Operating machinery

Abstract

The present invention provides a work machine having a control device that performs area restriction control to prevent a vehicle body from departing from a work area defined within a construction area. The control device can simply set the area where the work machine's movement is to be restricted at any location in actual space, thereby preventing the area where the work machine is actually controlled from deviating from the defined area. The work machine has a control device that performs area restriction control to restrict the movement of the vehicle body to prevent the vehicle body from departing from the work area defined within the construction area. The control device sets at least a portion of the work area based on design data representing a final target shape of a construction object within the construction area.

Description

Technical Field

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

[0002] In a work machine such as a hydraulic excavator, area restriction control is known that controls the work machine so as not to deviate from a work area set in advance in terms of height, depth, swing angle, etc. (Patent Document 1).

[0003] By using this area restriction control, operators can perform operations without worrying about the machine coming into contact with and potentially damaging power lines or buried objects, thereby improving work efficiency. Furthermore, by restricting the area in which the machine swings, it is possible to prevent the machine from running off the road during operations on the side of a road, thereby improving safety.

[0004] However, in the area limitation control of the working machine such as Patent Document 1, since the set area is the coordinate of the vehicle body, if the working machine moves due to driving action, the area actually to be limited will deviate from the area set based on the vehicle body, thereby possibly reducing the operator's working efficiency or safety.

[0005] Furthermore, according to Patent Document 2, a hydraulic excavator capable of acquiring vehicle body position information resets the rotation angle, which is restricted based on the vehicle body position information, based on map data, which has been pre-loaded with coordinate information of restricted areas (restricted areas) such as roads and buildings within the construction area. This allows the restricted rotation angle to be reset for areas such as roads that the work machine is not permitted to enter, even when the work machine is moving due to driving. This prevents deviations between the desired restricted area and the controlled area.

[0006] Prior art literature

[0007] Patent Literature

[0008] Patent Document 1: Japanese Patent Application Laid-Open No. 9-71965

[0009] Patent Document 2: Japanese Patent Application Publication No. 2019-157409 Summary of the Invention

[0010] Problems to be solved by the invention

[0011] However, area restriction control for restricting the movement of work machines is not limited to pre-defined areas such as roads in map data. It can also be considered that operators can set restrictions in real time for worker routes, for example, created arbitrarily at the construction site. In such scenarios, even if the technology described in Patent Document 2 is used, the area to be prevented from entering and the area to be controlled may deviate if the vehicle body moves due to driving.

[0012] The object of the present invention is to provide a working machine having a control device that performs area restriction control to prevent the vehicle body from deviating from the working area set in the construction area. The device can simply set the area where the activity of the working machine is to be restricted at an arbitrary position in actual space, and can prevent the area where the working machine is actually controlled from deviating from the set area.

[0013] Means for solving problems

[0014] In order to solve the above-mentioned problems, the working machine of the present invention has a control device for performing area restriction control to restrict the movement of a vehicle body so as to prevent the vehicle body from deviating from an operating area set in a construction area. The working machine is characterized in that the control device sets at least a portion of the operating area based on design data representing the final target shape of the construction object in the construction area, and is also capable of setting a prohibited entry area to prevent the vehicle body from entering based on the design data, and prohibiting the already set prohibited entry area from being set as the working area. In addition, the working machine of the present invention has a control device for performing area restriction control to restrict the movement of a vehicle body so as to prevent the vehicle body from deviating from an operating area set in a construction area. The working machine is characterized in that the control device sets at least a portion of the operating area based on design data representing the final target shape of the construction object in the construction area, and is also capable of setting a prohibited entry area to prevent the vehicle body from entering based on the design data, and in the case where a pre-set operating area is set as a prohibited entry area, the operating area is overwritten as the prohibited entry area.

[0015] Effects of the Invention

[0016] According to the present invention, there is provided a working machine having a control device for performing area restriction control to prevent the vehicle body from deviating from the working area set in the construction area. The control device can simply set the area where the activity of the working machine is to be restricted at an arbitrary position in actual space, and can prevent the area where the working machine is actually controlled from deviating from the set area.

[0017] Other problems, structures, and effects than those described above will become apparent from the following description of the embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1It is a side view of the hydraulic excavator according to the embodiment.

[0019] Figure 2 This is a diagram showing the system configuration of a hydraulic excavator.

[0020] Figure 3 This is a side view showing the posture information of the hydraulic excavator.

[0021] Figure 4 This is a top view showing the posture information of the hydraulic excavator.

[0022] Figure 5 It is a diagram showing design data indicating the target surface shape.

[0023] Figure 6 This is a diagram showing the internal configuration of a controller related to area restriction control.

[0024] Figure 7 This is a monitor screen that sets the work area based on the point group information of the design data.

[0025] Figure 8 This is the monitor screen when the work area is set based on the point group information in the design data so that this machine is not included.

[0026] Figure 9 This is the monitor screen when the work area is set including this machine based on the point group information in the design data.

[0027] Figure 10 This is a monitor screen that sets the work area based on the surface group information (design surface data) of the design data.

[0028] Figure 11 This is the monitor screen when the work area is set without including this machine based on the surface group information (design surface data) of the design data.

[0029] Figure 12 This is the monitor screen when the work area is set including this machine based on the surface group information (design surface data) of the design data.

[0030] Figure 13 This is the monitor screen when a work area is set in a prohibited area.

[0031] Figure 14 This is the monitor screen when the operating area of ​​this machine is set on the operating area of ​​another machine.

[0032] Figure 15 This is the monitor screen when setting the work area in the height direction and depth direction.

