Operating machinery

Abstract

In operating machinery, setting a non-intrusive area for restricted area control can reduce the operator's workload. Therefore, the main controller (21) calculates the target position information of the non-intrusive area based on the operation information of the control panel switch (11) or the monitor operation device (12). Based on the target position information of the non-intrusive area, it determines whether the distance (r1) between the target position (M) of the non-intrusive area and the rotation center (O) of the upper rotating body (102) is greater than a threshold set based on the distance (r2) from the rotation center (O) of the upper rotating body (102) to the rear end of the upper rotating body (102). When the distance (r1) is greater than the threshold, the target position information of the non-intrusive area is made valid, and the non-intrusive area is set at the target position (M).

Description

Technical Field

[0001] This invention relates to working machinery such as hydraulic excavators and hydraulic cranes that operate within designated non-intrusive areas. Background Technology

[0002] For example, hydraulic excavators, as a type of construction machinery, can perform complex actions efficiently by simultaneously driving multiple components such as the boom and stick that make up the machine.

[0003] In recent years, in the field of such work machinery, with the aim of ensuring work efficiency without relying on the operator's skill level, the following work assistance system has been proposed: if the work machine approaches the target surface, the work machine is slowed down, thereby preventing the work machine from contacting surrounding obstacles.

[0004] For example, Patent Document 1 discloses a technique for area restriction control as follows: Before the start of operation, the operator sets a non-intrusive zone within the range where the machine can operate. During operation, the distance between the non-intrusive zone and the vehicle body is determined based on sensor information, causing the machine to slow down and stop, so that the machine does not intrude into the non-intrusive zone. Patent Document 1 also discloses a technique for detecting the position of the claw tip of the machine and setting the non-intrusive zone surface for area restriction control.

[0005] Existing technical documents

[0006] Patent documents

[0007] Patent Document 1: Japanese Patent Application Publication No. 4-136324 Summary of the Invention

[0008] The problem that the invention aims to solve

[0009] As the shape of the inaccessible area surface under the condition of area restriction control, for example, Patent Document 1 Figure 9 As shown in Figure 19, the machine's disengagement in the elongation direction is suppressed by setting a plane perpendicular to the bottom surface of the track.

[0010] Here, if the surface perpendicular to the bottom of the track is set as the non-intrusive area surface, and if the non-intrusive area surface is set within the radius circle of the rear end of the upper rotating body, the separation of the work machine can be suppressed. On the other hand, when the upper rotating body is rotating, the rear end of the upper rotating body may enter the non-intrusive area.

[0011] In order to set an inaccessible area surface in a position that cannot be accessed at the rear of the upper rotating body, the operator needs to repeatedly try and fail, which becomes a burden for the operator.

[0012] The purpose of this invention is to provide a work machine that can reduce the burden on the operator when setting up an inaccessible area for restricted area control.

[0013] To achieve the above objectives, the present invention provides a working machine comprising: a lower traveling body; an upper rotating body rotatably mounted on the upper part of the lower traveling body; a working machine rotatably mounted on the front part of the upper rotating body; and a controller for performing area restriction control to prevent the working machine from exceeding a pre-set intrusive area surface and intruding into an intrusive area. The working machine includes a setting operation device for setting a target position of the intrusive area surface. When the distance between the target position set by the setting operation device and the rotation center of the upper rotating body is greater than a threshold set based on the distance from the rotation center of the upper rotating body to the rear end of the upper rotating body, the controller sets the intrusive area surface at the target position.

[0014] The effects of the invention

[0015] According to the present invention, since the vehicle body side determines that the vehicle cannot rotate when the position of the non-intrusive area is set, the operator's burden when setting the position of the non-intrusive area can be reduced. Attached Figure Description

[0016] Figure 1 The diagram shows a tracked hydraulic excavator, which is an example of the working machinery of the present invention.

[0017] Figure 2 This is a diagram showing the interior of the cab of the hydraulic excavator of the present invention, viewed from the driver's seat side.

[0018] Figure 3 This diagram shows the hydraulic system used to drive the work machine (boom, stick, bucket), the lower traveling body (left and right tracks), and the upper rotating body.

[0019] Figure 4 This is a diagram illustrating the control system of a hydraulic excavator according to the first embodiment of the present invention.

[0020] Figure 5A It is a method of indicating the target position of an inaccessible area surface, and a diagram representing a method of alignment based on the work machine.

[0021] Figure 5B It is a method of indicating the target location of an inaccessible area surface, and a diagram representing other methods of alignment based on the work machine.

[0022] Figure 5CThis is a diagram illustrating a method for indicating the target location of an inaccessible area, based on numerical input from a monitor operating device.

