto. The display range of the work area map Wa can be changed according to the vehicle specification (body size) of the hydraulic excavator 100, and can also be arbitrarily enlarged or reduced by the operator through switch operation such as the numeric keypad 34.

[0329] On the right side of the screen, a numerical input area 48 for the operator to designate the position of the surface of the restriction area is arranged. In the numerical input area 48, a first distance input unit 49, a first angle input unit 50, a second distance input unit 51, and a second angle input unit 52 are displayed.

[0330] When the operator rotates the selection / determination switch 33 to align the cursor with the first distance input unit 49 and presses the selection / determination switch 33, the first distance input unit 49 is in a numerical input waiting state. When the first distance input unit 49 is in a numerical input waiting state, a numerical value can be input (a numerical value can be changed) by rotating the selection / determination switch 33 or pressing a numerical button of the numeric keypad 34. In addition, in order to correct or delete the value at this time, a dedicated button can be added to the buttons of the numeric keypad 34, and these functions can also be assigned to a specific button (for example, a numeric 0 key) by long pressing.

[0331] The range of the value that the operator can input may be limited. For example, even if 100 m is input as the distance from the origin O to the restricted area, the restricted area is too far from the hydraulic excavator 100, and therefore the area restriction function cannot be achieved. By setting the upper limit of the operator's manual input range to a practical range that can flexibly utilize the area restriction function, such as 15 m, the operator can easily understand the setting of the range.

[0332] When the operator presses the selection / determination switch 33 in a state where the numerical value matches the distance to be set, the value of the first distance input unit 49 is determined. The operator can also input numerical values ​​in the first angle input unit 50, the second distance input unit 51, and the second angle input unit 52 in the same manner. However, at this stage, the setting operation of the surface of the restriction area is not completed.

[0333] At the lower right of the screen, an area clear switch 53 and an area determination switch 54 are arranged. When the operator presses the select / determine switch 33 with the cursor on the area clear switch 53, the setting of the surface of the currently set restricted area is cleared. As a result, the work area returns to a state where there is no restriction (regarding the surface).

[0334] (Features of the Second Embodiment)

[0335] The area determination switch 54 determines whether to be pressed or not pressed according to the numerical input conditions of the four units for the operator to input numerical values, namely, the first distance input unit 49, the first angle input unit 50, the second distance input unit 51, and the second angle input unit 52. When the area determination switch 54 is pressed by pressing the selection / determination switch 33 in the pressed state, the boundary of the restriction area corresponding to the combination of the input or not of the numerical values ​​of the four input units (49, 50, 51, 52) input at this time is set.

[0336] When the boundary of the restricted area is set, a straight line indicating the position of the restricted area is additionally displayed on the work area map Wa. This part is a feature of the second embodiment of the present invention and will be described in detail below.

[0337] Fig.261 is a diagram showing a list of selection items based on various status information of whether or not a numerical value has been input into the numerical input area 48 in the second embodiment of the present invention. The first column from the left of the list is assigned consecutive numbers 1 to 16 for the purpose of explaining the combination pattern. The second to fifth columns from the left of the list indicate whether or not a combination of numerical inputs has been made to the four cells of the numerical input area 48, namely, the first distance input cell 49, the first angle input cell 50, the second distance input cell 51, and the second angle input cell 52. If "○" is displayed in a column, it indicates that a numerical value has been input, and if a column is blank, it indicates that no numerical value has been input ( Fig.25 The "---" column in the display).

[0338] The sixth column from the left of the list indicates whether the area determination switch 54 is in a depressible state or a non-depressible state in the combination mode. The seventh column from the left of the list indicates whether the setting of the restricted area is "0: no setting (no area)" or "1: setting (area)" in the combination mode. The eighth column from the left of the list indicates whether the shape of the boundary of the restricted area is "0: no setting", "1: rectangle", "2: tangent of concentric circles", or "3: arbitrary straight line" in the combination mode.