[0033] Figure 16 This is a monitor screen that sets prohibited entry areas based on the point group information in the design data.

[0034] Figure 17 This is the monitor screen when a prohibited entry area is set including this machine based on the point group information in the design data.

[0035] Figure 18 This is the monitor screen when a prohibited area is set based on the point group information in the design data, excluding this device.

[0036] Figure 19 This is the monitor screen when a no-entry zone is set in the work area.

[0037] Figure 20 This is a flowchart showing a control flow related to the area limitation control of the controller.

[0038] Figure 21 This is a graph showing the relationship between distance and deceleration coefficient in area restriction control.

[0039] Figure 22 This is the monitor screen when setting the work area based on the position of the vehicle body. DETAILED DESCRIPTION

[0040] The following describes embodiments of the present invention with reference to the accompanying drawings. In the various figures, components with identical functions are sometimes denoted by the same reference numerals, and repeated descriptions are omitted. Furthermore, in this embodiment, a hydraulic excavator is used as an example of a work machine to be controlled. However, as long as area restriction control can be implemented to restrict the movement of the vehicle body to prevent the vehicle body from departing from a work area defined within the construction area, the present invention can also be applied to work machines other than hydraulic excavators, such as wheel loaders and cranes.

[0041] Figure 1 1 is a side view of a hydraulic excavator 1 as an example of a working machine according to an embodiment. The hydraulic excavator 1 includes a traveling body 2 that travels by driving crawler tracks provided on both left and right sides, and a revolving body 3 rotatably provided on the traveling body 2.

[0042] The revolving structure 3 includes a cab 4, an engine room 5, and a counterweight 6. The cab 4 is located on the left side of the front portion of the revolving structure 3. The engine room 5 is located behind the cab 4. The counterweight 6 is located behind the engine room 5, i.e., at the rear end of the revolving structure 3.

[0043] In addition, the revolving body 3 is equipped with a work machine 7. The work machine 7 is arranged on the right side of the cab 4 and in the center of the front part of the revolving body 3. The work machine 7 has a boom 8, an arm 9, a bucket 10, a boom cylinder 11, an arm cylinder 12, and a bucket cylinder 13. The base end of the boom 8 is rotatably mounted to the front part of the revolving body 3 via a boom pin. The base end of the arm 9 is rotatably mounted to the front end of the boom 8 via an arm pin. The base end of the bucket 10 is rotatably mounted to the front end of the arm 9 via a bucket pin. In addition, the boom cylinder 11, the arm cylinder 12, and the bucket cylinder 13 are hydraulic cylinders driven by working oil. The boom cylinder 11 drives the boom 8. The arm cylinder 12 drives the arm 9. The bucket cylinder 13 drives the bucket 10.

[0044] A slewing motor 14 is provided at the center of the slewing body 3 . By driving the slewing motor 14 , the slewing body 3 can be rotated (slewed) relative to the traveling body 2 .

[0045] Furthermore, the traveling body 2 is provided with a left traveling motor 15a and a right traveling motor 15b. By driving the left and right traveling motors (15a, 15b), the left and right crawlers can be driven to allow the vehicle to travel.

[0046] Hereinafter, the boom cylinder 11 for driving the boom, the arm cylinder 12 for driving the arm, the bucket cylinder 13 for driving the bucket, the swing motor 14 for the swinging action, and the left and right travel motors 15a and 15b for the traveling action may be referred to as actuators of the hydraulic excavator 1. Furthermore, the traveling unit 2 and the revolving unit 3 may be collectively referred to as the body of the hydraulic excavator 1. The body may or may not include the work implement 7 mounted on the revolving unit 3.

[0047] A hydraulic pump 16 and an engine (prime mover) 17 are provided in the machine room 5 (see Figure 2 ).

[0048] A vehicle body tilt sensor 18 is installed inside the cab 4, a boom tilt sensor 19 is installed on the boom 8, an arm tilt sensor 20 is installed on the arm 9, and a bucket tilt sensor 21 is installed on the bucket 10. For example, the vehicle body tilt sensor 18, boom tilt sensor 19, arm tilt sensor 20, and bucket tilt sensor 21 are IMUs (Inertial Measurement Units). The vehicle body tilt sensor 18 measures the vehicle body's angle relative to the ground, the boom tilt sensor 19 measures the boom 8's angle relative to the ground, the arm tilt sensor 20 measures the arm 9's angle relative to the ground, and the bucket tilt sensor 21 measures the bucket 10's angle relative to the ground. Furthermore, a rotation angle sensor 22 is installed at the center of rotation of the revolving structure 3. The signals from this rotation angle sensor 22 can be used to calculate the relative angle of the revolving structure 3 with respect to the traveling structure 2. Furthermore, a first GNSS antenna 23 and a second GNSS antenna 24 are installed on the left and right sides of the rear portion of the revolving structure 3. The position information and orientation information of the vehicle body can be acquired using the signals obtained from the first GNSS antenna 23 and the second GNSS antenna 24 .

[0049] Figure 2 A diagram showing the configuration of a system of the hydraulic excavator 1 is shown.

[0050] The hydraulic excavator 1 is driven by supplying hydraulic oil discharged from a hydraulic pump 16 driven by an engine 17 to the actuators (11, 12, 13, 14, 15a, 15b). The amount and direction of oil supplied to the actuators can be controlled by driving a flow control valve in a flow control valve unit 30.