[0023] Figure 5D It is a method of indicating the target location of an inaccessible area, and a diagram representing other methods based on numerical input from a monitor operating device.

[0024] Figure 5E This is a diagram illustrating another method for indicating the target location of an inaccessible area, based on numerical input from a monitor operating device.

[0025] Figure 6 This is a flowchart illustrating the processing sequence for setting the non-intrusive area surface of the main controller in the first embodiment of the present invention.

[0026] Figure 7 This is a diagram showing the positional relationship between the inaccessible area surface set by the main controller in the first embodiment and the hydraulic excavator.

[0027] Figure 8 This is a flowchart illustrating the processing sequence for setting the non-intrusive area surface of the main controller in the second embodiment of the present invention.

[0028] Figure 9 This is a diagram showing the positional relationship between the inaccessible area surface set by the main controller in the second embodiment and the hydraulic excavator.

[0029] Figure 10 This is a flowchart illustrating the processing sequence for setting the non-intrusive area surface of the main controller in the third embodiment of the present invention.

[0030] Figure 11 This is a diagram showing the positional relationship between the inaccessible area surface set by the main controller in the third embodiment and the hydraulic excavator.

[0031] Figure 12 This is a flowchart illustrating the processing sequence for setting the non-intrusive area surface of the main controller in the fourth embodiment of the present invention. Detailed Implementation

[0032] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0033] <First Implementation>

[0034] <Operating Machinery>

[0035] Figure 1The diagram shows a tracked hydraulic excavator as an example of the working machinery of the present invention. Furthermore, the present invention is not limited to tracked hydraulic excavators, but can also be applied to wheeled hydraulic excavators, hydraulic cranes, and other working machinery.

[0036] exist Figure 1 The hydraulic excavator includes: a lower traveling body 100; an upper rotating body 102 rotatably mounted on the upper part of the lower traveling body 100; and a work machine 103 rotatably mounted on the front of the upper rotating body 102, and configured to connect the boom 103a, stick 103b, and bucket 103c (multiple front components) rotatably in the vertical direction.

[0037] The lower traveling body 100 is equipped with left and right tracks 100a and 100b.

[0038] The boom 103a, stick 103b, and bucket 103c are driven by boom cylinder 104a, stick cylinder 104b, and bucket cylinder 104c, respectively. The left and right tracks 100a and 100b are driven by left and right travel motors 104d and 104e, respectively. The upper rotating body 102 is driven by a rotary motor 104f mounted on the rotating frame 102a.

[0039] In the rotating frame 102a of the upper rotating body 102, a center connector (not shown) is also provided to connect the hydraulic pipes located on the side of the upper rotating body 102 and the hydraulic pipes located on the side of the lower traveling body 100 in a manner that will not be twisted due to the rotation of the upper rotating body 102. The center connector is equipped with an angle sensor 24 for detecting the rotation angle of the upper rotating body 102 relative to the lower traveling body 100.

[0040] In addition, the boom 103a, stick 103b, and bucket 103c are equipped with multiple posture sensors for detecting the posture of the work machine 103, including a boom IMU sensor 25, a stick IMU sensor 26, and a bucket IMU sensor 27. The boom IMU sensor 25, stick IMU sensor 26, and bucket IMU sensor 27 detect the posture of the work machine 103 based on changes in the amount of motion of the sensor elements.

[0041] A cabin 105 forming a driver's cab is provided on the left front of the upper rotating body 102.

[0042] <Inside the cabin>

[0043] Figure 2 This is a view of the interior (cab) of the hydraulic excavator's compartment 105 as seen from the driver's seat side.

[0044] exist Figure 2In the compartment 105, there are a driver's seat 2 for the operator to sit in, control levers 3 and 4 for instructing the movement of the upper rotating body 102 and the working machine 103 (boom 103a, stick 103b, bucket 103c), and control levers 5 and 6 for instructing the movement of the lower traveling body 100 (left and right tracks 100a and 100b).

[0045] The control lever devices 3 and 4 are located on the left and right sides in front of the driver's seat 2. The control lever device 3 on the left indicates the movement of the boom 103b and the upper rotating body 102, while the control lever device 4 on the right indicates the movement of the boom 103a and the bucket 103c.

[0046] The control lever devices 5 and 6 are arranged on the left and right sides of the central part of the floor in front of the driver's seat 2. The control lever device 5 on the left side instructs the movement of the left track 100a, and the control lever device 6 on the right side instructs the movement of the right track 100b.

