Work system

Abstract

To provide a work system capable of improving work efficiency.SOLUTION: A work system includes: a laser projector 70 that emits a laser; a work machine 20 having a laser receiver 27 capable of receiving the laser; detection means for detecting a position of the laser receiver 27 relative to the laser projector 70; and range calculation means for calculating an operating range 91 within which the work machine 20 can operate while the laser receiver 27 continuously receives the laser based on the position of the laser receiver 27 detected by the detection means.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a work system in which a laser emitted by a laser projector is received by a laser receiver provided in a work machine. [Background technology]

[0002] Patent document 1 discloses that when a laser emitted by a laser projector is received by a laser receiver mounted on an upper rotating body, the height position of the blade tip relative to the construction surface is calculated based on the laser receiving position, the attitude of the upper rotating body relative to the lower running body, and the attitude of the blade. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-29712 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, if the laser is blocked by an attachment or the work machine moves so that the laser receiver is located outside the projection range of the laser emitted by the laser projector, the laser receiver will not be able to receive the laser. In these cases, it will be necessary to make the laser receiver receive the laser again, which reduces work efficiency.

[0005] An object of the present invention is to provide a work system capable of improving work efficiency. [Means for solving the problem]

[0006] The present invention is characterized by comprising a work machine having a laser projector that emits a laser, a laser receiver capable of receiving the laser, a detection means that detects the position of the laser receiver relative to the laser projector, and a range calculation means that calculates an operating range in which the work machine can operate while the laser receiver continues to receive the laser, based on the position of the laser receiver detected by the detection means. Effect of the Invention

[0007] According to the present invention, an operating range in which the work machine can operate while the laser receiver continues to receive the laser is calculated based on the position of the laser receiver relative to the laser projector. When the work machine is operated within this operating range, the laser receiver can continue to receive the laser. In this case, it is possible to prevent the laser receiver from becoming unable to receive the laser. As a result, the work of making the laser receiver receive the laser again is reduced. Therefore, work efficiency can be improved. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a configuration diagram of a work system. [Diagram 2] FIG. 2 is a functional configuration diagram of a work machine. [Diagram 3] FIG. 2 is a side view of the work machine and the laser projector. [Figure 4] FIG. 13 is a diagram showing the relationship between the maximum value of the output manipulation amount and the shortest distance. [Diagram 5] FIG. 2 is a top view of the work machine and the laser projector. [Figure 6] 13 is a flowchart of an operation correction process. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

[0010] (Working system configuration) In the work system according to this embodiment, a laser emitted by a laser projector is received by a laser receiver provided in the work machine. As shown in Fig. 1, which is a configuration diagram of the work system 1, the work system 1 includes a laser projector 70 that emits a laser, and a work machine 20 that has a laser receiver 27 that can receive the laser.

[0011] The laser projector 70 is, for example, a total station. The laser projector 70 detects the position of the laser receiver 27. The laser projector 70 detects the distance from the laser projector 70 to the laser receiver 27 and the direction of the laser receiver 27 relative to the laser projector 70.

[0012] The work machine 20 is a machine that performs work using an attachment 30, and is, for example, a hydraulic excavator. The work machine 20 has a machine body 24 that includes a lower traveling body 21 and an upper rotating body 22, the attachment 30, and a cylinder 40.

[0013] The lower traveling structure 21 is a portion that causes the work machine 20 to travel, and is equipped with, for example, crawlers. The upper rotating structure 22 is attached to the upper part of the lower traveling structure 21 so as to be able to rotate via a rotating device 25. A cab (operator's compartment) 23 is provided at the front part of the upper rotating structure 22.

[0014] The attachment 30 is attached to the upper rotating body 22 so as to be rotatable in the vertical direction. The attachment 30 includes a boom 31, an arm 32, and a bucket 33. The boom 31 is attached to the upper rotating body 22 so as to be rotatable (raised and lowered) in the vertical direction. The arm 32 is attached to the boom 31 so as to be rotatable in the vertical direction. The bucket 33 is a tip attachment that is the tip of the attachment 30, and is attached to the arm 32 so as to be rotatable in the front-to-rear direction of the upper rotating body 22. The bucket 33 is a part that performs tasks such as excavating, leveling, and scooping soil and sand.

[0015] The end attachment is not limited to the bucket 33, but may be a lifting magnet for holding scrap iron or the like.