[0051] For example, the swing flow control valve 31 is a flow control valve that controls the amount of oil supplied to the swing motor 14. If the swing flow control valve 31 is moved to the left in the figure, oil is supplied so that the swing motor 14 rotates counterclockwise. The rotational speed of the swing motor 14 can be controlled by the amount of movement of the swing flow control valve 31. Conversely, if the swing flow control valve 31 is moved to the right in the figure, oil is supplied so that the swing motor 14 rotates clockwise.

[0052] The swing flow control valve 31 is controlled by controlling the electromagnetic proportional pressure reducing valve in the electromagnetic proportional pressure reducing valve unit 32. The electromagnetic proportional pressure reducing valve reduces the pressure of oil supplied from the pilot pump 34 according to a command from the controller 25 and supplies the oil to the flow control valve.

[0053] For example, if the left electromagnetic proportional pressure reducing valve 33a is driven, pressure oil is supplied in such a way that the rotary flow control valve 31 moves to the left in the figure. If the right electromagnetic proportional pressure reducing valve 33b is driven, pressure oil is supplied in such a way that the rotary flow control valve 31 moves to the right in the figure.

[0054] Although not shown in the figure, the controller 25 is configured as a computer that includes a CPU (Central Processing Unit) that performs various calculations, a ROM (Read Only Memory) that stores programs used by the CPU to execute calculations, a storage device such as an HDD (Hard Disk Drive), and a RAM (Random Access Memory) that serves as a work area for the CPU to execute programs. The various functions of the controller 25 are realized by the CPU loading various programs stored in the storage device into the RAM and executing them.

[0055] In the present embodiment, the controller 25 as a control device for controlling the hydraulic excavator 1 performs area restriction control to restrict the movement of the vehicle body so as to prevent the vehicle body from deviating from the work area set in the construction area.

[0056] The controller 25 calculates and outputs control signals to the electromagnetic proportional pressure reducing valve unit 32 and the hydraulic pump 16 based on signals from the operating lever 29, signals from the monitor 28, signals from the posture sensor 26 composed of the rotation angle sensor 22, signals from the communication device 27, and signals from the switch 47.

[0057] The operating lever 29, monitor 28, and switch 47 are located, for example, inside the cab 4 or on a construction management server, and are operable by an operator. The operating lever 29 instructs the controller 25 on the amount of operation for each actuator (11, 12, 13, 14, 15a, 15b). The monitor 28 is used to set the work area and prohibited entry area (described later) for area restriction control.

[0058] The posture sensor 26 is composed of the vehicle body tilt sensor 18, boom tilt sensor 19, arm tilt sensor 20, bucket tilt sensor 21, rotation angle sensor 22, first GNSS antenna 23, and second GNSS antenna 24. The posture sensor 26 can obtain vehicle body posture information (position information, orientation information, and tilt information) based on the signals obtained from these sensors. The signal (posture information) from the posture sensor 26 is input to the controller 25.

[0059] In addition, the communication device 27 receives information on the work area and prohibited entry area set by other work machines (other machines), and sends the information on the work area and prohibited entry area set by this machine to the construction management server and other work machines.

[0060] Furthermore, switch 47 is a switch (switching device) that switches between a work area setting mode in which the work area is set based on design data (described later) and a work area setting mode in which the work area is set based on the position of the vehicle body, regardless of the design data. A signal from switch 47 is input to controller 25, and based on the signal from switch 47, controller 25 switches the work area setting screen and displays it on monitor 28. While switch 47 is used here to switch the work area setting mode, monitor 28 could also be used as a switching device to switch the work area setting mode, with the work area setting mode being switched on the setting screen displayed on monitor 28.

[0061] Figure 3 This is a side view showing the posture information of the hydraulic excavator 1. The position information (also called the body position) P0 of the hydraulic excavator 1 in the site coordinate system can be obtained based on the position information GL of the first GNSS antenna 23 and the position information GR of the second GNSS antenna 24. The site coordinate system is a three-dimensional coordinate system based on the reference position P9 set in the work area. Figure 3 As shown, the reference position P9 is, for example, the tip of a reference pile set in the work area.

[0062] In addition, if Figure 3 As shown, the distance from the position information P0 of the hydraulic excavator 1 to the boom pin P1 in the rotating body coordinate system is L0, and the angle between the upper part of the vehicle body and the direction of the boom pin P1 is θ0. In addition, the length of the boom 8, that is, the length from the boom pin P1 to the boom pin P2, is L1. In addition, the length of the boom 9, that is, the length from the boom pin P2 to the bucket pin P3, is L2. In addition, the length of the bucket 10, that is, the length from the bucket pin P3 to the bucket tip P4, is L3. The angle formed by the line segment connecting the boom pin P1 and the boom pin P2 and the vertical direction of the vehicle body is θ1. Hereinafter, it is referred to as the boom angle θ1. The angle formed by the line segment connecting the boom pin P2 and the bucket pin P3 and the straight line formed by the boom pin P1 and the boom pin P2 is θ2. Hereinafter, it is referred to as the boom angle θ2. The angle formed by the line segment connecting bucket pin P3 and bucket tip P4 and the straight line formed by arm pin P2 and bucket pin P3 is θ3. Hereinafter, this is referred to as bucket angle θ3. The revolving body coordinate system herein refers to a three-dimensional coordinate system based on the revolving body 3 of the hydraulic excavator 1. The reference position P0 is set at the center of rotation of the revolving body 3.

[0063] The coordinates of the point in the rotating body coordinate system that becomes the control object for the area restriction control of the vehicle body position P0, namely the bucket front end P4, can be obtained by trigonometric functions based on the distance L0 between the vehicle body position P0 and the boom pin P1, the angle θ0 formed between the vehicle body position P0 and the boom pin P1, the boom length L1, the boom angle θ1, the boom length L2, the boom angle θ2, the bucket length L3, and the bucket angle θ3.

