Construction machine

Abstract

To provide a construction machine which improves work efficiency while ensuring safety at a work site where obstacles exist around a machine body.SOLUTION: A hydraulic excavator 1 comprises a machine body 5, a movable range setting device that sets a movable range of the machine body 5, an obstacle detection sensor that detects the distance between an obstacle and the machine body, and a controller that performs operation restriction control to limit a movement of the machine body 5 when it is determined that the machine body 5 will deviate from the movable range set by the movable range setting device and when an obstacle is detected by the obstacle detection sensor, and the controller does not perform operation restriction control when the obstacle is present in a non-movable range S1 determined in accordance with the movable range.SELECTED DRAWING: Figure 7

Description

[Technical field]

[0001] The present invention relates to a construction machine, and more particularly to a construction machine having an obstacle detection device that detects obstacles in the surrounding area. [Background technology]

[0002] 2. Description of the Related Art Some construction machines, such as hydraulic excavators, are equipped with safety devices for the purpose of ensuring the safety of workers at work sites (see, for example, Patent Document 1).

[0003] The construction machine described in Patent Document 1 is equipped with a plurality of sensors that detect the presence or absence of obstacles in a plurality of divided areas, and is configured to lower the upper limit of the movement speed of the structure according to the monitoring area in which the obstacle exists when the presence of an obstacle is detected by the sensor. Specifically, when a sensor in charge of a monitoring area relatively close to the construction machine detects an obstacle, the upper limit of the operation hydraulic pressure is set to zero, and as the distance between the construction machine and the obstacle increases, the upper limit of the operation hydraulic pressure is set to gradually increase. As a result, when an obstacle exists in the most dangerous working area, the movement of the structure stops regardless of the operation of the operating means, and as the obstacle moves away, the structure is adjusted to move at a higher movement speed. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Utility Model Application Publication No. 5-64254 Summary of the Invention [Problem to be solved by the invention]

[0005] However, depending on the work site where the construction machine is used, it is assumed that the machine will be operated while paying attention not to come into contact with obstacles that are always present around the machine. When working in such a situation, the construction machine described in Patent Document 1 may continue to detect obstacles all the time. As a result, the upper limit of the movement speed of the structure attached to the construction machine is always limited, which may reduce work efficiency.

[0006] The present invention has been made in consideration of such problems, and its object is to provide a construction machine that improves work efficiency while ensuring safety at work sites where obstacles are present around the machine body. [Means for solving the problem]

[0007] In order to achieve the above-mentioned object, the construction machine of the present invention comprises a machine body including a lower running body capable of traveling, an upper rotating body attached to the upper part of the lower running body and capable of rotating, and a work device attached to the upper rotating body and capable of rotating, a movable range setting device that sets the movable range of the machine, an obstacle detection device that detects obstacles around the machine, and a controller that performs operation limiting control to limit the movement of the machine when it is determined that the machine will deviate from the movable range set by the movable range setting device and when an obstacle is detected by the obstacle detection device, and is characterized in that the controller does not perform the operation limiting control when the obstacle is present in a non-movable range determined in accordance with the movable range. Effect of the Invention

[0008] According to the construction machine of the present invention, even if there is an obstacle in the non-movable range of the machine, which is determined according to the movable range of the machine set by the movable range setting device, the controller does not control the movement of the machine. Therefore, even when working in a situation where an obstacle is always present in the non-movable range around the machine, the movement of the machine is not restricted by the obstacle, so that the work efficiency of the construction machine can be improved while ensuring safety. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a side view showing a schematic overall configuration of a hydraulic excavator according to a first embodiment of the present invention. [Diagram 2] FIG. 2 is a plan view showing a schematic view of a portion of the hydraulic excavator shown in FIG. [Diagram 3] FIG. 2 is a perspective view showing a schematic view of a cab mounted on the hydraulic excavator shown in FIG. 1, with a part of the cab cut away. [Figure 4] FIG. 2 is a hydraulic circuit diagram that illustrates a hydraulic circuit for controlling the operation of the machine body of the hydraulic excavator illustrated in FIG. [Diagram 5] FIG. 2 is a schematic functional block diagram for controlling the operation of the hydraulic excavator shown in FIG. 1, showing input / output paths centered around a controller. [Figure 6] 2 is a diagram showing an example of a detection range of an obstacle detection sensor in a state before an upper rotating body of the hydraulic excavator shown in FIG. 1 is rotated. FIG. [Figure 7] 2 is a diagram showing an example of the positional relationship between the detection range of an obstacle detection sensor and an obstacle when an upper rotating body of the hydraulic excavator shown in FIG. 1 is rotated within a set movable range. FIG. [Figure 8] 2 shows an example of a control flow relating to operation control and warning control of a machine executed by a controller mounted on the hydraulic excavator shown in FIG. 1. [Figure 9] FIG. 13 is a functional block diagram showing an outline of the operation control of the machine body of a hydraulic excavator according to a second embodiment of the present invention, showing input / output paths centered around a controller. [Figure 10] FIG. 11 is a diagram showing an example of the positional relationship between the detection range of the obstacle detection sensor and an obstacle when the upper rotating body of the hydraulic excavator according to the second embodiment of the present invention is rotated within a set movable range. [Figure 11] 8 shows an example of a control flow relating to machine operation control and alarm control executed by a controller mounted on a hydraulic excavator according to a second embodiment of the present invention. [Figure 12] FIG. 11 is a side view showing a schematic overall configuration of a hydraulic excavator according to a third embodiment of the present invention. [Figure 13] FIG. 13 is a functional block diagram for controlling the operation of the hydraulic excavator shown in FIG. 12, showing input / output paths centered around a controller. [Figure 14] 13 is a diagram showing an example of the positional relationship between the detection range of an obstacle detection sensor and an obstacle when a lower traveling body of the hydraulic excavator shown in FIG. 12 is caused to travel within a set movable range. FIG. [Figure 15] 13 is a diagram showing another example of the positional relationship between the detection ranges of the obstacle detection sensors and obstacles when the lower traveling body of the hydraulic excavator shown in FIG. 12 is caused to travel within the set movable range. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] First Embodiment A first embodiment of the present invention will be described below with reference to the drawings. In the first embodiment, a crawler type hydraulic excavator 1 (hereinafter referred to as "hydraulic excavator 1") will be described as an example of construction machinery.