[0339] However, the change of whether or not the setting of the restricted area is from "not set" to "set" is performed when the area determination switch 54 is pressed. Similarly, the change of the type of the shape of the boundary of the restricted area to other than "not set" is performed when the area determination switch 54 is pressed. Before the area determination switch 54 is pressed, regardless of the combination mode, whether or not the setting of the restricted area is all "not set", and the type of the shape of the boundary of the restricted area is all "not set".

[0340] Below, refer to Figure 27 to Figure 30 , a specific example is described in detail. Fig. 27 It means Fig.26 This is a diagram showing an example of a restricted area setting screen when a numerical value is input to the first distance input unit 49 and the area determination switch 54 is pressed, as in the combination mode 2 in FIG. Fig. 27In the example shown, "7.0" m is input to the first distance input unit 49, and no input is made to the first angle input unit 50, the second distance input unit 51, and the second angle input unit 52. At this time, the area determination switch 54 is in a pressable state. If the area determination switch 54 is pressed in this state, the restricted area is determined, and the monitor controller 14 sends "setting (area)" as information on the presence or absence of area setting for the "surface 1 (front)" area to the area setting unit 38 of the main controller 11, and "rectangle" is sent as information on the type of shape of the boundary of the "surface 1 (front)" area. The information on the coordinates of each coordinate point specifying the boundary of the restricted area is sent in the same manner as in the first embodiment.

[0341] Fig.28 It means Fig.26 This is a diagram showing an example of a restricted area setting screen when only numerical values ​​are input to the first distance input unit 49 and the first angle input unit 50 and the area determination switch 54 is pressed, as in the combination mode 6 in FIG. Fig.28 In the example shown, "7.0" m is input to the first distance input unit 49, "45"° is input to the first angle input unit 50, and no input is made to the second distance input unit 51 and the second angle input unit 52. At this time, the area determination switch 54 is in a pressable state. If the area determination switch 54 is pressed in this state, the restricted area is determined, and the monitor controller 14 sends "setting (area)" as information on the presence or absence of area setting for the "surface 1 (front)" area to the area setting unit 38 of the main controller 11, and "tangent of concentric circles" as information on the type of shape of the boundary of the "surface 1 (front)" area. The information on the coordinates of each coordinate point specifying the boundary of the restricted area is sent in the same manner as in the first embodiment.

[0342] Fig.29 It means Fig.26 This is a diagram showing an example of a restricted area setting screen when numerical values ​​are input to all four parts, namely, the first distance input unit 49, the first angle input unit 50, the second distance input unit 51, and the second angle input unit 52, and the area determination switch 54 is pressed, as in the combination mode 16 in FIG. Fig.29In the example shown, "7.0" m is input to the first distance input unit 49, "-60"° is input to the first angle input unit 50, "10.0" m is input to the second distance input unit 51, and "45"° is input to the second angle input unit 52. At this time, the area determination switch 54 is in a pressable state. If the area determination switch 54 is pressed in this state, the restricted area is determined, and "there is a setting (there is an area)" is sent from the monitor controller 14 to the area setting unit 38 of the main controller 11 as information on the presence or absence of area setting for the "surface 1 (front)" area, and "arbitrary straight line" is sent as information on the type of shape of the boundary of the "surface 1 (front)" area. The information on the coordinates of each coordinate point specifying the boundary of the restricted area is sent in the same manner as in the first embodiment.

[0343] Fig.30 It means Fig.26 As in the combination mode 12 in FIG. 1 , a numerical value is input to the first distance input unit 49, the first angle input unit 50, and the second distance input unit 51, and a numerical value is input to the second angle input unit 52, and an example of a restricted area setting screen is shown. Fig.30 In the example shown, "7.0" m is input to the first distance input unit 49, "-60"° is input to the first angle input unit 50, "10.0" m is input to the second distance input unit 51, and no input is made to the second angle input unit 52. At this time, the area determination switch 54 is in a non-pressable state. Since the area determination switch 54 cannot be pressed, the restricted area cannot be determined, and the monitor controller 14 sends "No setting (no area)" as information on the presence or absence of area setting for the "Surface 1 (front)" area to the area setting unit 38 of the main controller 11, and "Not set" as information on the type of shape of the boundary of the "Surface 1 (front)" area. In addition, at this time, as Fig.30 If the color of the area determination switch 54 is displayed in a color different from the color in the depressible state, as in the display of FIG. 5 , the operator can more clearly recognize the depressible / non-depressible state of the area determination switch 54.