[0064] In addition, in addition to the above-mentioned dimensions, the coordinates of other control points, such as the pin P5 on the rod side of the boom cylinder 12, can also be calculated by trigonometric functions using the distance L5 between the boom pin P2 and the pin P5 on the rod side of the boom cylinder 12 and the angle θ5 formed by the direction from the boom pin P1 to the boom pin P2 and the direction from the boom pin P2 to the pin P5 on the rod side of the boom cylinder 12.

[0065] In addition, the control points P7L, P7R, P8L, and P8R located on the traveling body 2 in the rotating body coordinate system can be determined based on the relative angle θsw ( Figure 4 ) and the relative coordinates of control points P7L, P7R, P8L, and P8R relative to vehicle body position P0. Here, the rotation angle θsw represents the amount of rotation in the z-direction between the rotating body coordinate system and the traveling body coordinate system. The traveling body coordinate system is a three-dimensional coordinate system centered at coordinate P6, which is the intersection of the lower portion of traveling body 2 and the rotation center.

[0066] Figure 4 This is a top view showing the posture information of the hydraulic excavator 1. The revolving body coordinate system is based on the revolving center, with the working machine direction being the x-direction. The traveling body coordinate system is based on the revolving center, with the forward travel direction being the x-direction. The revolving angle θsw of the hydraulic excavator 1 is defined as the rotation amount of the traveling body coordinates relative to the revolving body coordinates, with the counterclockwise direction being the positive direction.

[0067] If the vehicle body position P0 in the station coordinate system and the rotation angles (roll, pitch, and yaw) of the rotating body coordinate system relative to the station coordinate system are known, the coordinates of each control point in the rotating body coordinate system can be calculated in the station coordinate system through coordinate transformation. The yaw angle can be obtained by calculating the vehicle body orientation relative to the reference orientation of the station coordinate system based on GNSS position information. Furthermore, the roll and pitch angles can be obtained from the vehicle body tilt sensor 18.

[0068] In this way, the posture information of the vehicle body (of each control point) can be obtained based on the information obtained by the posture sensor 26 composed of the vehicle body tilt sensor 18, the boom tilt sensor 19, the boom tilt sensor 20, the bucket tilt sensor 21, the rotation angle sensor 22, the first GNSS antenna 23, and the second GNSS antenna 24.

[0069] Figure 5 The design data 35 is a diagram showing the design data showing the target surface shape. The design data 35 is composed of data including coordinate information showing the final target (surface) shape of the construction object in the construction area. In other words, the design data 35 is different from the map data into which the coordinate information of roads, buildings, etc. (not roads, buildings, etc. of the construction object) in the construction area is pre-entered. The design data 35 is composed of a point group ( Figure 5 In the example, the points and surfaces constituting the design data 35 can be represented by C1, C2, C3, etc. Alternatively, the points and surfaces constituting the design data 35 can be represented by surface information S1 (C1, C2, C3) consisting of three points. The operator can arbitrarily set and select the points and surfaces constituting the design data 35.

[0070] For example, the coordinates of the bucket claw tip position P4 in the vehicle body coordinates are obtained by the distance L ( Figure 4 ) and the rotation angle θsw. The distance L between the vehicle body position P0 and the bucket claw tip position P4 can be calculated by a trigonometric function using the posture information of the hydraulic excavator 1. The rotation angle θsw can be obtained based on information from the rotation angle sensor 22, etc.

[0071] <Internal Structure of Controller 25>

[0072] Figure 6 This diagram shows the internal configuration of the controller related to area restriction control. The controller 25 comprises an operating area setting unit 36, a prohibited area setting unit 37, a requested instruction calculation unit 38, a requested speed calculation unit 39, a requested instruction correction amount calculation unit 40, a requested instruction correction unit 41, and a flow control valve control unit 42.

[0073] The work area setting unit 36 ​​sets and outputs the work area of ​​the machine based on the design data 35, the setting input from the monitor 28 (monitor input), the area information of the other machine (the work area and no-entry area information set by the other machine) obtained from the communication device 27, and the no-entry area information set by the no-entry area setting unit 37. The set work area of ​​the machine is input to the no-entry area setting unit 37 and the required instruction correction amount calculation unit 40, and is transmitted from the communication device 27 to the construction management server and other work machines (other machines).

[0074] The no-entry zone setting unit 37 sets and outputs the no-entry zone for the machine based on the design data 35, the setting input from the monitor 28 (monitor input), the other machine area information (the work area and no-entry zone information set by the other machine) obtained from the communication device 27, and the work area information set by the work area setting unit 36. The set no-entry zone for the machine is input to the work area setting unit 36 ​​and the required instruction correction amount calculation unit 40, and is transmitted from the communication device 27 to the construction management server and other work machines (other machines).

[0075] The command request calculation unit 38 calculates a command request for the flow control valve based on an operation signal corresponding to the operation amount output from the operation lever 29. The calculated command request for the flow control valve is input to the required speed calculation unit 39 and the command request correction unit 41.

[0076] The requested speed calculation unit 39 calculates and outputs a target speed of the station coordinates at each control point based on the requested instruction to the flow control valve output from the requested instruction calculation unit 38 and the posture information acquired from the posture sensor 26 .

[0077] The required instruction correction amount calculation unit 40 calculates and outputs the degree to which the required instruction for the flow control valve is corrected based on the working area information output from the working area setting unit 36, the prohibited entry area information output from the prohibited entry area setting unit 37, the posture information obtained from the posture sensor 26, and the target speed of each control point output from the required speed calculation unit 39.