[0011] FIG. 1 is a side view showing an overall configuration of a hydraulic excavator 1 according to a first embodiment of the present invention. FIG. 2 is a plan view showing a part of the hydraulic excavator 1 shown in FIG. 1. FIG. 3 is a perspective view showing a cab 32 mounted on the hydraulic excavator 1 shown in FIG. 1, with a part of the cab cut away. FIG. 4 is a hydraulic circuit diagram showing a hydraulic circuit for controlling the operation of the machine body 5 of the hydraulic excavator 1 shown in FIG. 1. FIG. 5 is a functional block diagram showing an example of a function block for controlling the operation of the machine body 5 of the hydraulic excavator 1 shown in FIG. 1, showing an input / output path centered on a controller 90. FIG. 6 is a diagram showing an example of a detection range of an obstacle detection sensor 78 in a state before the upper rotating body 30 of the hydraulic excavator 1 shown in FIG. 1 is rotated. FIG. 7 is a diagram showing an example of a positional relationship between the detection range of the obstacle detection sensor 78 and an obstacle when the upper rotating body 30 of the hydraulic excavator 1 shown in FIG. 1 is rotated within a set movable range. FIG. 8 shows an example of a control flow relating to the operation control and warning control of the machine body 5 executed by the controller 90 mounted on the hydraulic excavator 1 shown in FIG.

[0012] 1, "front," "rear," "left," and "right" are defined as seen by the operator in the cab 32, and "up" and "down" are defined based on gravity. That is, the "front" and "rear" arrows shown in each drawing indicate the front-to-rear direction of the hydraulic excavator 1, the "left" and "right" arrows indicate the left-to-right (width) direction of the hydraulic excavator 1, and the "up" and "down" arrows indicate the up-down direction of the hydraulic excavator 1.

[0013] As shown in Fig. 1, the hydraulic excavator 1 is equipped with a machine body 5 including a lower traveling body 10 capable of traveling, an upper rotating body 30 attached to the upper part of the lower traveling body 10 and capable of rotating about a vertical axis extending in the vertical direction, and a front device 50 (working device) attached to the upper rotating body 30 and capable of rotating about a horizontal axis extending in the horizontal direction. The front device 50 is configured to perform work such as excavating earth and sand.

[0014] The lower traveling body 10 is a so-called crawler-type traveling device that supports the upper rotating body 30 so that the hydraulic excavator 1 can travel. The lower traveling body 10 has a traveling actuator (not shown) such as a traveling hydraulic motor. A hydraulic pump 38 described later supplies pressure oil to the traveling hydraulic motor, which operates the traveling hydraulic motor, allowing the lower traveling body 10 to move forward, backward, and turn. Here, turning means changing the rotation speed of the left and right crawlers to change the traveling direction of the lower traveling body 10.

[0015] As shown in Figures 1 and 2, the upper rotating body 30 is attached to the lower traveling body 10 via a slewing ring so as to be capable of rotating about a vertical axis relative to the lower traveling body 10. The upper rotating body 30 has a rotation actuator (not shown), such as a hydraulic motor for rotation. A hydraulic pump 38 (described later) supplies pressure oil to the hydraulic motor for rotation, which operates the hydraulic motor for rotation, thereby enabling the upper rotating body 30 to rotate. Here, rotation means that the upper rotating body 30 makes a circular motion in forward and reverse directions about the vertical axis relative to the lower traveling body 10.

[0016] 1 and 2, a cab 32 for an operator to drive and operate the hydraulic excavator 1 is provided on the front and left side of the upper rotating body 30. The cab 32 is a control room in which the operator sits and operates the hydraulic excavator 1, such as traveling the lower traveling body 10 and operating the front device 50. In addition, a counterweight 34 for ensuring weight balance is provided on the rear side of the upper rotating body 30.

[0017] As shown in FIG. 3, the cab 32 includes a seat 32a for the operator to sit on, a left lever 32b installed on the left side of the seat 32a, a right lever 32c installed on the right side of the seat 32a, a first front lever 32d and a second front lever 32e installed in front of the seat 32a, a monitor 32f, a console 32g, and a buzzer 32h.