[0047] Additionally, the cabin 105 has two pillars 7a and 7b supporting the front of the roof, with a windshield 8 embedded in the two pillars 7a and 7b. Furthermore, a monitor 9 for setting inaccessible areas, other vehicle body settings, and visibility assistance is installed on the pillar 7b on the right side when viewed from the driver's seat 2. The monitor 9 also displays detailed information about area restriction controls (ON / OFF status of area restriction controls, position and effectiveness / ineffectiveness of inaccessible areas, and effectiveness / ineffectiveness of deceleration control).

[0048] Furthermore, a control panel 10 is provided on the right side of the control lever device 4 on the right side of the driver's seat 2 and on the right side of the operator sitting in the driver's seat 2. The control panel 10 includes a control panel switch 11 and a monitor operation device 12, which are used as setting operation devices for setting the target position of the non-intrusive area surface for area restriction control.

[0049] <Hydraulic System>

[0050] Figure 3 This diagram shows the hydraulic system used to drive the work machine 103 (boom 103a, stick 103b, bucket 103c), the lower traveling body 100 (left and right tracks 100a and 100b), and the upper rotating body 102.

[0051] exist Figure 3The hydraulic system includes: a hydraulic pump 15; multiple actuators (boom cylinder 104a, stick cylinder 104b, bucket cylinder 104c, left and right travel motors 104d, 104e, and swivel motor 104f) driven by hydraulic oil discharged from the hydraulic pump 15; a control valve 16 having multiple spool valves that control the flow rate and flow direction of the hydraulic oil supplied from the hydraulic pump 15 to the multiple actuators; and the aforementioned operating lever devices 3, 4, 5, and 6 that generate pilot pressure for switching the multiple spool valves of the control valve 16.

[0052] In addition, Figure 3 In the diagram, the control lever device 3 is illustrated as a stick 103b, a part 3a indicating the movement of the upper rotating body 102, and a part 3b indicating the movement of the upper rotating body 102. The control lever device 4 is illustrated as a boom 103a indicating the movement of the boom 103a and a bucket 103c indicating the movement of the bucket 103c. Hereinafter, these parts 3a, 3b, 4a, and 4b will also be referred to as the control lever device.

[0053] Operating lever devices 3a, 3b, 4a, 4b, 5, and 6 are connected to control valve 16 via pilot lines 17a, 17b, 17c, 17d, 17e, and 17f, respectively. The generated pilot pressure is guided to the spool valve of control valve 16 via pilot lines 17a, 17b, 17c, 17d, 17e, and 17f. The spool valve of control valve 16 is switched by the pilot pressure to control the flow rate and direction of hydraulic oil supplied from hydraulic pump 15 to multiple actuators.

[0054] Pressure reducing valves 18a, 18b, and 18c are respectively installed in the pilot lines 17a, 17c, and 17d of the operating lever devices 3a, 4a, and 4b. When performing area restriction control, these pressure reducing valves 18a, 18b, and 18c are activated to reduce the pressure of the operating pilot, thereby controlling the deceleration and stopping of the work machine 103.

[0055] Furthermore, the control lever devices 3a, 3b, 4a, 4b, 5, and 6 respectively generate two pilot pressures to instruct the opposite movements of the boom 103a, stick 103b, bucket 103c, upper rotating body 102, and left and right tracks 100a and 100b. Therefore, two pilot lines 17a, 17b, 17c, 17d, 17e, and 17f are provided for each control lever device. Figure 2 To simplify the illustration, one pilot line is used to represent two pilot lines. Pressure reducing valves 18a, 18b, and 18c are respectively installed on the two pilot lines 17a, 17b, and 17d.

[0056] <Control System>

[0057] Figure 4This is a diagram illustrating the control system of the hydraulic excavator according to this embodiment.

[0058] exist Figure 4 In this system, the control system includes the aforementioned angle sensor 24, boom IMU sensor 25, stick IMU sensor 26, bucket IMU sensor 27, monitor 9, control console switch 11 and monitor operation device 12, pressure reducing valves 18a, 18b, 18c, main controller 21 for implementing area restriction control, non-intrusive area setting, and other functions, and monitor controller 22 for implementing monitor control.

[0059] The main controller 21 is, for example, located behind the driver's seat 2. The monitor controller 22 is, for example, located below the console box 10.

[0060] In the main controller 21, as described later, a non-intrusive area surface including a vertical plane is preset. The main controller 21 performs area restriction control so that the machine 103 will not exceed the preset non-intrusive area surface and intrude into the non-intrusive area.