[0016] The cylinder 40 is capable of hydraulically rotating the attachment 30. The cylinder 40 is a hydraulic telescopic cylinder. Note that the cylinder 40 may be an electric cylinder. The cylinder 40 includes a boom cylinder 41, an arm cylinder 42, and a bucket cylinder 43.

[0017] The boom cylinder 41 rotates the boom 31 relative to the upper rotating body 22. A base end of the boom cylinder 41 is rotatably attached to the upper rotating body 22. A tip end of the boom cylinder 41 is rotatably attached to the boom 31.

[0018] The arm cylinder 42 rotates the arm 32 relative to the boom 31. A base end of the arm cylinder 42 is rotatably attached to the boom 31. A tip end of the arm cylinder 42 is rotatably attached to the arm 32.

[0019] The bucket cylinder 43 rotates the bucket 33 relative to the arm 32. A base end of the bucket cylinder 43 is rotatably attached to the arm 32. A tip end of the bucket cylinder 43 is rotatably attached to a link member 34 that is rotatably attached to the bucket 33.

[0020] The work machine 20 also has an angle sensor 52 and a tilt angle sensor 60 .

[0021] The angle sensor 52 detects the rotation angle of the upper rotating body 22 relative to the lower running body 21. The angle sensor 52 detects a current angle, which is the current rotation angle of the upper rotating body 22 relative to the lower running body 21. The angle sensor 52 is, for example, an encoder, a resolver, or a gyro sensor. In this embodiment, the rotation angle of the upper rotating body 22 when the front of the upper rotating body 22 coincides with the front of the lower running body 21 is set to 0°.

[0022] The inclination angle sensor 60 detects the attitude of the attachment 30. The inclination angle sensor 60 includes a boom inclination angle sensor 61, an arm inclination angle sensor 62, and a bucket inclination angle sensor 63.

[0023] The boom inclination angle sensor 61 is attached to the boom 31 and detects the attitude of the boom 31. The boom inclination angle sensor 61 is a sensor that acquires the inclination angle of the boom 31 with respect to the horizontal line, and is, for example, an inclination (acceleration) sensor. Note that the boom inclination angle sensor 61 may be a rotation angle sensor that detects the rotation angle of the boom foot pin (boom base end) or a stroke sensor that detects the stroke amount of the boom cylinder 41.

[0024] The arm inclination angle sensor 62 is attached to the arm 32 and detects the posture of the arm 32. The arm inclination angle sensor 62 is a sensor that obtains the inclination angle of the arm 32 with respect to the horizontal line, and is, for example, an inclination (acceleration) sensor. Note that the arm inclination angle sensor 62 may be a rotation angle sensor that detects the rotation angle of the arm connecting pin (base end of the arm) or a stroke sensor that detects the stroke amount of the arm cylinder 42.

[0025] The bucket inclination angle sensor 63 is attached to the link member 34 and detects the attitude of the bucket 33. The bucket inclination angle sensor 63 is a sensor that obtains the inclination angle of the bucket 33 with respect to the horizontal line, and is, for example, an inclination (acceleration) sensor. Note that the bucket inclination angle sensor 63 may be a rotation angle sensor that detects the rotation angle of the bucket connecting pin (bucket base end) or a stroke sensor that detects the stroke amount of the bucket cylinder 43.

[0026] The work machine 20 also has a laser receiver 27. The laser receiver 27 receives a laser emitted by the laser projector 70. The laser receiver 27 is provided on the cab 23. The laser receiver 27 may be provided on the attachment 30 (particularly the boom 31) or the upper rotating body 22.

[0027] (Functional configuration of work machine) As shown in FIG. 2, which is a functional configuration diagram of the work machine 20, the work machine 20 has a controller 11, a communication device 12, and a storage device 13.

[0028] The communication device 12 is capable of communicating with the laser projector 70. The position of the laser receiver 27 detected by the laser projector 70 is input to the controller 11 via the communication device 12. The communication device 12 is also capable of communicating with a mobile terminal. The mobile terminal is a terminal operated by a worker at the work site, and is, for example, a tablet terminal, a smartphone, or the like.

[0029] The storage device 13 stores shape information of the work machine 20. Specifically, the shapes and dimensions of the lower traveling body 21, the upper rotating body 22, and the attachment 30, the distance from the center of rotation of the upper rotating body 22 to the laser receiver 27, and the like are stored.