[0018] The left lever 32b realizes the rotating operation of the upper rotating body 30 and the pivoting operation of the front device 50. That is, when the left lever 32b is tilted backward, the upper rotating body 30 pivots left, and when the left lever 32b is tilted forward, the upper rotating body 30 pivots right. Also, when the left lever 32b is tilted left, the arm 54 pivots upward, and when the left lever 32b is tilted right, the arm 54 pivots downward. The right lever 32c realizes the pivoting operation of the front device 50. That is, when the right lever 32c is tilted forward, the boom 52 pivots downward, and when the right lever 32c is tilted backward, the boom 52 pivots upward. Also, when the right lever 32c is tilted to the left, the bucket 56 rotates downward, and when the right lever 32c is tilted to the right, the bucket 56 rotates upward. The first front lever 32d and the second front lever 32e realize the traveling operation of the lower traveling body 10. That is, when the first front lever 32d is tilted forward, the right crawler rotates forward, and when the first front lever 32d is tilted backward, the right crawler rotates backward. Also, when the second front lever 32e is tilted forward, the left crawler rotates forward, and when the second front lever 32e is tilted backward, the left crawler rotates backward. Therefore, by changing the tilt amount of the first front lever 32d and the second front lever 32e, the lower traveling body 10 can be turned. Note that the relationship between the operation of the left lever 32b, the right lever 32c, the first front lever 32d, and the second front lever 32e and the corresponding operation of the machine body 5 is merely an example, and is not limited to what is described here.

[0019] The console 32g is attached to the cab 32 provided on the upper rotating body 30, and is provided with various input devices. For example, the console 32g is provided with a movable range setting device 77 (see FIG. 5) configured to set the movable range of the machine body 5 in response to an operation by an operator. Specifically, the operator can operate a movable range input switch provided on the movable range setting device 77 to set the movable range of the upper rotating body 30 to a rotation angle of, for example, 30°, and the rotation operation of the upper rotating body 30 is limited to within a rotation angle of 30°. The movable range information of the machine body 5 set using the movable range setting device 77 is transmitted to a controller 90 described later via a wired or wireless connection. The movable range input switch is configured to be operated by the operator while rolling it by hand, and can select and execute various work items, such as setting the detection range of an obstacle detection sensor (obstacle detection device) 78 described later. The movable range input switch may also be used to switch ON / OFF a movable range control function unit 92 and an obstacle control function unit 94 in the controller 90 described later. The monitor 32f displays the item selected by the movable range input switch, for example, the movable range of the upper rotating body 30. The monitor 32f may also display other information such as an error code of the hydraulic excavator 1 and the oil level. The buzzer 32h issues an audible warning to the operator in the cab 32 based on a signal transmitted from the controller 90.

[0020] As shown in FIG. 1, a machine room 35 is provided between the cab 32 and the counterweight 34 in the upper rotating body 30. An engine 36 (e.g., a diesel engine) is provided inside the machine room 35. As shown in FIG. 4, the engine 36 functions as a drive source for driving a hydraulic pump 38 (main pump 38a and pilot pump 38b) that pumps hydraulic oil. The hydraulic oil discharged from the main pump 38a is supplied to the swing hydraulic motor from the swing control valve 40a. In addition, a part of the hydraulic oil discharged from the main pump 38a is supplied to the traveling control valve 40b via the swing control valve 40a, and is supplied to the traveling hydraulic motor from the traveling control valve 40b. This enables the hydraulic excavator 1 to travel independently using the lower traveling body 10, and enables the upper rotating body 30 to swing relative to the lower traveling body 10.

[0021] As shown in Fig. 4, the first front lever 32d changes the hydraulic pressure supplied from the pilot pump 38b to the travel control valve 40b in accordance with the amount of operation. A first travel solenoid valve 42a and a second travel solenoid valve 42b are provided between the first front lever 32d and the travel control valve 40b. The first travel solenoid valve 42a and the second travel solenoid valve 42b adjust the amount of pressure oil (i.e., hydraulic pressure) supplied from the pilot pump 38b to the travel control valve 40b based on a signal from the controller 90. The second front lever 32e is also connected to another travel control valve (not shown) via another travel solenoid valve. In this way, the travel solenoid valves (the first travel solenoid valve 42a and the second travel solenoid valve 42b are exemplified in FIG. 4) are used to control the travel control valves (the travel control valve 40b is exemplified in FIG. 4) to control the hydraulic pressure supplied to the travel hydraulic motor driven in response to operation of the first front lever 32d and the travel hydraulic motor driven in response to operation of the second front lever 32e, thereby making it possible to control the travel operation of the lower traveling body 10 (e.g., decelerate or stop).

[0022] The left lever 32b changes the hydraulic pressure supplied from the pilot pump 38b to the swing control valve 40a according to the amount of operation of the left lever 32b. A first swing solenoid valve 42c and a second swing solenoid valve 42d are provided between the left lever 32b and the swing control valve 40a, respectively. The first swing solenoid valve 42c and the second swing solenoid valve 42d control the swing control valve 40a from the pilot pump 38b based on a signal from the controller 90 to adjust the amount of pressure oil (i.e., hydraulic pressure) supplied to the swing hydraulic motor. In this way, the first swing solenoid valve 42c and the second swing solenoid valve 42d are used to control the hydraulic pressure supplied to the swing control valve 40a, thereby controlling the swing operation of the upper swing body 30 (for example, decelerating or stopping). Note that FIG. 4 shows a hydraulic circuit that realizes the traveling operation of the lower traveling body 10 and the swing operation of the upper swing body 30, and the hydraulic circuit that realizes the rotation operation of the front device 50 is omitted. The hydraulic circuits themselves that realize the traveling operation of the lower traveling body 10, the swinging operation of the upper swinging body 30, and the rotational operation of the front device 50 are well known, so detailed description thereof will be omitted.