[0061] Additionally, if the distance between the target position of the inaccessible area surface set by the console switch 11 or the monitor operation device 12 (setting operation device) and the rotation center of the upper rotating body 102 is greater than a threshold set based on the distance from the rotation center of the upper rotating body 102 to the rear end of the upper rotating body 102, the main controller 21 sets the inaccessible area surface as the target position.

[0062] In this invention, the surface that is considered an inaccessible area is one that includes a vertical surface. A vertical surface is a surface that is perpendicular to the bottom surface of the tracks of the lower traveling body 100 (the bottom surfaces of the left and right tracks 100a and 100b). The inaccessible area surface may include other surfaces, such as inclined surfaces or curved surfaces, as long as it is a surface that includes a vertical surface.

[0063] The following explanation addresses the case where the non-intrusive area is a vertical surface. When the non-intrusive area includes surfaces other than vertical surfaces, the following operations and processing by the main controller 21 can be applied to the vertical portion of the non-intrusive area.

[0064] When setting an inaccessible area, the operator operates the monitor operating device 12 to set the inaccessible area setting mode to ON.

[0065] The ON signal for the non-intrusive area setting mode is sent from the monitor controller 22 to the main controller 21, and the main controller 21 sets the non-intrusive area setting function to standby mode.

[0066] In addition, when setting the undisturbed area, the operator performs an operation to indicate the target position of the undisturbed area. The method for indicating the target position of the undisturbed area can be based on the alignment method of the work machine 103 or the method based on the numerical input of the monitor operation device 12.

[0067] Figure 5A as well as Figure 5B This diagram illustrates the alignment method based on the work machine 103. Figure 5C , Figure 5D as well as Figure 5E This is a diagram illustrating a method for numerical input based on the monitor operating device 12.

[0068] The inaccessible area needs to be set at a position that the rear end of the upper rotating body 102 cannot access.

[0069] In addition, Figures 5A-5E In this context, the target location of an inaccessible area is represented by the symbol M. Figures 5A-5E In the diagram, when viewed from a vertically above, the target location M is represented by a horizontal cross-section of the inaccessible area.

[0070] ~ Figure 5A ~

[0071] like Figure 5A As shown, the operator uses lever devices 3a, 3b, 4a, and 4b to align all the tips of the multiple claws 103c1 formed at the front end of the bucket 103c with the target position M of the inaccessible area surface. When all the tips of the multiple claws 103c1 are aligned with the target position M of the inaccessible area surface, the operator presses the control panel switch 11. When the control panel switch 11 is pressed, a switch signal is sent from the control panel switch 11 to the main controller 21 via the monitor controller 22. If the main controller 21 receives a signal from the control panel switch 11, it calculates the position information of the line segment that is in contact with all the tips of the multiple claws 103c1 of the bucket 103c at this time, based on the sensor signals from the angle sensor 24, the boom IMU sensor 25, the stick IMU sensor 26, and the bucket IMU sensor 27. Then, based on the position information of this line segment, it calculates the information of the target position M of the inaccessible area surface (e.g., r1, θ, described later) and stores it as the target position information of the inaccessible area surface.

[0072] ~ Figure 5B ~

[0073] exist Figure 5BIn this process, the operator operates lever devices 3a, 3b, 4a, and 4b to align specific points at the front end of the bucket 103c (e.g., the tip of the central claw among multiple claws 103c1) with two points A and B on the target position M of the inaccessible area surface. The operator then presses the control panel switch 11 at each of the two points A and B. At this time, a switch signal is sent from the control panel switch 11 to the main controller 21 via the monitor controller 22. If the main controller 21 receives a signal from the control panel switch 11, it calculates the position information of the two points A and B based on sensor signals from the angle sensor 24, boom IMU sensor 25, stick IMU sensor 26, and bucket IMU sensor 27. Based on the position information of the two points A and B, it calculates the target position M information of the inaccessible area surface (e.g., r1 and θ, described later) and stores it as the target position information of the inaccessible area surface.

[0074] ~ Figure 5C ~

[0075] The operator uses the monitor to operate the device 12, such as Figure 5C As shown, the monitor 9 displays a top view of the hydraulic excavator and an orthogonal coordinate system. This orthogonal coordinate system has its origin at the rotation center of the upper rotating body 102, with the x-axis defined by a straight line extending in the left-right direction of the vehicle body, and the y-axis defined by a straight line extending in the front-back direction of the vehicle body (orthogonal to the x-axis). Next, the operator uses the monitor operating device 12 to indicate two points C and D on the target location M of the inaccessible area surface on the monitor 9 screen. The indication of these two points C and D is achieved by numerically inputting the coordinate values ​​(x1, y1) and (x2, y2) of points C and D. The coordinate values ​​(x1, y1) and (x2, y2) of points C and D represent the distance information along the x-axis and y-axis of the rectangular coordinate system. The input distance information of the coordinate values ​​(x1, y1) and (x2, y2) is sent to the main controller 21 via the monitor controller 22. The main controller 21 inputs this distance information as the target location M of the inaccessible area surface.