[0030] The controller 11 receives input of information relating to the rotation angle (posture) of the upper rotating body 22 relative to the lower traveling body 21 detected by the angle sensor 52. The controller 11 also receives input of information relating to the posture of the boom 31 detected by the boom inclination angle sensor 61. The controller 11 also receives input of information relating to the posture of the arm 32 detected by the arm inclination angle sensor 62. The controller 11 also receives input of information relating to the posture of the bucket 33 detected by the bucket inclination angle sensor 63.

[0031] The controller 11 may automatically operate the slewing device 25 and the attachment 30 to perform a predetermined automatic driving operation. In other words, the work machine 20 may be automatically driven. The predetermined automatic driving operation is, for example, an operation of repeating excavation, lifting and swinging, soil removal, and return swing in this order.

[0032] The controller (detection means) 11 detects the position of the laser receiver 27 relative to the laser projector 70. The controller 11 can calculate the positions of any part of the machine body 24 and the attachment 30 based on the position of the laser receiver 27 relative to the laser projector 70, shape information of the work machine 20, and attitude information of the attachment 30.

[0033] The controller (range calculation means) 11 calculates the operating range of the work machine 20 based on the position of the laser receiver 27 relative to the laser projector 70, which it detects itself. The operating range is the range within which the work machine 20 can operate while the laser receiver 27 continues to receive the laser.

[0034] A side view of the work machine 20 and the laser projector 70 is shown in Fig. 3. The trajectory 81 of the laser emitted from the laser projector 70 and received by the laser receiver 27 is illustrated by an arrow. In the state shown in Fig. 3, the attachment 30 is not positioned on the laser trajectory 81, so the laser can be received by the laser receiver 27. However, when the attachment 30 is positioned directly below the laser trajectory 81, there is a possibility that the laser will be blocked by the attachment 30 when the attachment 30 is moved upward. Also, when the attachment 30 is positioned to the side of the laser trajectory 81, there is a possibility that the laser will be blocked by the attachment 30 when the upper rotating body 22 is rotated.

[0035] Therefore, the controller (range calculation means) 11 calculates the operating range 91 based on the position of the laser receiver 27 detected by itself, the shape information of the work machine 20 stored in the storage device 13, the rotation angle of the upper rotating body 22 relative to the lower traveling body 21, and the attitude information of the attachment 30. The rotation angle of the upper rotating body 22 relative to the lower traveling body 21 is detected by the angle sensor 52. The attitude information of the attachment 30 is detected by the tilt angle sensor 60.

[0036] The calculated operating range 91 is shown in Fig. 3. When the upper rotating body 22 and the attachment 30 are operated within this operating range 91, the laser can be continuously received by the laser receiver 27. In this case, it is possible to prevent the attachment 30 from blocking the laser.

[0037] The controller (range notifying means) 11 notifies the operating range 91 that it has calculated. Specifically, the controller (range notifying means) 11 has a display device 14 (see FIG. 2). The controller (range notifying means) 11 causes the display device 14 to display the work machine 20 and the operating range 91 in a superimposed manner. A screen such as that shown in FIG. 3 is displayed on the display device 14. When the work machine 20 is being operated by an operator, the display device 14 is a display provided in the cab 23. When the work machine 20 is being automatically operated, the display device 14 is a display of a mobile terminal, or the like.

[0038] The operator can continue to receive the laser with the laser receiver 27 by operating the work machine 20 within the notified operating range 91. This makes it possible to prevent the laser receiver 27 from being unable to receive the laser. The operator can easily operate the work machine 20 within the operating range 91 by operating the work machine 20 while checking the display content of the display device 14.

[0039] Furthermore, the controller (distance calculation means) 11 calculates the shortest distance 92 between the boundary of the operating range 91 and the attachment 30. The controller (distance calculation means) 11 calculates the shortest distance 92 between the boundary of the operating range 91 and the attachment 30 based on the position of the laser receiver 27 detected by itself, shape information of the work machine 20 stored in the storage device 13, the rotation angle of the upper rotating body 22 relative to the lower traveling body 21, attitude information of the attachment 30, and the operating range 91 calculated by itself.

[0040] 3 illustrates the shortest distance 92 when the attachment 30 is located directly below the laser trajectory 81. By using information on this shortest distance 92, it is possible to determine how much further the upper rotating body 22 and the attachment 30 must be operated before the attachment 30 deviates from the operating range 91.