[0078] The request command correction unit 41 outputs a correction request command to the flow control valve based on the request command correction amount output from the request command correction amount calculation unit 40 and the request command output from the request command calculation unit 38 .

[0079] The flow control valve control unit 42 calculates and outputs a control command to each flow control valve based on the correction request command output by the request command correction unit 41 .

[0080] (Setting of the Operating Area of ​​the Machine by the Operating Area Setting Unit 36)

[0081] use Figures 7 to 15 , the setting of the working area of ​​this machine based on the working area setting unit 36 ​​is described. First, use Figures 7 to 14 The following describes the setting of the working area outside the gravity direction or the vertical direction of the vehicle body in the construction area (working area). Figure 15 The setting of the work area in the gravity direction of the construction area (work area) or the vertical direction of the vehicle body will be briefly described.

[0082] Here, the case where the operation of the switch 47 switches to the work area setting mode in which the work area is set based on the design data 35 when setting the work area in the construction area (work area) other than the gravity direction or the vertical direction of the vehicle body will be described. In addition, the case where the operation of the switch 47 switches to the work area setting mode in which the work area is set based on the position of the vehicle body will be described later ( Figure 22 ).

[0083] Figure 7 This is a monitor screen that sets the work area based on the point group information of the design data. Figure 7 In the example shown, the design data 35 is composed of a point group of coordinate points (see also Figure 5), the monitor screen (display screen of the monitor 28) during the setting of the working area displays the hydraulic excavator, the compass indicating the direction, and the point group information of the design data. The operator selects the point group (a plurality of points) to be set as the working area from the point group information, creates a closed area, and thereby sets the working area. That is, here, the working area setting unit 36 ​​sets the working area of ​​the machine (hereinafter referred to as the working area) based on the setting input (monitor input) from the monitor 28. Figure 8 、 Figure 9 The work area set on the monitor screen is controlled so as to restrict the vehicle body movement in the x and y directions of the station coordinate system (i.e., directions other than the gravity direction of the construction area or the vertical direction of the vehicle body).

[0084] Figure 8 This is the monitor screen when the work area is set based on the point group information of the design data without including this machine. Figure 8 As shown, on the work area setting screen, if the operator sets a work area (closed area) 43 that excludes the hydraulic excavator of the operator, the work area setting unit 36 ​​outputs a display command to the monitor 28, and a warning urging the operator to re-set the work area is displayed on the monitor screen. By prohibiting the setting of a work area that excludes the operator, unnecessary restrictions on the operation of the hydraulic excavator can be prevented.

[0085] Figure 9 This is the monitor screen when the work area is set including this machine based on the point group information of the design data. Figure 9 As shown, in the setting screen of the working area, when the operator sets the working area (closed area) 43 including the hydraulic excavator of the machine, a display instruction is output from the working area setting unit 36 ​​to the monitor 28, and the working area 43 set by the operator is displayed on the monitor screen, and text is displayed to notify that the setting is completed normally.

[0086] That is, in this example, the closed region formed by the point group (a plurality of points) selected from the point group information is set as the work region only when the current position of the hydraulic excavator is included.

[0087] Figure 10 This is a monitor screen that sets the work area based on the surface group information (design surface data) of the design data. Figure 10 In the example shown, the design data 35 is composed of a face group (a plurality of faces) including coordinate information (see also Figure 5), the monitor screen (display screen of the monitor 28) during the setting of the working area displays the hydraulic excavator, a compass indicating the direction, and surface group information indicating the design data. The operator can set the working area by selecting one or more surfaces to be set as the working area from the surface group information. That is, here, the working area setting unit 36 ​​sets the working area of ​​the machine (hereinafter referred to as the working area) based on the setting input (monitor input) from the monitor 28. Figure 11 、 Figure 12 Same).

[0088] Figure 11 This is the monitor screen when the work area is set without including this machine based on the surface group information (design surface data) of the design data. Figure 11 As shown, if the operator sets a work area (surface) 43 on the work area setting screen that excludes the hydraulic excavator, the work area setting unit 36 ​​outputs a display command to the monitor 28, and a warning urging the operator to re-set the work area is displayed on the monitor screen. By prohibiting the setting of a work area that excludes the hydraulic excavator, unnecessary restrictions on the operation of the hydraulic excavator can be prevented.

[0089] Figure 12 This is the monitor screen when the work area is set including this machine based on the surface group information (design surface data) of the design data. Figure 12 As shown, in the setting screen of the working area, when the operator sets the working area (surface) 43 including the hydraulic excavator of this machine, a display instruction is output from the working area setting unit 36 ​​to the monitor 28, and the working area 43 set by the operator is displayed on the monitor screen, and text is displayed to notify that the setting is completed normally.

[0090] In addition, if Figures 10 to 12 As shown, when setting the working area based on the surface group information (design surface data) of the design data, by pre-setting the design surface data located in the gravity direction of the coordinates of this machine (i.e., the design surface data located below the position of the current working machine) as the working area, it is possible to prevent the setting of a working area that does not include this machine.

[0091] Figure 13 This is the monitor screen when the work area is set on the prohibited area. Figure 13As shown, on the work area setting screen, if the operator sets work area 43 to include (at least a portion of) a no-entry area 44 already set by no-entry area setting unit 37, work area setting unit 36 ​​outputs a display command to monitor 28, displaying text on the monitor screen notifying the operator that the no-entry area is included in the work area and text urging the operator to re-set the work area. Specifically, work area setting unit 36 ​​sets the machine's work area based on the setting input (monitor input) from monitor 28 and the no-entry area information set by no-entry area setting unit 37. By prohibiting the setting of already set no-entry areas as work areas, it is possible to prevent the machine from entering an area already set as a no-entry area by setting it as a work area.