[0076] ~ Figure 5D ~

[0077] exist Figure 5DIn this process, the operator uses the monitor operation device 12 to display a polar coordinate system on the screen of monitor 9 instead of an orthogonal coordinate system. Next, the operator uses the monitor operation device 12 to indicate the radius vector r and the deflection angle θ of the target position M of the inaccessible area surface from the rotation center (origin) on the screen of monitor 9. This indication is also made by numerically inputting the radius vector r and the deflection angle θ. The distance from the rotation center to the inaccessible area surface is consistent with the radius vector r, and the position of the inaccessible area surface rotates according to the deflection angle θ. The radius vector r and the deflection angle θ input through the monitor operation device 12 are sent to the main controller 21 via the monitor controller 22, and the main controller 21 inputs the radius vector r and the deflection angle θ as information about the target position M of the inaccessible area surface.

[0078] ~ Figure 5E ~

[0079] The operator uses the monitor to operate the device 12, and Figure 5D Similarly, the polar coordinate system is displayed on the monitor 9 screen. By inputting the radius vector r and the deflection angle θ1, point E is indicated on the target position M of the inaccessible area surface. Next, the operator indicates the target position M of the inaccessible area surface on the monitor 9 screen by inputting the angle θ2 relative to the line segment passing through point E and the center of rotation. The radius vector r, deflection angle θ1, and angle θ2 input through the monitor operation device 12 are sent to the main controller 21 via the monitor controller 22. The main controller 21 inputs the radius vector r, deflection angle θ1, and angle θ2 as information about the target position M of the inaccessible area surface.

[0080] <Main Controller>

[0081] Next, use Figure 6 and Figure 7 This section details the setting process for the non-intrusive area surface performed by the main controller 21.

[0082] Figure 6 This is a flowchart showing the processing sequence of the non-intrusive area surface of the main controller 21. The processing sequence of this flowchart is repeatedly executed at each sampling time during the operation of the main controller 21. Figure 7 It is a diagram showing the positional relationship between the non-intrusive area surface set by the main controller 21 and the hydraulic excavator.

[0083] In addition, Figure 6 In the processing sequence, the method for indicating the target location of the non-intrusive region surface uses a method based on... Figure 5A or Figure 5B The alignment method of the work machine 103 shown.

[0084] exist Figure 6In step S100, the main controller 21 first repeatedly determines whether the control panel switch 11 has been operated. Meanwhile, during this period, the operator aligns all the claw tips of the bucket 103c's multiple claws 103c1 with the target position M on the non-intrusive area surface. When all the claw tips of the bucket 103c's multiple claws 103c1 are aligned with the target position M on the non-intrusive area surface, the operator presses the control panel switch 11. The signal from the control panel switch 11 is sent to the main controller 21 via the monitor controller 22. If the main controller 21 receives a signal from the control panel switch 11, in step S100, it determines that the control panel switch 11 has been operated and inputs the signals from the angle sensor 24, boom IMU sensor 25, stick IMU sensor 26, and bucket IMU sensor 27 at this time (step S105).

[0085] Next, based on the input sensor signals, the main controller 21 calculates the position information of the line segments that are in contact with all the claw tips of the multiple claws 103c1 of the bucket 103c. Then, based on the position information of the line segments, it calculates the distance r1 and the deflection angle θ between the target position M of the non-intrusive area surface and the rotation center O of the upper rotating body 102, and stores it as the target position information of the non-intrusive area surface (step S110).

[0086] Here, the distance r1 between the target position M of the inaccessible area surface and the rotation center O of the upper rotating body 102 is as follows: Figure 7 As shown, the length of the perpendicular line N relative to the target position M through the rotation center O of the upper rotating body 102 is the shortest distance between the target position M and the rotation center O. The deflection angle θ refers to the angle relative to the perpendicular line N to the central axis L of the working machine 103 along its length direction.

[0087] Next, the main controller 21 determines whether the distance r1 is greater than a threshold value set based on the distance r2 from the rotation center O of the upper rotating body 102 to the rear end of the upper rotating body 102 (step S115). In this embodiment, the threshold value is set to a value equal to the distance r2 from the rotation center O of the upper rotating body 102 to the rear end of the upper rotating body 102. That is, threshold value = r2.