[0041] The controller (distance notification means) 11 notifies the shortest distance 92 that it has calculated. Specifically, the shortest distance 92 is displayed on a screen such as that shown in Fig. 3 that is displayed on the display device 14. By knowing the shortest distance 92, the operator can know how much further the upper rotating body 22 and the attachment 30 must be operated before the attachment 30 deviates from the operating range.

[0042] The controller (correction means) 11 corrects the operation of the work machine 20 in accordance with the shortest distance 92 that it has calculated. Specifically, the controller (correction means) 11 corrects the operation of the work machine 20 so that the operation of the work machine 20 is more restricted as the shortest distance 92 becomes shorter.

[0043] The relationship between the maximum value of the output operation amount and the shortest distance is shown in Fig. 4. The output operation amount is the operation amount that is actually output in response to the input operation amount input from the operator to an operation lever (not shown). If the input operation amount from the operator is larger than the maximum value of the output operation amount shown in Fig. 4, the operation amount that is actually output is limited to the maximum value of the output operation amount. If the input operation amount from the operator is smaller than the maximum value of the output operation amount shown in Fig. 4, the operation amount that is actually output is the input operation amount of the operator.

[0044] The shorter the shortest distance 92, the smaller the maximum value of the output manipulated variable is made. In other words, the closer the attachment 30 is to the boundary of the operating range 91, the more the operation of the work machine 20 is restricted. This makes it possible to prevent the attachment from departing from the operating range 91.

[0045] Conversely, the longer the shortest distance 92, the larger the maximum value of the output manipulated variable is. In other words, the farther the attachment 30 is from the boundary of the operating range 91, the more relaxed the restrictions on the operation of the work machine 20.

[0046] Returning to FIG. 3 , when the attachment 30 deviates from the operating range 91, the controller (returning means) 11 operates the work machine 20 so as to return the attachment 30 to within the operating range 91. For example, when the work machine 20 is being operated by an operator, when the attachment 30 deviates from the operating range 91 and the laser receiver 27 no longer receives the laser, the operator is notified of this. In response to this, when the operator operates a return button (not shown), the work machine 20 is automatically operated so as to return the attachment 30 to within the operating range 91. The return button is provided in the cab 23. Also, when the work machine 20 is being automatically operated, when the attachment 30 deviates from the operating range 91 due to an overshoot or the like and the laser receiver 27 no longer receives the laser, the work machine 20 is automatically operated so as to return the attachment 30 to within the operating range 91. This allows the laser receiver 27 to automatically return to a state in which the laser can be received from a state in which the laser is blocked by the attachment 30.

[0047] Here, the controller (returning means) 11 generates an operation signal according to the distance by which the attachment 30 has deviated from the operating range 91. For example, when the attachment 30 deviates from the operating range 91 by moving upward, an operation signal is generated to move the attachment 30 downward by the distance by which it has deviated. Also, when the attachment 30 deviates from the operating range 91 by rotating the upper rotating body 22 in a certain direction, an operation signal is generated to rotate the upper rotating body 22 in the opposite direction by the distance by which it has deviated.

[0048] A top view of the work machine 20 and the laser projector 70 is shown in Fig. 5. The controller (range calculation means) 11 calculates the motion range 93 of the work machine 20 shown in Fig. 5, in addition to the motion range 91 of the work machine 20 shown in Fig. 3. That is, the motion range 91 shown in Fig. 3 and the motion range 93 shown in Fig. 5 are calculated simultaneously. Note that the configuration may be such that only one of the motion range 91 shown in Fig. 3 and the motion range 93 shown in Fig. 5 is calculated.

[0049] As shown in Fig. 5, the controller (range calculation means) 11 calculates an operating range 93 based on the position of the laser receiver 27 relative to the laser projector 70 detected by the controller itself and the projection range of the laser emitted by the laser projector 70. Here, the laser projection range is a sector-shaped area defined by the maximum projection distance Y and the projection angle α. When the work machine 20 is moved so that the laser receiver 27 is positioned within the operating range 93, the laser receiver 27 can continue to receive the laser. In this case, it is possible to prevent the laser receiver 27 from being positioned outside the projection range of the laser emitted by the laser projector 70.

[0050] Note that the case where the laser is blocked by the attachment 30 due to a change in the posture of the attachment 30 or the rotation of the upper rotating body 22 has been described with reference to Fig. 3. Therefore, Fig. 5 does not take into consideration the change in the posture of the attachment 30 or the rotation of the upper rotating body 22.