[0092] Figure 14 This is the monitor screen when the operating area of ​​this machine is set on the operating area of ​​another machine. Figure 14 As shown, on the work area setting screen, if the operator sets the local machine's work area 43 to include (at least a portion of) the work area 45 of another machine, the work area setting unit 36 ​​outputs a display command to the monitor 28, displaying text on the monitor screen notifying the operator that the local machine's work area has been set to include the work area of ​​the other machine, and text urging the operator to re-set the work area. Specifically, the work area setting unit 36 ​​sets the local machine's work area based on the setting input (monitor input) from the monitor 28 and the other machine area information obtained from the communication device 27. By prohibiting the local machine's work area from being set to the local machine's work area, collisions between work machines with area restriction control can be prevented at a site where multiple work machines are operating.

[0093] Figure 15 This is the monitor screen for setting the height and depth work areas. Based on the design data, the x- and y-direction areas in the site coordinate system (i.e., areas outside the direction of gravity of the construction area (work area) or the vertical direction of the vehicle body) are set. The z-direction area (i.e., areas outside the direction of gravity of the construction area (work area) or the vertical direction of the vehicle body) is set on the other setting screens on monitor 28.

[0094] When setting a work area, the monitor screen displays the current vehicle body position, a switch for selecting the base coordinate system for setting height limits between the station coordinate system and the swing-body coordinate system, and input options for the current vehicle body height in the station coordinate system and the height and depth limits. Without driving, the height can be entered for the swing-body coordinate system, and if the depth of a buried object is known from map data, the depth can be set in the station coordinate system. The operator selects and enters the desired work area to set the work area.

[0095] That is, in this embodiment, the work area is set based on the design data for the x- and y-direction areas in the site coordinate system, and the work area is set based on the site or vehicle body for the z-direction area.

[0096] (Setting of the No-Entry Area of ​​the Device by the No-Entry Area Setting Unit 37)

[0097] use Figures 16 to 19 , the setting of the prohibited entry area (area to prevent the vehicle body from entering) of this machine based on the prohibited entry area setting unit 37 is explained. Here, when setting the prohibited entry area outside the gravity direction or the vertical direction of the vehicle body in the construction area (operation area), the prohibited entry area is set based on the design data 35. In addition, here, the case of setting the prohibited entry area based on the point group information of the design data is explained. Of course, the same is true for the case of setting the prohibited entry area based on the surface group information (design surface data) of the design data (see also). Figures 10 to 12 ).

[0098] Figure 16 This is a monitor screen that sets prohibited entry areas based on the point group information of the design data. Figure 16 In the example shown, the design data 35 is composed of a point group of coordinate points (see also Figure 5 ), the monitor screen (display screen of monitor 28) when setting the prohibited entry area displays the hydraulic excavator, the compass indicating the direction, and the point group information of the design data. The operator selects the point group (a plurality of points) to be set as the prohibited entry area from the point group information, creates a closed area, and thereby sets the prohibited entry area. That is, here, the prohibited entry area setting unit 37 sets the prohibited entry area (hereinafter referred to as the prohibited entry area) of the machine according to the setting input (monitor input) from the monitor 28. Figure 17 、 Figure 18 For the prohibited entry area set on the monitor screen, the vehicle body movement is controlled in a manner that restricts the x and y directions of the site coordinate system (i.e., directions other than the gravity direction of the construction area or the vertical direction of the vehicle body).

[0099] Figure 17This is the monitor screen when a prohibited entry area is set including this unit based on the point group information of the design data. Figure 17 As shown, when the operator sets a no-entry area (closed area) 44 including the position information of the excavator on the no-entry area setting screen, the no-entry area setting unit 37 outputs a display command to the monitor 28, and a message notifying the operator to re-set the no-entry area is displayed on the monitor screen. By prohibiting the setting of no-entry areas that include the excavator, the operation of the hydraulic excavator can be prevented from being unnecessarily restricted.

[0100] Figure 18 This is the monitor screen when a prohibited entry area is set based on the point group information of the design data, excluding this unit. Figure 18 As shown, in the no-entry area setting screen, when the operator sets the no-entry area (closed area) 44 without including the location information of the machine, a display instruction is output from the no-entry area setting unit 37 to the monitor 28, and the no-entry area 44 set by the operator is displayed on the monitor screen, and text is displayed to notify that the setting is completed normally.

[0101] That is, in this example, a closed region formed by a point group (a plurality of points) selected from the point group information is set as a no-entry region only when the current position of the hydraulic excavator is not included.

[0102] In addition, although omitted from the illustration, when a prohibited entry area is set based on the surface group information (design surface data) of the design data, it is also possible to pre-prohibit the design surface data located in the gravity direction of the coordinates of this machine (i.e., the design surface data located below the current position of the working machine) from being set as a prohibited entry area.

[0103] Figure 19 This is the monitor screen when a prohibited entry area is set in the work area. Figure 19As shown, on the no-entry area setting screen, if the operator sets a no-entry area 44 that includes (a portion of) the work area 43 already set by the work area setting unit 36, the work area is deleted and the no-entry area is set. Furthermore, the no-entry area setting unit 37 outputs a display command to the monitor 28, and text indicating this is displayed on the monitor screen. Specifically, the no-entry area setting unit 37 sets the machine's no-entry area based on the setting input (monitor input) from the monitor 28 and the work area information set by the work area setting unit 36. In this way, if a pre-set work area is set as a no-entry area, by overwriting the pre-set work area with the no-entry area, no-entry areas such as roads can be prioritized, preventing entry into unintended areas due to incorrect settings. Furthermore, if a no-entry area is set that includes an already set work area, only the overlapping portion of the area can be overwritten as a no-entry area, leaving the remaining work area intact.