[0023] As shown in FIG. 1, the front device 50 includes a boom 52 attached to the upper rotating body 30 so as to be rotatable in the vertical direction, an arm 54 attached to the tip of the boom 52 so as to be rotatable in the vertical direction, and a bucket 56 attached to the tip of the arm 54 so as to be rotatable in the vertical direction and for performing excavation work, for example. The front device 50 further includes a boom cylinder 52a configured to rotate the boom 52, an arm cylinder 54a configured to rotate the arm 54, and a bucket cylinder 56a configured to rotate the bucket 56. The boom cylinder 52a has one end attached to the upper rotating body 30 and the other end attached to the boom 52. The arm cylinder 54a has one end attached to the boom 52 and the other end attached to the arm 54. The bucket cylinder 56a has one end attached to the arm 54 and the other end attached to the bucket 56 via a link member. The link member forms a part of the bucket 56. A portion of the hydraulic oil discharged from the main pump 38a is also supplied to the boom cylinder 52a, the arm cylinder 54a, and the bucket cylinder 56a, so that the boom 52, the arm 54, and the bucket 56 are each rotated in response to the pressure of the hydraulic oil supplied by the main pump 38a.

[0024] 1 and 2, a machine body information acquisition device 70 that detects the attitude of the machine body 5 and obstacles is attached to the hydraulic excavator 1. The machine body information acquisition device 70 includes a front position detection sensor 72, a machine body inclination angle sensor 74, a turning angle sensor 76, and an obstacle detection sensor 78.

[0025] The front position detection sensor 72 detects the position of the front device 50 relative to an origin set as a reference. For example, the front position detection sensor 72 may be a device called an IMU (Inertial Measurement Unit) that detects three-dimensional inertial motion (translational motion and rotational motion in three orthogonal axial directions), and is configured to detect translational motion by an acceleration sensor and rotational motion by an angular velocity (gyro) sensor. As shown in FIG. 1, the front position detection sensor 72 includes a boom position detection sensor 72a attached to the boom 52 and measuring the position of the boom 52, an arm position detection sensor 72b attached to the arm 54 and measuring the position of the arm 54, and a bucket position sensor 72c attached to a link member 56b constituting the bucket 56 and measuring the position of the bucket 56. Position information detected by the front position detection sensor 72 is transmitted to a controller 90 mounted on the upper rotating body 30 by wire or wirelessly.

[0026] As shown in FIG. 1, the vehicle body inclination angle sensor 74 is attached to the upper rotating body 30, and is configured to detect the inclination angles of the vehicle body 5 in the roll direction and pitch direction. For example, the vehicle body inclination angle sensor 74 is configured with a built-in pendulum, and detects the displacement of the pendulum corresponding to the inclination of the vehicle body 5 in the roll direction and pitch direction as the inclination angle of the vehicle body 5. The inclination angle information detected by the vehicle body inclination angle sensor 74 is transmitted to the controller 90 by wire or wirelessly. Note that the vehicle body inclination angle sensor 74 is not limited to the above-mentioned sensor with a built-in pendulum as long as it can detect the roll angle and pitch angle of the vehicle body 5. Also, the roll angle and pitch angle may be detected by separate sensors.

[0027] The swing angle sensor 76 is attached to the center joint 60 and detects the swing angle of the upper swing body 30 relative to the lower travel body 10. For example, the swing angle sensor 76 may be configured to detect the swing angle by outputting a voltage using a rotary encoder of a rotating shaft (not shown). Specifically, when the operator operates the left lever 32b and the upper swing body 30 swings around the center joint 60, the rotating shaft of the swing angle sensor 76 rotates accordingly. The swing angle sensor 76 is configured to detect a voltage change corresponding to the amount of rotation of the rotating shaft as a swing angle and transmit the voltage change to the controller 90 by wire or wirelessly. The swing angle sensor 76 is not limited to the above-mentioned rotary encoder type sensor as long as it can detect the swing angle of the upper swing body 30 relative to the lower travel body 10.

[0028] The obstacle detection sensor 78 is attached to the upper rotating body 30 and configured as an obstacle detection device that detects the presence or absence of an obstacle around the machine body 5. Specifically, as shown in Figs. 1 and 2, the obstacle detection sensor 78 includes a rear right obstacle detection sensor 78a attached to the right rear part of the upper rotating body 30, a rear center obstacle detection sensor 78b attached to the center rear part of the upper rotating body 30, and a rear left obstacle detection sensor 78c attached to the left rear part of the upper rotating body 30. For example, the obstacle detection sensor 78 includes a light emitting unit that emits projected light and a light receiving unit that receives reflected light when the projected light hits an object, and detects the presence or absence of an obstacle by receiving the projected light with the light receiving unit. The obstacle detection sensor 78 transmits the obstacle detection result to the controller 90 by wire or wirelessly. In addition, the hydraulic excavator 1 may be equipped with an obstacle detection device, such as a photographing device (camera) attached to the body 5, and an image processing device (which may be included in the controller 90, for example) that processes images taken by the photographing device using a well-known image processing method to detect the presence or absence of obstacles.