[0051] The controller (range notification means) 11 notifies the operating range 93 that it has calculated. Specifically, the controller (range notification means) 11 causes the work machine 20 and the operating range 93 to be superimposed and displayed on the display device 14 (see FIG. 2). A screen such as that shown in FIG. 5 is displayed on the display device 14. When the work machine 20 is being operated by an operator, the display device 14 is a display provided in the cab 23. When the work machine 20 is being automatically operated, the display device 14 is a display of a mobile terminal, or the like.

[0052] The operator can continue to receive the laser with the laser receiver 27 by operating the work machine 20 within the notified operating range 93. This makes it possible to prevent the laser receiver 27 from being unable to receive the laser. The operator can easily operate the work machine 20 within the operating range 93 by operating the work machine 20 while checking the display content of the display device 14.

[0053] The controller (distance calculation means) 11 calculates the shortest distance 94 between the boundary of the operating range 93 and the laser receiver 27. The controller (distance calculation means) 11 calculates the shortest distance 94 between the boundary of the operating range 93 and the laser receiver 27 based on the position of the laser receiver 27 detected by itself and the operating range 93 calculated by itself. By using information on this shortest distance 94, it is possible to grasp how far the work machine 20 needs to be moved again before the laser receiver 27 deviates from the operating range 93.

[0054] The controller (distance notification means) 11 notifies the shortest distance 94 that it has calculated. Specifically, the shortest distance 94 is displayed on a screen such as that shown in FIG. 5 , which is displayed on the display device 14. By knowing the shortest distance 94, the operator can know how much further the work machine 20 needs to be moved before the laser receiver 27 deviates from the operating range 93.

[0055] The controller (correction means) 11 corrects the operation of the work machine 20 in accordance with the shortest distance 94 that it has calculated. Specifically, the controller (correction means) 11 corrects the operation of the work machine 20 so that the operation of the work machine 20 is more restricted as the shortest distance 94 becomes shorter.

[0056] 4, the shorter the shortest distance 94, the smaller the output operation amount is, thereby restricting the operation of the work machine 20. This makes it possible to prevent the laser receiver 27 from departing from the operating range 93.

[0057] Returning to FIG. 3 , when the laser receiver 27 deviates from the operating range 93, the controller (return means) 11 operates the work machine 20 so as to return the laser receiver 27 to within the operating range 93. For example, when the work machine 20 is being operated by an operator, if the laser receiver 27 deviates from the operating range 93 and the laser receiver 27 no longer receives a laser, a notification to that effect is given. In response to this, when the operator operates a return button, the work machine 20 is automatically operated so as to return the attachment 30 to within the operating range 93. Also, when the work machine 20 is being automatically operated, if the laser receiver 27 deviates from the operating range 93 due to an overshoot or the like and the laser receiver 27 no longer receives a laser, the work machine 20 is automatically operated so as to return the laser receiver 27 to within the operating range 93. This allows the laser receiver 27 to automatically return to a state where it can receive the laser from a state where the laser receiver 27 is located outside the projection range of the laser emitted by the laser projector 70. For this return, data from a positioning sensor such as a GPS sensor provided on the upper rotating body 22 may be used.

[0058] Here, the controller (returning means) 11 generates an operation signal according to the distance deviated from the operating range 93. For example, when the work machine 20 moves forward and the laser receiver 27 deviates from the operating range 93, an operation signal is generated to move the work machine 20 backward by the distance of the deviation.

[0059] (Working system operation) Next, the operation of the work system 1 will be described with reference to FIG. 6 which is a flowchart of the operation correction process.

[0060] First, the controller 11 detects the position of the laser receiver 27 relative to the laser projector 70 (step S1). Next, the controller 11 calculates the operating ranges 91, 93 of the work machine 20 (step S2).

[0061] Next, the controller 11 calculates the shortest distance 92 (see FIG. 3) between the boundary of the operating range 91 and the attachment 30, and the shortest distance 94 (see FIG. 5) between the boundary of the operating range 93 and the laser receiver 27 (step S3). Then, the controller 11 corrects the operation of the work machine 20 using the relationship diagram shown in FIG. 4 (step S4). Then, the process returns to step S1.