[0344] As described above, in the second embodiment of the present invention, the control device 110 causes the display device 5 to display the restricted area setting screen (see Fig.25 ), selects one of the shapes of the boundaries of the plurality of restricted areas according to the position designation information input from the switch box (input device) 13. In the present embodiment, the control device 110 automatically determines the shape of the boundary of the restricted area and sets the restricted area according to the information of the combination of the positions where the numerical input is performed in the four numerical input units of the numerical input area 48. The main processing performed by the control device 110 of the second embodiment is summarized as follows.

[0345] When only information about the distance r from the origin O is input from the switch box (input device) 13 as position specifying information, the control device 110 selects the first shape "Type 1: Rectangle" (see Fig.26 ). When the first shape "Type 1: Rectangle" is selected, the control device 110 sets a plane that is arranged at a distance r from the origin O in a predetermined direction (any of the front, right, rear, and left of the vehicle body) and is parallel to the vertical direction and orthogonal to the predetermined direction as the boundary of the restricted area based on the information of the distance r as the position specifying information. In addition, the control device 110 causes the work area map Wa displayed on the display screen of the display device 5 to display a straight line indicating the boundary of the set restricted area (refer to Fig. 27 ).

[0346] When only the first distance r from the origin O and the first angle θ from the angle reference line L0 extending from the origin O as information related to one coordinate point are input from the switch box (input device) 13 as position specifying information, the control device 110 selects the second shape "Type 2: tangent of concentric circles" (see Fig.26 ). When the second shape "Type 2: Tangent of concentric circles" is selected, the control device 110 sets the tangent plane between the one coordinate point and the cylinder whose center axis is the vertical axis passing through the origin O as the boundary of the restricted area based on the information related to the one coordinate point as the position specifying information. In addition, the control device 110 causes the working area map Wa displayed on the display screen of the display device 5 to display a straight line indicating the boundary of the set restricted area (see Fig.28 ).

[0347] When the control device 110 inputs information about the first distance r from the origin O and the first angle θ from the angle reference line L0 (for example, V1PosR1, V1PosT1) as information related to two coordinate points, and information about the second distance r from the origin O and the second angle θ from the angle reference line L0 as position designation information from the switch box (input device) 13, the control device 110 selects a third shape "Type 3: arbitrary straight line" (see Fig.26 ). When the third shape "Type 3: Arbitrary straight line" is selected, the control device 110 sets an arbitrary plane passing through the two coordinate points and parallel to the vertical direction as the boundary of the restricted area based on the information related to the two coordinate points as the position designation information. In addition, the control device 110 causes the work area map Wa displayed on the display screen of the display device 5 to display a straight line indicating the boundary of the set restricted area (refer to Fig.29 ).

[0348] In addition, the automatic identification of the shape of the boundary of the restricted area is performed independently for the four restricted area surfaces, namely, "Surface 1 (front)", "Surface 2 (right)", "Surface 3 (back)", and "Surface 4 (left)". Therefore, the setting of the restricted area as described below can be performed.

[0349] Fig.31 2 is a diagram showing an example of a restriction area setting screen in which the shapes of the boundaries of different types of restriction areas are combined. Fig.31 , four restricted area surfaces are set as follows, namely, "Surface 1 (front)", "Surface 2 (right)", "Surface 3 (back)", and "Surface 4 (left)".

[0350] In the restricted area setting screen of "Surface 1 (front)", numerical values ​​are input to all 4 numerical input units, and the type of shape of the boundary of the restricted area is set to "arbitrary straight line". In the restricted area setting screen of "Surface 2 (right)", numerical values ​​are input only to the first distance input unit 49, and the type of shape of the boundary of the restricted area is set to "rectangle". In the restricted area setting screen of "Surface 3 (back)", numerical values ​​are input only to the first distance input unit 49 and the first angle input unit 50, and the type of shape of the boundary of the restricted area is set to "tangent of concentric circles". In the restricted area setting screen of "Surface 4 (left)", numerical values ​​are not input to any numerical input unit, and the type of shape of the boundary of the restricted area and the boundary of the restricted area are not set. In this way, in the second embodiment, different types of shapes of the boundaries of restricted areas can also be combined.