[0088] When the distance r1 is greater than the threshold r2, the main controller 21 makes the distance r1 and the deflection angle θ as the target position information of the inaccessible area surface and sets the inaccessible area surface as the target position M (step S120), and displays on the monitor 9 that the setting of the inaccessible area surface is successful (step S125).

[0089] On the other hand, when the distance r1 is below the threshold r2, the main controller 21 deletes and discards the stored target location information (distance r1 and deflection angle θ) (step S130) and displays the failure to set the intrusive area surface on the monitor 9 (step S135).

[0090] <Effect>

[0091] In this embodiment, only the non-intrusive area at the rear end of the upper rotating body 102 is automatically selected and set. If the non-intrusive area is set, the monitor 9 inside the compartment 105 displays a successful setting of the non-intrusive area; if it is not set, the monitor 9 displays a failure to set the non-intrusive area. Therefore, the operator can clearly understand the setting result of the non-intrusive area, reducing the operator's burden when setting the non-intrusive area for area restriction control.

[0092] Furthermore, in this embodiment, the threshold for determining the distance r1 is set to a value equal to the distance r2 from the rotation center O of the upper rotating body 102 to the rear end of the upper rotating body 102. However, the threshold can also be set to a value larger than the distance r2 obtained by adding a predetermined distance to the distance r2.

[0093] Depending on the conditions at the work site, there may be situations where other workers are performing certain tasks near the intrusion zone surface within the intrusion zone. In such cases, by setting the threshold used for determining distance r1 to a value larger than the radius r2 of the rear end of the rotating body, even if a worker enters the working area of ​​the hydraulic excavator from beyond the intrusion zone surface, the distance between the rear end of the upper rotating body 102 and the worker can be ensured.

[0094] <Second Implementation>

[0095] use Figure 8 and Figure 9 The second embodiment of the present invention will be described.

[0096] Figure 8 This is a flowchart illustrating the processing sequence for setting the non-intrusive area surface of the main controller 21 in this embodiment. Figure 9 It is a diagram showing the positional relationship between the non-intrusive area surface set by the main controller 21 and the hydraulic excavator.

[0097] exist Figure 8 In this embodiment, the processing order of steps S100 to S125 is the same as that of the first embodiment. Figure 6 The processing order in the flowchart shown is the same. In this embodiment, the processing order after step S125 is the same as in the first embodiment. Figure 6The processing order of steps S130 and S135 shown is different.

[0098] That is, in this embodiment, in step S115, when the distance r1 between the target position M of the inaccessible area surface set by the control panel switch 11 (setting operation device) and the rotation center O of the upper rotating body 102 is less than or equal to a threshold r2, the main controller 21 corrects the setting of the inaccessible area surface to an inaccessible area surface (step S140). The corrected inaccessible area surface is the area surface within the inaccessible area surface that is the inner side of an imaginary circle S with a radius of threshold r2 when the inaccessible area surface is set to the target position M.

[0099] More specifically, in step S140, when the inaccessible area surface is set as the target position M, the main controller 21 calculates the positions of the two intersection points C1 and C2 of the imaginary circle S with a radius of threshold r2 and the inaccessible area surface, sets the target position M1 and M2 after excluding the target position information of the inaccessible area surface from the target position information of the imaginary circle S with a radius of threshold r2 (the inner range of the two intersection points C1 and C2 in the inaccessible area surface becomes the inner range of the imaginary circle S with a radius of threshold r2), and sets the modified inaccessible area surface as the target position M1 and M2.

[0100] Next, the main controller 21 displays the target locations M1 and M2 on the monitor 9 as the modified inaccessible area surface (step S150).

[0101] In this embodiment with such a configuration, when the determination in step S115 is affirmative, the same processing as in the first embodiment is performed, and thus the same effect as in the first embodiment can be obtained.

[0102] Furthermore, when the operator sets a non-intrusive area for operation, the operator has a full understanding of the situation around the vehicle body. Even if the rear of the upper rotating body 102 slightly enters the non-intrusive area, it can sometimes be determined that rotation is permissible. Rotation is permissible when the non-intrusive area is used to prevent over-digging, etc.

[0103] In this embodiment, a modified non-intrusive area is set as the non-intrusive area, excluding the range Ra inside an imaginary circle S with a radius of threshold r2. This modified non-intrusive area is displayed on the monitor 9, thereby giving the operator the opportunity to determine whether the set non-intrusive area can be used. If the operator determines that it can be used, the non-intrusive area can be set for operation. As a result, the operator does not need to set the non-intrusive area again, thus improving the convenience of setting the non-intrusive area.