[0104] <Area restriction control by controller 25>

[0105] Figure 20 1 is a flowchart showing a control flow related to the area restriction control by the controller 25 .

[0106] In the area restriction control of the controller 25, in step S101, information on the set working area is acquired (the working area setting unit 36, see Figures 7 to 15 Then, in step S102, the information of the set no-entry area is obtained (the no-entry area setting unit 37, see Figures 16 to 19 ).

[0107] Next, in step S103, posture information is acquired from the posture sensor 26 (required speed calculation unit 39, required instruction correction amount calculation unit 40). Next, in step S104, an operation signal corresponding to the operation amount is acquired from the operating lever 29 (required instruction calculation unit 38).

[0108] Next, in step S105 , a request command to the flow control valve is calculated based on the acquired operation signal (the request command calculation unit 38 ).

[0109] Next, in step S106 , the required speed (target speed) of each control point is calculated based on the required instruction to the flow control valve and the posture information (required speed calculation unit 39 ).

[0110] Next, in step S107, the correction amount of the required instruction for the flow control valve (required instruction correction amount) is calculated (required instruction correction amount calculation unit 40) based on the posture information, the required speed of each control point, the work area, and the area information of the prohibited entry area.

[0111] Specifically, the coordinates of each control point in the station coordinate system are calculated based on the posture information, and the distance between each control point and the surface defined as the work area is calculated. Based on the distance between the control point and the surface defined as the work area, a deceleration coefficient is calculated as a correction value, indicating the degree to which the control command to the flow control valve should be decelerated. Figure 21 This graph shows the relationship between the distance between the control point and the surface designated as the work area and the deceleration coefficient. When the distance d is a certain distance away, the deceleration coefficient α is 1. As the distance d decreases below the predetermined distance dth, the deceleration coefficient α decreases, reaching 0 near distance d. The relationship between distance d and deceleration coefficient α determines the margin with which the machine stops relative to the work area. It is also possible to set the deceleration coefficient α to be exactly 0 when the distance d is 0.

[0112] Furthermore, in step S107, when the target speed of each control point is toward the surface, a deceleration coefficient corresponding to the distance is output as a correction amount. However, when the target speed of each control point is away from the surface, the deceleration coefficient is output as 1. This prevents unnecessary restriction of vehicle movement when moving away from the work area.

[0113] Furthermore, the correction amount is calculated for the prohibited entry area in the same manner, and the minimum deceleration coefficient is ultimately output as the correction amount.

[0114] Next, in step S108, a target command (corrected request command) for the flow control valve is calculated and outputted based on the request command and the correction amount (the request command correction unit 41). Specifically, the correction value calculated in step S107, i.e., the deceleration coefficient, is multiplied by the value of the request command for the flow control valve, and the result is outputted as the target command for the flow control valve.

[0115] Next, in step S109, a control command for the flow control valve is output (the flow control valve control unit 42) based on the target command for the flow control valve (calibration request command). Specifically, the target command for the flow control valve is the opening area, displacement, or driving pilot pressure of the flow control valve. The flow control valve is controlled by the output of the electromagnetic proportional pressure reducing valve. In step S109, the current value output to the electromagnetic proportional pressure reducing valve is calculated and output based on the target command for the flow control valve.

[0116] <Switching the working area setting mode of the controller 25>

[0117] Figure 22 This is the monitor screen when the working area is set based on the position of the vehicle body. Figure 2), it is possible to switch between a work area setting mode in which the work area is set based on the design data 35 and a work area setting mode in which the work area is set based on the position of the vehicle body regardless of the design data 35. The case of setting the work area based on the design data 35 is as described above (refer to Figures 7 to 14 ), but by operating the switch 47, the working area setting mode is switched, and when the working area is set based on the position of the vehicle body, the working area is switched to Figure 22 In the work area setting screen shown, the operator sets a numerically limited work area in the front, rear, and left directions, based on the rotation center of the revolving structure 3. If no numerical value is set, the vehicle body can freely move in that direction without being restricted. Furthermore, the work area is set based on the position of the vehicle body. Therefore, if the vehicle body position changes during driving, the movement of the front work implement 7 and the revolving structure 3 is restricted by the numerical values ​​set in the front, rear, and left directions based on the vehicle body position after driving.

[0118] In this way, when setting the working area outside the gravity direction or the vertical direction of the vehicle body of the construction area (work area), it is possible to switch between the work area setting mode of setting the work area based on the design data 35 and the work area setting mode of setting the work area based on the position of the vehicle body. Therefore, in the case of wanting to limit the movement to a part of the area without accompanying driving action, such as the excavation and loading action of sand and soil performed by the work machine, setting the work area based on the position of the vehicle body can simply set the work area.

[0119] In the above embodiment, the working area and the prohibited entry area are set by the controller 25 mounted on the hydraulic excavator 1, but the working area and prohibited entry area information set by an external server (control device) etc. based on the design data 35 can also be sent to the hydraulic excavator 1 to implement area restriction control.

[0120] Effects

[0121] As described above, the working machine (hydraulic excavator) 1 of this embodiment has a control device (controller) 25 for performing area limitation control to limit the movement of the vehicle body to prevent the vehicle body from leaving the working area set in the construction area. The working machine is characterized in that the control device (controller) 25 sets at least a part of the working area based on design data representing the final target shape of the construction object in the construction area.