[0351] (Effects of the Second Embodiment)

[0352] In the second embodiment of the present invention configured as described above, in addition to the effects equivalent to (1) to (5) described in the first embodiment, the following effects can be obtained.

[0353] (7) When the operator sets the restriction area, there is no need to initially select the type of shape of the boundary of the restriction area as in the first embodiment, thereby reducing the operator's trouble in setting the area.

[0354] (8) The operator can determine the type of shape of the boundary of the restricted area by inputting a numerical value into one of the four numerical input units. Therefore, the operator can set the boundary of the restricted area with a degree of complexity corresponding to the shape of the restricted area to be set. In the present embodiment, as described above, when the operator wants to set the boundary of the restricted area as a "rectangle", the input is 1. When the operator wants to set the boundary of the restricted area as a "tangent of concentric circles", the input is 2. When the operator wants to set the boundary of the restricted area as an "arbitrary straight line", the input is 4.

[0355] (9) In the present embodiment, the type of shape of the boundary of the restricted area can be independently set for each of the four surfaces constituting the restricted area. Therefore, if there is a surface that can be set as a "rectangle" among the four surfaces, the input parts can be reduced, and if there is a surface that is desired to be set as an "arbitrary straight line" among the four surfaces, the input parts can be increased only for that surface.

[0356] As described above, the second embodiment of the present invention can further improve the usability of the area restriction function compared to the first embodiment.

[0357] (Other, Supplementary)

[0358] The following modified examples are also within the scope of the present invention, and it is also possible to combine the structure shown in the modified example with the structure described in the above embodiment, or to combine the structures described in the above different embodiments with each other, or to combine the structures described in the following different modified examples with each other.

[0359] <Variation 1>

[0360] In the first and second embodiments of the present invention, as a method for setting each coordinate point of the restricted area based on the operator, a method based on numerical input (numerical input setting method) is described, but the present invention is not limited to this. For example, it can also be applied to a method (direct teaching setting method) for setting each coordinate point of the restricted area using the coordinates of the coordinate point of the front working machine 3 (for example, the coordinate point of the center of the bucket tooth tip) calculated by the posture calculation unit 37. In this case, the front working machine 3 is moved to the coordinate point to be set, and the coordinates can be determined by a specific switch operation such as the selection / confirmation switch 33 and the numeric keypad 34.

[0361] <Variation 2>

[0362] In the first and second embodiments of the present invention, as a function of setting and using a restricted area, an area restriction function in which the front working machine 3 automatically decelerates and stops to avoid entering the set restricted area is described as an object, but the present invention is not limited to this. The technology of the present invention can also be applied to an excavation work auxiliary function, that is, a mechanical control function, which automatically moves the front working machine 3 along the boundary of a pre-set restricted area. The mechanical control function is a type of area restriction function. The present invention relates to an input unit for area information used by a specific function, and the function itself that uses the input area information is not limited.

[0363] <Variation 3>

[0364] In the first and second embodiments of the present invention, an example is described in which one of the three types of shapes of the boundary of the restriction area of ​​type 1 to type 3 is selected in the polygonal area, but the present invention is not limited thereto. In the polygonal area, one of the two types of shapes of the boundary of the restriction area of ​​type 1 to type 3 may be selected. That is, in the above embodiment, one of types 1 to type 3 may be omitted.

[0365] <Variation 4>

[0366] In the first and second embodiments of the present invention, an example in which the control device 110 is composed of the main controller 11 and the monitor controller 14 is described, but the present invention is not limited to this. The control device 110 may also be composed of a single controller (computer) having both the functions of the main controller 11 and the functions of the monitor controller 14. In addition, when the main controller 11 and the monitor controller 14 are provided separately, the main controller 11 may have a part of the functions of the monitor controller 14 described in the above embodiment, and the monitor controller 14 may also have a part of the functions of the main controller 11 described in the above embodiment.