[0104] <Third Implementation Method>

[0105] use Figure 10 as well as Figure 11 The third embodiment of the present invention will be described.

[0106] Figure 10 This is a flowchart illustrating the processing sequence for setting the non-intrusive area surface of the main controller 21 in this embodiment. Figure 11 It is a diagram showing the positional relationship between the non-intrusive area surface set by the main controller 21 and the hydraulic excavator.

[0107] exist Figure 10 In this embodiment, the processing order of step S145 is the same as... Figure 8 The processing order of step S140 shown is different.

[0108] That is, in this embodiment, in step S115, when the distance r1 between the target position M of the inaccessible area set by the control panel switch 11 (setting operation device) and the rotation center O of the upper rotating body 102 is less than or equal to a threshold r2, the main controller 21 corrects the setting of the inaccessible area to an inaccessible area (step S145). In this embodiment, the corrected inaccessible area is defined as the area within the inaccessible area that is the inner side of an imaginary circle S with a radius of the threshold r2, when the inaccessible area is set to the target position M, and the excluded area is replaced with an area of ​​the arc of the imaginary circle S.

[0109] More specifically, in step S145, after calculating the positions of the two intersection points C1 and C2 of the imaginary circle S with a radius of threshold r2 and the non-intrusive area surface when the non-intrusive area surface is set as the target position M, the main controller 21 sets the target position information of the inner range of the two intersection points C1 and C2 in the non-intrusive area surface (which becomes the inner range of the imaginary circle S with a radius of threshold r2) Ra to the target position M1, Sa, M2 obtained by replacing the target position information of the arc Sa of the inner range Ra of the two intersection points C1 and C2 of the imaginary circle S, and sets the modified non-intrusive area surface as the target position M1, Sa, M2.

[0110] Next, the main controller 21 displays the target locations M1, Sa, and M2 on the monitor 9 as the modified inaccessible area surface (step S150).

[0111] According to this embodiment, the same effect as the second embodiment can also be obtained.

[0112] <Fourth Implementation>

[0113] use Figure 12 The fourth embodiment of the present invention will be described.

[0114] Figure 12 This is a flowchart illustrating the processing sequence for setting the non-intrusive area surface of the main controller 21 in this embodiment.

[0115] In the first to third embodiments, the method for indicating the target location of the inaccessible area surface uses a method based on Figure 5A or Figure 5B The method for aligning the work machine 103 shown. This embodiment uses a method based on... Figure 5C , Figure 5D or Figure 5E The method of numerical input of the monitor operating device 12 shown is used as a method of indicating the target position of the non-intrusive area surface.

[0116] In use Figure 5C , Figure 5D or Figure 5E In the method for indicating the target position of the inaccessible area surface of the monitor operating device 12 shown, the input information sent from the monitor operating device 12 to the main controller 21 includes position information for calculating the target position of the inaccessible area surface. Therefore, in Figure 12 The processing sequence in the flowchart of this embodiment shown does not include inputs from the first embodiment. Figure 6 The processing sequence of the sensor signal in the flowchart shown corresponds to the processing sequence of step S105.

[0117] Furthermore, since the console switch 11 is not used to indicate the target position of the inaccessible area surface, but the monitor operation device 12 is used instead, the main controller 21 determines whether there is input information sent from the monitor operation device 12 (step S100A). When there is input information sent from the monitor operation device 12, the distance r1 and the deflection angle θ from the rotation center O of the upper rotating body 102 to the desired inaccessible area surface are calculated based on the input information from the monitor operation device 12 as the target position information of the inaccessible area surface, and stored as the target position information of the inaccessible area surface (step S110A).

[0118] The following steps are the same as those in the first embodiment. Figure 6 The flowchart shown is the same.

[0119] In this embodiment with such a configuration, the same effect as in the first embodiment can also be obtained by using the monitor operation device 12.

[0120] Furthermore, in the fourth embodiment, Figure 6 Steps S100 to S110 in the flowchart of the first embodiment shown are changed to use a method based on... Figure 5C , Figure 5D or Figure 5E The step of inputting position information into the numerical value of the monitor operating device 12 shown is illustrated, but it can also be... Figure 8 and Figure 10 Steps S100 to S110 in the flowcharts of the second and third embodiments shown are changed to use a method based on... Figure 5C , Figure 5D or Figure 5E The step of inputting position information into the numerical value of the monitor operation device 12 shown can also achieve the same effect as the second and third embodiments.