[0029] 6, the detection range of the obstacle detection sensor 78 spreads radially to the rear and sides (both left and right) of the aircraft body 5. Specifically, the detection range of the obstacle detection sensor 78 is divided into a first region R1 and a second region R2. The first region R1 means a region within a first distance D1 from the aircraft body 5 that is in the vicinity of the aircraft body 5, and is a collective term for a first region RR1 in the rear right obstacle detection sensor 78a, a first region CR1 in the rear center obstacle detection sensor 78b, and a first region LR1 in the rear left obstacle detection sensor 78c. The second area R2 means an area between the second distance D2 and the first distance D1, which is longer than the first distance D1 and is outside the first area R1 (away from the machine body 5), and is a general term for the second area RR2 in the rear right obstacle detection sensor 78a, the second area CR2 in the rear center obstacle detection sensor 78b, and the second area LR2 in the rear left obstacle detection sensor 78c. The first distance D1 and the second distance D2 indicating the boundary between the first area R1 and the second area R2 can be appropriately set by the operator. The first area R1 is an area in which the machine body control calculation unit 90d, which will be described later, performs the operation restriction control of the machine body 5 when it is determined that an obstacle exists within the area. The second area R2 is an area in which the machine body control calculation unit 90d, which will be described later, performs the warning control when it is determined that an obstacle exists within the area. In addition, FIG. 7 illustrates only the detection range of the rear left obstacle detection sensor 78c, and shows a case where obstacles P1 to P3 are present within the detection range.

[0030] As shown in FIG. 1, the controller 90 is mounted on the upper rotating body 30. The controller 90 performs overall control including operation control of the engine 36, and is configured to include an input / output device, a storage device (ROM, RAM, non-volatile RAM, etc.), a central processing unit (CPU), etc. As shown in FIG. 5, the controller 90 of this embodiment is configured to include a front position calculation unit 90a, a turning angle calculation unit 90b, a movable range calculation unit 90c, a machine control calculation unit 90d, an obstacle position calculation unit 90e, and an obstacle collision determination unit 90f. Each functional unit of the controller 90 illustrated in FIG. 5 is classified into a movable range control function unit 92 (dashed line in FIG. 5) and an obstacle control function unit 94 (dotted line in FIG. 5) according to its function. The machine control calculation unit 90d is included in both the movable range control function unit 92 and the obstacle control function unit 94.

[0031] The movable range control function unit 92 sets the movable range of the aircraft 5 (for example, the movable range in the turning direction) in advance and performs control to prevent the aircraft 5 from moving beyond this movable range, and is composed of a front position calculation unit 90a, a turning angle calculation unit 90b, a movable range calculation unit 90c, and an aircraft control calculation unit 90d.

[0032] As shown in Fig. 5, the front position calculation unit 90a receives position information of the front device 50, i.e., position information of the boom 52, arm 54, and bucket 56, transmitted from the front position detection sensor 72, and also receives inclination angle information of the machine body 5 transmitted from the machine body inclination angle sensor 74. Then, the front position calculation unit 90a calculates the position of the front device 50 (for example, the position of the tip of the bucket 56) based on the position information and inclination angle information, and transmits this to the machine body control calculation unit 90d. In addition, the swing angle calculation unit 90b receives swing angle information of the upper swing body 30 with respect to the lower running body 10 transmitted from the swing angle sensor 76. Then, the swing angle calculation unit 90b calculates the swing angle of the upper swing body 30 based on the swing angle information, and transmits this to the machine body control calculation unit 90d.

[0033] The movable range calculation unit 90c receives the movable range information of the upper rotating body 30 transmitted from the movable range setting device 77, and calculates the movable range of the machine body 5 set by the movable range setting device 77. Specifically, as shown in FIG. 6 and FIG. 7, the movable range calculation unit 90c is configured to calculate the range in which the machine body 5 exists by the rotation operation of the upper rotating body 30 as the movable range. Now, as shown in FIG. 7, it is assumed that the operator sets the rotation range (rotation angle) of the upper rotating body 30 so that the upper rotating body 30 rotates between the first position Z1 and the second position Z2. In this case, the entire range in which the machine body 5 exists while the upper rotating body 30 rotates between the first position Z1 and the second position Z2 becomes the movable range. Then, the movable range calculation unit 90c determines the outer area of ​​the movable range as the non-movable range S1 of the machine body 5 according to the movable range of the machine body 5. The movable range calculation unit 90c transmits the calculated movable range information of the machine body 5 to the machine body control calculation unit 90d, and transmits the non-movable range information of the machine body 5 to the obstacle collision determination unit 90f.

[0034] The machine body control calculation unit 90d is configured to control the movement of the machine body 5 according to the movable range of the machine body 5 set by the movable range setting device 77. For example, when the operator operates the left lever 32b and the upper rotating body 30 performs a rotating movement, the machine body control calculation unit 90d compares the rotation angle of the upper rotating body 30 calculated by the rotation angle calculation unit 90b with the rotation angle of the upper rotating body 30 corresponding to the movable range of the machine body 5 calculated by the movable range calculation unit 90c. Then, when the machine body control calculation unit 90d determines that the rotation angle of the upper rotating body 30 approaches the boundary of the rotation angle corresponding to the movable range and deviates from the rotation angle corresponding to the movable range, it controls the first rotation solenoid valve 42c and the second rotation solenoid valve 42d (FIG. 4), thereby performing operation limiting control to limit (slow down or stop) the operation of the hydraulic motor for rotation and thus the rotation movement of the upper rotating body 30. On the other hand, if the machine body control calculation unit 90d determines that the machine body 5 will not deviate from the movable range, it does not restrict the operation of the rotation hydraulic motor and therefore the rotation operation of the upper rotating body 30, and causes the upper rotating body 30 to operate according to the control during normal operation.