[0122] According to this embodiment, a working machine (hydraulic excavator) 1 is provided, which has a control device (controller) 25 for performing area restriction control to prevent the vehicle body from deviating from the working area set in the construction area. The area where the activity of the working machine is to be restricted can be simply set at an arbitrary position in actual space, and the area where the working machine is actually controlled can be prevented from deviating from the set area.

[0123] The present invention is not limited to the above-described embodiment, and includes various modifications. The above-described embodiment is described in detail to easily explain the present invention, and is not limited to having all the described structures.

[0124] In addition, the various functions of the controller of the above-mentioned embodiment can also be implemented in part or in whole by hardware, for example, by designing them in an integrated circuit. Alternatively, they can be implemented by software by having a processor interpret and execute programs that implement the various functions. In addition to the storage device within the controller, the information such as the programs, tables, and files that implement the various functions can also be placed on a recording device such as a hard disk or SSD (Solid State Drive), or a recording medium such as an IC card, SD card, or DVD.

[0125] Explanation of symbols

[0126] 1Hydraulic excavator (working machinery),

[0127] 2 driving body,

[0128] 3 rotating bodies,

[0129] 4 cabs,

[0130] 5. Mechanical room,

[0131] 6 counterweights,

[0132] 7 operating machines,

[0133] 8 booms,

[0134] 9 arms,

[0135] 10 buckets,

[0136] 11 boom cylinder,

[0137] 12 stick cylinders,

[0138] 13 bucket cylinder,

[0139] 14-rotation motor,

[0140] 15a Left travel motor,

[0141] 15b right travel motor,

[0142] 16 hydraulic pumps,

[0143] 17 engines (prime movers),

[0144] 18 body tilt sensor,

[0145] 19 boom tilt sensor,

[0146] 20 arm tilt sensor,

[0147] 21 bucket tilt sensor,

[0148] 22 rotation angle sensors,

[0149] 23First GNSS antenna,

[0150] 24 second GNSS antenna,

[0151] 25 controller (control device),

[0152] 26 posture sensors,

[0153] 27 communication devices,

[0154] 28 monitors,

[0155] 29 operating levers,

[0156] 30 flow control valve units,

[0157] 31 Rotary flow control valve,

[0158] 32 electromagnetic proportional pressure reducing valve unit,

[0159] 33a left swing electromagnetic proportional pressure reducing valve,

[0160] 33b right swing solenoid proportional pressure reducing valve,

[0161] 34 pilot pumps,

[0162] 35 Design data,

[0163] 36 Operation Area Setting Department,

[0164] 37 Prohibited Area Setting Department,

[0165] 38 requires the instruction operation unit,

[0166] 39 Required speed calculation unit,

[0167] 40 Request instruction correction amount calculation unit,

[0168] 41 Request instruction correction department,

[0169] 42 flow control valve control unit,

[0170] 43The machine's operating area,

[0171] 44 The prohibited area of ​​this machine,

[0172] 45Other machine's operating area,

[0173] 47 switch (switching device).

Claims

1. A working machine having an area restriction control device for restricting the movement of a vehicle body to prevent the vehicle body from leaving a working area set in a construction area and preventing the vehicle body from entering a prohibited entry area, characterized in that: The control device sets the closed area including the position of the working machine as the working area when the closed area selected from the design data representing the final target shape of the construction object in the construction area includes the current position of the working machine. Furthermore, when the closed area selected from the design data does not include the current position of the working machine, the closed area not including the position of the working machine can be set as the no-entry area. It is prohibited to set a prohibited area as a work area.

2. A working machine having an area restriction control device that restricts the movement of a vehicle body to prevent the vehicle body from leaving a working area set in a construction area and prevents the vehicle body from entering a prohibited entry area, characterized in that: The control device sets the closed area including the position of the working machine as the working area when the closed area selected from the design data representing the final target shape of the construction object in the construction area includes the current position of the working machine. Furthermore, when the closed area selected from the design data does not include the current position of the working machine, the closed area not including the position of the working machine can be set as the no-entry area. When a preset work area is set as a no-entry area, the work area is overwritten as the no-entry area.

3. The working machine according to claim 1 or 2, characterized in that: The control device sets a working area other than the gravity direction or the vertical direction of the vehicle body of the working area based on the design data.

4. The working machine according to claim 1 or 2, characterized in that: The design data is composed of a point group of coordinate points. The control device sets a closed area composed of a plurality of points selected from the point group as a work area.

5. The working machine according to claim 4, characterized in that: The control device sets the current position of the working machine as the working area only when a closed area formed by a plurality of points selected from the point group includes the current position of the working machine.

6. The working machine according to claim 1 or 2, characterized in that: The design data is composed of a face group including coordinate information. The control device sets at least one surface selected from the surface group as a work area.

7. The working machine according to claim 6, characterized in that: The control device pre-sets design data located below the current position of the working machine as a working area.

8. The working machine according to claim 1 or 2, characterized in that: The control device prohibits setting the working area already set by another machine as the working area of ​​the machine.

9. The working machine according to claim 1 or 2, characterized in that: The control device is capable of switching between a first work area setting mode and a second work area setting mode, wherein the first work area setting mode sets at least a portion of the work area according to the design data, and the second work area setting mode sets the work area based on the position of the vehicle body regardless of the design data.

10. The working machine according to claim 9, characterized in that: The working machine includes a switching device for switching between the first working area setting mode and the second working area setting mode.

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