[0121] Symbol Explanation

[0122] 3, 4 lever devices

[0123] 9 monitors

[0124] 10 Control Console Box

[0125] 11. Control Panel Switch

[0126] 12. Monitor operating device

[0127] 21. Main Controller (Controller)

[0128] 22 Monitor Controller

[0129] 24 Angle Sensor

[0130] 25 boom IMU sensor

[0131] 26-pole IMU sensor

[0132] 27 Bucket IMU Sensor

[0133] 100 Lower driving body

[0134] 102 Upper Rotating Body

[0135] 103 work machine

[0136] 103a boom (front section)

[0137] 103b stick (front component)

[0138] 103c bucket (front section)

[0139] Cabin 105

[0140] Target locations M, M1, and M2

[0141] r1 distance

[0142] r2 Rear end radius of the body of revolution (threshold)

[0143] θ deflection

[0144] Intersection of C1 and C2

[0145] S Imaginary Circle

[0146] Ra inner range

Claims

1. A type of operating machinery, comprising: Lower driving body; The upper rotating body is rotatably mounted on the upper part of the lower traveling body; The work machine is mounted on the front of the upper rotating body in a manner that allows it to rotate vertically; and The controller performs area restriction control to prevent the machine from exceeding the pre-set intrusion zone boundary and intruding into the intrusion zone. The operating machinery is characterized in that... It is equipped with a setting operation device located in the driver's cab, which sets the target position of the inaccessible area surface according to the setting operation from the operator. The controller calculates the target position based on the position of the front end of the work machine when the set operating device is operated. When the distance between the target position and the rotation center of the upper rotating body is greater than a threshold value set to be greater than the distance from the rotation center of the upper rotating body to the rear end of the upper rotating body, the controller sets the non-intrusive area surface at the target position; when the distance between the target position and the rotation center of the upper rotating body is less than the threshold value, the controller does not set the non-intrusive area surface and discards the target position information.

2. A type of operating machinery, comprising: Lower driving body; The upper rotating body is rotatably mounted on the upper part of the lower traveling body; The work machine is mounted on the front of the upper rotating body in a manner that allows it to rotate vertically; and The controller performs area restriction control to prevent the machine from exceeding the pre-set intrusion zone boundary and intruding into the intrusion zone. The operating machinery is characterized in that... It is equipped with a setting operation device located in the driver's cab, which sets the target position of the inaccessible area surface according to the setting operation from the operator. When the distance between the target position set by the setting operation device and the rotation center of the upper rotating body is greater than a threshold value set as the distance from the rotation center of the upper rotating body to the rear end of the upper rotating body, the controller sets the non-intrusive area surface at the target position. When the distance between the target position set by the setting operation device and the rotation center of the upper rotating body is below the threshold, the controller will correct the setting of the inaccessible area surface to the inaccessible area surface. The modified inaccessible area surface is a region surface excluding the area inside an imaginary circle with the threshold as its radius, provided that the inaccessible area surface is set at the target location.

3. A type of operating machinery, comprising: Lower driving body; The upper rotating body is rotatably mounted on the upper part of the lower traveling body; The work machine is mounted on the front of the upper rotating body in a manner that allows it to rotate vertically; and The controller performs area restriction control to prevent the machine from exceeding the pre-set intrusion zone boundary and intruding into the intrusion zone. The operating machinery is characterized in that... It is equipped with a setting operation device located in the driver's cab, which sets the target position of the inaccessible area surface according to the setting operation from the operator. When the distance between the target position set by the setting operation device and the rotation center of the upper rotating body is greater than a threshold value set as the distance from the rotation center of the upper rotating body to the rear end of the upper rotating body, the controller sets the non-intrusive area surface at the target position. When the distance between the target position set by the setting operation device and the rotation center of the upper rotating body is below the threshold, the controller will correct the setting of the inaccessible area surface to the inaccessible area surface. The modified inaccessible area surface is defined by excluding the area within the inaccessible area surface that is the inner side of an imaginary circle with the threshold as its radius, when the inaccessible area surface is set at the target location, and replacing the excluded area with an area surface of the arc of the imaginary circle.

4. The operating machinery according to claim 2 or 3, characterized in that, It also has a monitor. When the distance between the target position set by the setting operation device and the rotation center of the upper rotating body is greater than the threshold, the controller displays a message indicating that the setting of the inaccessible area surface has been successful on the monitor. When the distance between the target position set by the setting operation device and the rotation center of the upper rotating body is less than the threshold, the controller displays a message indicating that the corrected inaccessible area surface has been set.

5. The operating machinery according to claim 1, characterized in that, It also has: An angle sensor detects the rotation angle of the upper rotating body; and Multiple posture sensors are installed on the machine to detect its posture. When the setting operation device is operated, the controller calculates the target position based on signals from the angle sensor and multiple posture sensors.

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