[0035] Furthermore, the machine control calculation unit 90d executes the above-mentioned operation restriction control or warning control according to the result of the determination by the obstacle collision determination unit 90f described later of whether to perform operation restriction control of the machine 5 or warning control for issuing a warning from the buzzer 32h. When performing warning control, the machine control calculation unit 90d transmits a warning signal to the buzzer 32h mounted in the cab 32 to emit a warning sound from the buzzer 32h.

[0036] The obstacle control function unit 94 performs operation control and warning control of the aircraft 5 according to the distance between the aircraft 5 and an obstacle detected by the obstacle detection sensor 78, and is composed of an obstacle position calculation unit 90e, an obstacle collision judgment unit 90f, and an aircraft control calculation unit 90d.

[0037] As shown in FIG. 5, the obstacle position calculation unit 90e receives the detection result of the obstacle transmitted from the obstacle detection sensor 78. The detection result information includes information on the presence or absence of an obstacle and information on the time difference between the projected light and the reflected light. The obstacle position calculation unit 90e calculates the distance between the obstacle and the aircraft 5 based on the information on the time difference between the projected light and the reflected light, and transmits this to the obstacle collision determination unit 90f. The distance between the obstacle and the aircraft 5 may be calculated by the obstacle detection sensor 78. In addition, when the obstacle detection device is composed of an imaging device and an image processing device (controller 90), the controller 90 may calculate the distance between the obstacle and the aircraft 5 by a well-known image processing method.

[0038] The obstacle collision determination unit 90f determines whether to perform motion restriction control of the aircraft 5 or warning control based on the distance information between the obstacle and the aircraft 5 received from the obstacle position calculation unit 90e and the information on the non-movable range S1 of the aircraft 5 received from the movable range calculation unit 90c. Specifically, when the obstacle collision determination unit 90f determines that an obstacle is not detected in the detection range of the obstacle detection sensor 78, i.e., in neither the first region R1 nor the second region R2, it determines that neither the motion restriction control nor the warning control will be performed.

[0039] Furthermore, the obstacle collision determination unit 90f determines to perform the motion restriction control and the warning control when it determines that an obstacle is detected in the first region R1 in a state where the movable range of the machine body 5 has not been set. Note that at this time, the obstacle collision determination unit 90f may determine to perform only the motion restriction control.

[0040] In addition, when the obstacle collision determination unit 90f determines that an obstacle is detected in the first region R1, for example, as shown by obstacle P1 in FIG. 7, in a state in which the movable range of the machine body 5 is set, the obstacle collision determination unit 90f determines that the motion restriction control and the warning control are to be performed. However, when the obstacle collision determination unit 90f determines that an obstacle is detected in the overlapping region S2 (see the shaded region in FIG. 7) between the first region R1 and the non-movable range S1, for example, as shown by obstacle P2 in FIG. 7, the obstacle collision determination unit 90f determines that the motion restriction control is not to be performed and that the warning control is to be performed. In other words, when an obstacle is detected in the overlapping region S2 by the obstacle detection sensor 78, the obstacle collision determination unit 90f considers the obstacle to be not a target for motion restriction control and determines that the motion restriction control is not to be performed. Note that, at this time, the obstacle collision determination unit 90f may determine that neither the motion restriction control nor the warning control is to be performed.

[0041] Furthermore, the obstacle collision determination unit 90f determines to perform warning control when it determines that an obstacle is detected in the second region R2, for example, as shown by obstacle P3 in Fig. 7, regardless of whether or not a movable range of the machine body 5 is set. Note that, although not shown, when an obstacle is detected in an overlapping region between the second region R2 and the non-movable range S1, the obstacle collision determination unit 90f may regard the obstacle as not being a target for warning control and may not perform warning control.

[0042] Also, the obstacle collision determination unit 90f may perform motion restriction control in addition to warning control when an obstacle is detected in the second region R2. That is, the obstacle collision determination unit 90f may determine that both motion restriction control and warning control are to be performed when an obstacle is detected in any of the detection ranges of the obstacle detection sensor 78. In that case, when an obstacle is detected in the overlapping region of the first region R1 and the second region R2 and the non-movable range S1, the obstacle collision determination unit 90f may consider the obstacle as not being a target for motion restriction control and may not perform motion restriction control. In that case, warning control may or may not be performed.

[0043] Furthermore, the detection range (first area R1, second area R2) of the obstacle detection sensor 78 also exists in the height direction, and for example, when the boom 52 is in the most raised state, the front device 50 may not overlap with the first area R1 or the second area R2. Therefore, when setting the above-mentioned movable range, it is preferable that the movable range calculation unit 90c sets the movable range taking into consideration the position of the front device 50 calculated by the front position calculation unit 90a (for example, the position of the tip of the bucket 56).

[0044] The obstacle collision determination unit 90f transmits the result of the determination as to whether or not to perform the above-mentioned motion restriction control or warning control to the aircraft control calculation unit 90d. In response to the determination result, the aircraft control calculation unit 90d executes the above-mentioned motion restriction control or warning control.

[0045] Next, an example of a control flow executed in the obstacle control function unit 94 of the controller 90 will be described with reference to Fig. 8. This control flow is repeatedly executed at predetermined time intervals while the movable range control function unit 92 and the obstacle control function unit 94 are ON, for example, based on the operation of a movable range input switch.

[0046] The obstacle collision determination unit 90f first determines whether an obstacle has been detected within the detection range (either the first region R1 or the second region R2) of the obstacle detection sensor 78 according to the distance between the obstacle and the aircraft 5 received from the obstacle position calculation unit 90e (S100). When the obstacle collision determination unit 90f determines that an obstacle has been detected in either the first region R1 or the second region R2 (Yes in S100), it determines whether an obstacle has been detected in the first region R1 (S110).