[0062] (effect) As described above, according to the work system 1 of this embodiment, as shown in Figs. 3 and 5, the operating ranges 91, 93 in which the work machine 20 can operate while the laser receiver 27 continues to receive the laser are calculated based on the position of the laser receiver 27 relative to the laser projector 70. When the work machine 20 is operated within these operating ranges 91, 93, the laser receiver 27 can continue to receive the laser. In this case, it is possible to prevent the laser receiver 27 from becoming unable to receive the laser. As a result, the amount of work required to make the laser receiver 27 receive the laser again is reduced. Therefore, it is possible to improve work efficiency.

[0063] 3 and 5, the calculated operating ranges 91, 93 are notified. The operator can continue to receive the laser with the laser receiver 27 by operating the work machine 20 within the notified operating ranges 91, 93. This can prevent the laser receiver 27 from becoming unable to receive the laser.

[0064] 3 and 5, the work machine 20 and the operating ranges 91, 93 are superimposed and displayed on the display device 14. The operator can easily operate the work machine 20 within the operating ranges 91, 93 by operating the work machine 20 while checking the display content of the display device 14.

[0065] 3, an operating range 91 is calculated based on the position of the laser receiver 27 relative to the laser projector 70, shape information of the work machine 20, the rotation angle of the upper rotating body 22 relative to the lower traveling body 21, and attitude information of the attachment 30. When the upper rotating body 22 and the attachment 30 are operated within this operating range 91, the laser can be continuously received by the laser receiver 27. In this case, blocking of the laser by the attachment 30 can be suppressed.

[0066] 3, a minimum distance 92 between the boundary of the operating range 91 and the attachment 30 is calculated. By using information on this minimum distance 92, it is possible to know how much further the upper rotating body 22 and the attachment 30 must be operated before the attachment 30 deviates from the operating range 91.

[0067] 3, the calculated shortest distance 92 is notified to the operator. By knowing the shortest distance 92, the operator can know how much further the upper rotating body 22 and the attachment 30 must be operated before the attachment 30 deviates from the operating range 91.

[0068] 4, the operation of the work machine 20 is corrected according to the calculated shortest distance 92. Therefore, the operation of the work machine 20 can be made appropriate according to the shortest distance 92. For example, the shorter the shortest distance 92, the more the operation of the work machine 20 is corrected so that the operation of the work machine 20 is restricted. In this case, it is possible to prevent the attachment 30 from departing from the operating range 91.

[0069] 4, the operation of the work machine 20 is corrected so that the operation of the work machine 20 is restricted more as the shortest distance 92 becomes shorter. This makes it possible to prevent the attachment 30 from departing from the operating range 91.

[0070] 3, when the attachment 30 deviates from the operating range 91, the work machine 20 is operated to return the attachment 30 to within the operating range 91. This makes it possible to automatically return the laser from a state in which the laser is blocked by the attachment 30 to a state in which the laser can be received by the laser receiver 27.

[0071] 5, an operating range 93 is calculated based on the position of the laser receiver 27 relative to the laser projector 70 and the projection range of the laser emitted by the laser projector 70. When the work machine 20 is moved so that the laser receiver 27 is located within this operating range 93, the laser can be continuously received by the laser receiver 27. In this case, it is possible to prevent the laser receiver 27 from being located outside the projection range of the laser emitted by the laser projector 70.

[0072] 5, a minimum distance 94 between the boundary of the operating range 93 and the laser receiver 27 is calculated. By using information on this minimum distance 94, it is possible to know how far the work machine 20 needs to move before the laser receiver 27 deviates from the operating range 93.

[0073] 5, the calculated shortest distance 94 is notified to the operator. By knowing the shortest distance 94, the operator can know how much further the work machine 20 needs to move before the laser receiver 27 deviates from the operating range 93.

[0074] 4, the operation of the work machine 20 is corrected according to the calculated shortest distance 94. Therefore, the operation of the work machine 20 can be made appropriate according to the shortest distance 94. For example, the shorter the shortest distance 94, the more the operation of the work machine 20 is corrected so that the operation of the work machine 20 is restricted. In this case, it is possible to prevent the laser receiver 27 from departing from the operating range 93.

[0075] 4, the operation of the work machine 20 is corrected so that the operation of the work machine 20 is restricted more as the shortest distance 94 becomes shorter. This makes it possible to prevent the laser receiver 27 from departing from the operating range 93.

[0076] 5, when the laser receiver 27 deviates from the operating range 93, the work machine 20 is operated to return the laser receiver 27 to within the operating range 93. This makes it possible to automatically return the laser receiver 27 from a state in which the laser receiver 27 is located outside the projection range of the laser emitted by the laser projector 70 to a state in which the laser receiver 27 can receive the laser.