[0367] <Variant 5>

[0368] In the first and second embodiments of the present invention, a crawler-type hydraulic excavator is used as an example of a working machine, but the present invention is not limited thereto. For example, the present invention can also be applied to working machines such as wheeled hydraulic excavators, wheel loaders, forklifts, dump trucks, cranes, etc. In the case of working machines such as wheel loaders, forklifts, dump trucks, etc. that perform work while moving, the entire machine can be regarded as a working machine, and its position can be determined as posture information.

[0369] Although the embodiments of the present invention have been described above, the above embodiments merely show a part of application examples of the present invention and are not intended to limit the technical scope of the present invention to the specific structures of the above embodiments.

[0370] Explanation of symbols

[0371] 1…lower traveling body (vehicle body), 2…upper swing body (vehicle body), 3…front working machine (working machine), 5…display device, 11…main controller, 13…switch box (input device), 14…monitor controller, 15…operating device, 36…limit control unit, 37…posture calculation unit, 38…area setting unit, 39…distance calculation unit, 40…display area, 48…numerical input area (input area), 49…first distance input unit, 50…first angle input unit, 51…second distance input unit, 52…second angle input unit, 53…area clearing switch, 54…area determining switch, 81…processor, 82…non-volatile memory (storage device), 91…processor, 92…non-volatile memory (storage device), 100…hydraulic excavator (working machine), 102…posture detection device, 110…control device.

Claims

1. A working machine having: A working machine, which is arranged on the vehicle body; a posture detection device for detecting posture information of the working machine; a control device that calculates the specific position of the working machine based on the posture information from the posture detection device, sets a restricted area that the working machine is prohibited from entering, calculates the distance between the restricted area and the specific position of the working machine, that is, the movable distance, and limits the movement of the working machine based on the movable distance in order to inhibit the working machine from entering the restricted area; and an input device that inputs input information input by an operator's operation into the control device, It is characterized in that The restricted area is composed of one or more surfaces parallel to the vertical direction. The input information includes position specifying information that specifies the position of the boundary of the restricted area. The control device includes a storage device that stores boundary information related to a plurality of different shape types of the boundary of the restriction area and stores a position specifying method corresponding to the shape type of the boundary of the restriction area. The control device selects one of the types of shapes of the boundaries of the restriction area from the plurality of shapes of the boundary information according to the input information input from the input device, and sets the boundary of the restriction area of ​​the selected shape according to the position designation information input from the input device and the position designation method stored in the storage device. The types of shapes of the boundaries of the plurality of restricted areas include: a first shape, a second shape, and a third shape. The control device determines the origin of the coordinate system for setting the restricted area, When the first shape is selected, based on the distance information as the position specifying information, a plane which is arranged at a position away from the origin in a predetermined direction by the distance and is parallel to the vertical direction and orthogonal to the predetermined direction is set as the boundary of the restricted area, When the second shape is selected, a tangent plane that is tangent to a cylinder having a vertical axis passing through the origin as a center axis at the one coordinate point is set as a boundary of the restricted area based on information related to the one coordinate point as the position specifying information, When the third shape is selected, based on the information on the two coordinate points as the position specifying information, an arbitrary plane passing through the two coordinate points and parallel to the vertical direction is set as the boundary of the restriction area.

2. The working machine according to claim 1, It is characterized in that The control device selects the first shape from among the types of shapes of the boundaries of the plurality of restriction areas when only information on the distance from the origin is input from the input device as the position specifying information. The control device selects the second shape from the types of shapes of the boundaries of the plurality of restricted areas when only information related to the one coordinate point, i.e., a first distance from the origin and a first angle from an angle reference line extending from the origin, is input from the input device as the position designation information. The control device selects the third shape from the types of shapes of the boundaries of the multiple restricted areas when information related to the two coordinate points, i.e., information on a first distance from the origin and a first angle from the angle reference line, and information on a second distance from the origin and a second angle from the angle reference line, is input from the input device as the position designation information.

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