[0047] When the obstacle collision determination unit 90f determines that an obstacle has been detected in the first region R1 (Yes in S110), it determines whether or not a movable range of the machine body 5 has been set, i.e., whether or not a non-movable range S1 exists (S120). When the obstacle collision determination unit 90f determines that a movable range of the machine body 5 has been set (Yes in S120), it further determines whether or not an obstacle has been detected in a range other than an overlapping region S2 (see FIG. 7) between the first region R1 and the non-movable range S1 (S130).

[0048] When the obstacle collision determination unit 90f determines that an obstacle (e.g., obstacle P1 in FIG. 7) has been detected in a range other than the overlapping region S2 between the first region R1 and the non-movement range S1 (Yes in S130), the obstacle collision determination unit 90f determines to perform the motion restriction control and the warning control (S140). The obstacle collision determination unit 90f transmits the determination result to the aircraft control calculation unit 90d (S150) and executes this control flow again from the beginning.

[0049] On the other hand, when the obstacle collision determination unit 90f determines that an obstacle (e.g., obstacle P2 in FIG. 7) has been detected in the overlapping area S2 of the first area R1 (No in S130), it considers the obstacle to be not a target for movement restriction control and determines to perform warning control without performing movement restriction control (S160). The obstacle collision determination unit 90f transmits the determination result to the aircraft control calculation unit 90d (S150) and executes this control flow again from the beginning.

[0050] In addition, when the obstacle collision judgment unit 90f detects an obstacle in the first region R1 (Yes in S110) and determines that the movable range of the aircraft 5 has not been set, i.e., that the non-movable range S1 of the aircraft 5 does not exist (No in S120), it determines that operation restriction control and warning control will be performed (S140), transmits the judgment result to the aircraft control calculation unit 90d (S150), and executes this control flow again from the beginning.

[0051] Also, when the obstacle collision determination unit 90f determines that no obstacle is detected in the first region R1, that is, that an obstacle (for example, obstacle P3 in FIG. 7) is detected in the second region R2 (No in S110), it determines to perform warning control (S170). The obstacle collision determination unit 90f transmits the determination result to the vehicle control calculation unit 90d (S150) and executes this control flow again from the beginning. Also, when the obstacle collision determination unit 90f determines that no obstacle is detected in either the first region R1 or the second region R2 (No in S100), it determines not to perform operation restriction control and warning control (S180), transmits the determination result to the vehicle control calculation unit 90d (S150), and executes this control flow again from the beginning.

[0052] Next, the action and effect of the hydraulic excavator 1 according to the first embodiment of the present invention will be described. According to the hydraulic excavator 1 according to the first embodiment, the controller 90 does not perform movement restriction control of the machine body 5 even if an obstacle (e.g., obstacle P2 in FIG. 7) is present in the non-movable range S1 of the machine body 5, which is determined according to the movable range of the machine body 5 set by the movable range setting device 77. Therefore, even when working in a situation where an obstacle is always present in the non-movable range S1 around the machine body 5, the movement of the machine body 5 is not restricted by this obstacle, and it is possible to improve the working efficiency of the hydraulic excavator 1 while ensuring safety.

[0053] Furthermore, when an obstacle is detected in the non-movement range S1 by the obstacle detection sensor 78, the controller 90 regards the obstacle as not being a target for the movement restriction control and determines not to perform the movement restriction control. With this configuration, it is possible to prevent the movement restriction control from being performed even if an obstacle is present in the non-movement range S1 without changing the detection range of the obstacle detection sensor 78.

[0054] Furthermore, the controller 90 performs motion restriction control when an obstacle is detected in a first region R1 within a first distance D1 from the aircraft 5, performs warning control to issue a warning when an obstacle is detected in a second region R2 between a second distance D2 longer than the first distance D1 from the aircraft 5 and the first distance D1, and considers the obstacle to be not a target for motion restriction control and does not perform motion restriction control when an obstacle is detected by the obstacle detection sensor 78 in an overlapping region S2 between the first region R and the non-moving range S1. With this configuration, even when switching between motion restriction control and warning control according to the distance between the obstacle and the aircraft 5, it is possible not to perform motion restriction control even if an obstacle is present in the non-moving range S1 without changing the detection range of the obstacle detection sensor 78.

[0055] Furthermore, the movable range calculation unit 90c sets, as the movable range, a range in which the machine body 5 exists due to the rotational movement of the upper rotating body 30. With this configuration, even when the machine body 5 is rotated in a situation in which an obstacle is always present in the overlapping area S2, the rotational movement of the upper rotating body 30 is not restricted by the obstacle, so that the work efficiency of the hydraulic excavator 1 can be improved while ensuring safety.

[0056] <Second embodiment> Next, a second embodiment of the present invention will be described with reference to Figs. 9 to 11. Fig. 9 is a functional block diagram for controlling the operation of the machine body 5 of the hydraulic excavator 1a according to the second embodiment of the present invention, and shows input / output paths centered around the controller 100. Fig. 10 is a diagram showing an example of the detection range of the obstacle detection sensor 78 and the positional relationship between an obstacle and the obstacle when the upper rotating body 30 of the hydraulic excavator 1a according to the second embodiment of the present invention is rotated within a set movable range. Fig. 11 shows an example of a control flow related to the operation control and warning control of the machine body 5 executed by the controller 100 mounted on the hydraulic excavator 1a according to the second embodiment of the present invention.