[0077] Although the embodiments of the present invention have been described above, they are merely illustrative examples and do not limit the present invention, and the specific configurations and the like can be appropriately modified in design. Furthermore, the actions and effects described in the embodiments of the invention are merely a list of the most preferable actions and effects resulting from the present invention, and the actions and effects of the present invention are not limited to those described in the embodiments of the present invention.

[0078] For example, the controller 11 of the work machine 20 detects the position of the laser receiver 27 relative to the laser projector 70, calculates the operating range 91, 93 within which the work machine 20 can operate, and calculates the shortest distances 92, 94, but these functions may also be performed by a mobile terminal or a server not shown.

[0079] Furthermore, the screen displayed on the display device 14 is not limited to the screens shown in Figures 3 and 5, but may be a screen on which the work machine 20, laser projector 70, operating ranges 91, 93, etc. are displayed in three dimensions. [Explanation of symbols]

[0080] 1. Working System 11 Controller (detection means, range calculation means, range notification means, distance calculation means, distance notification means, correction means, return means) 12. Communications Equipment 13 Storage device 14 Display device 20 Work Machinery 21 Undercarriage 22 Upper rotating body 23 Cab 24 Machine body 25 Swivel 27 Laser receiver 30 Attachment 31 Boom 32 Arm 33 Bucket 34 Link member 40 Cylinder 41 Boom cylinder 42 Arm Cylinder 43 Bucket Cylinder 52 Angle Sensor 60 Inclination Sensor 61 Boom tilt angle sensor 62 Arm inclination angle sensor 63 Bucket tilt angle sensor 70 Laser projector 81 orbit 91,93 Operating range 92,94 Shortest distance

Claims

1. A laser projector that emits a laser; a work machine having a laser receiver capable of receiving the laser; a detection means for detecting a position of the laser receiver relative to the laser projector; a range calculation means for calculating an operating range within which the work machine can operate while the laser receiver continues to receive the laser, based on the position of the laser receiver detected by the detection means; A work system comprising:

2. 2. The work system according to claim 1, further comprising range notifying means for notifying the movement range calculated by the range calculating means.

3. 3. The work system according to claim 2, wherein the range informing means has a display device which displays the work machine and the operating range in a superimposed manner.

4. The work machine includes: A lower running body; An upper rotating body rotatably attached to an upper portion of the lower traveling body; An attachment provided on the upper rotating body so as to be capable of being raised and lowered; having The work system according to claim 1, characterized in that the range calculation means calculates the operating range based on the position of the laser receiver detected by the detection means, shape information of the work machine, the rotation angle of the upper rotating body relative to the lower running body, and attitude information of the attachment.

5. 5. The working system according to claim 4, further comprising a distance calculation means for calculating the shortest distance between the boundary of the working range and the attachment.

6. 6. The work system according to claim 5, further comprising a distance notification means for notifying the shortest distance calculated by the distance calculation means.

7. 6. A work system according to claim 5, further comprising a correction means for correcting an operation of the work machine in accordance with the shortest distance calculated by the distance calculation means.

8. 8. A work system according to claim 7, wherein the correction means corrects the operation of the work machine so that the operation of the work machine is more restricted as the shortest distance becomes shorter.

9. 5. The work system according to claim 4, further comprising a return means for operating the work machine so as to return the attachment to the working range when the attachment deviates from the working range.

10. 2. The work system according to claim 1, wherein the range calculation means calculates the operating range based on the position of the laser receiver detected by the detection means and the projection range of the laser emitted by the laser projector.

11. 11. The working system according to claim 10, further comprising a distance calculation means for calculating the shortest distance between a boundary of said operating range and said laser receiver.

12. 12. The work system according to claim 11, further comprising a distance notification means for notifying the shortest distance calculated by the distance calculation means.

13. 12. A work system according to claim 11, further comprising a correction means for correcting an operation of the work machine in accordance with the shortest distance calculated by the distance calculation means.

14. 14. The work system according to claim 13, wherein the correction means corrects the operation of the work machine so that the operation of the work machine is restricted more as the shortest distance becomes shorter.

15. 11. The work system according to claim 10, further comprising a return means for operating the work machine so as to return the laser receiver to within the operating range when the laser receiver deviates from the operating range.

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