[0057] The hydraulic excavator 1a according to the second embodiment differs from the hydraulic excavator 1 according to the first embodiment in that an obstacle detection range calculation unit 90g is provided in a controller 100, which will be described later. Hereinafter, components having the same or similar functions as those of the hydraulic excavator 1 according to the first embodiment will be denoted by the same reference numerals as those of the hydraulic excavator 1, and descriptions thereof will be omitted, and only different portions will be described. As shown in FIG. 9, an obstacle control function unit 102 (indicated by a dashed dotted line in FIG. 9) of the controller 100 includes an obstacle position calculation unit 90e, an obstacle collision determination unit 90f, an obstacle detection range calculation unit 90g, and a machine control calculation unit 90d.

[0058] The obstacle detection range calculation unit 90g is connected to the obstacle detection sensor 78 by wire or wirelessly. The obstacle detection range calculation unit 90g judges whether to reduce the detection range of the obstacle detection sensor 78 based on information on the non-movable range S1 of the machine body 5 received from the movable range calculation unit 90c. The obstacle detection range calculation unit 90g is configured to exclude the overlapping area S2 of the non-movable range S1 and the first and second areas R1 and R2 from the detection range of the obstacle detection sensor 78. As a result, as illustrated in FIG. 10, the overlapping area S2 shown by the two-dot chain line in the detection range of the rear left obstacle detection sensor 78c is excluded from the detection range. As a result, the range surrounded by the solid line (the area where the first and second areas R1 and R2 overlap with the movable range of the machine body 5) becomes the substantial detection range. The other configurations of the obstacle control function unit 102 and the configuration of the movable range control function unit 92 are the same as those in the first embodiment, and therefore the description thereof will be omitted.

[0059] Next, a control flow executed in the obstacle control function unit 102 of the controller 100 will be described with reference to Fig. 11. This control flow is repeatedly executed at predetermined time intervals while the movable range control function unit 92 and the obstacle control function unit 102 are ON, for example, based on the operation of a movable range input switch.

[0060] The obstacle detection range calculation unit 90g judges whether or not a movable range is set, that is, whether or not a non-movable range S1 exists, based on information on the movable range of the machine 5 received from the movable range calculation unit 90c (S300). When the obstacle detection range calculation unit 90g judges that a movable range is set (Yes in S300), the obstacle detection range calculation unit 90g judges whether or not an overlapping area S2 (area surrounded by a two-dot chain line in FIG. 10) between the non-movable range S1 and the detection range (first area R1 and second area R2) exists (S310). When the obstacle detection range calculation unit 90g judges that the overlapping area S2 exists (Yes in S310), the obstacle detection range calculation unit 90g transmits a predetermined signal to the obstacle detection sensor 78 to exclude the overlapping area S2 from the detection range of the obstacle detection sensor 78 (S320), and the control flow proceeds to S330. Furthermore, when the obstacle detection range calculation unit 90g determines that the movable range has not been set (No in S300) or that the overlapping area S2 does not exist (No in S310), the control flow proceeds to S330.

[0061] Next, the obstacle collision determination unit 90f determines whether an obstacle is detected in the detection range of the obstacle detection sensor 78 (S330). When the obstacle collision determination unit 90f determines that an obstacle is included in the detection range of the obstacle detection sensor 78 (Yes in S330), it determines whether an obstacle P is detected in the first region R1 (S340). When the obstacle collision determination unit 90f determines that an obstacle is detected in the first region R1 (for example, see obstacle P4 in FIG. 10) (Yes in S340), it determines to perform the operation restriction control and the warning control (S350). Note that at this time, the obstacle collision determination unit 90f may determine to perform the operation restriction control but not the warning control. The obstacle collision determination unit 90f transmits the determination result to the vehicle control calculation unit 90d (S360), and executes this control flow again from the beginning.

[0062] On the other hand, when the obstacle collision determination unit 90f determines that no obstacle is detected in the first region R1, that is, that an obstacle is detected in the second region R2 (for example, see obstacle P5 in FIG. 10) (No in S340), it determines to perform warning control (S370). The obstacle collision determination unit 90f transmits the determination result to the aircraft control calculation unit 90d (S360) and executes this control flow again from the beginning.

[0063] Also, when it is determined that no obstacle is detected within the detection range of the obstacle detection sensor 78 (No in S330), the obstacle collision determination unit 90f determines that no motion restriction control and no warning control will be performed (S380). That is, even if there is an obstacle that is originally located in the first region R1, as shown by obstacle P6 in FIG. 10, it is determined that no motion restriction control will be performed. Also, although not shown, even if there is an obstacle that is originally located in the second region R2, the obstacle is not detected and it is determined that no warning control will be performed. The obstacle collision determination unit 90f transmits the determination result to the vehicle control calculation unit 90d (S360), and executes this control flow again from the beginning.

[0064] Next, the operation and effect of the hydraulic excavator 1a according to the second embodiment of the present invention will be described. According to the hydraulic excavator 1a according to the second embodiment, the obstacle detection range calculation unit 90g excludes the non-movable range S1 from the detection range of the obstacle detection sensor 78. With this configuration, an obstacle (see, for example, obstacle P6 in FIG. 10) in the non-movable range S1 of the machine body 5 is not detected by the obstacle detection sensor 78, and therefore operation restriction control of the machine body 5 is not performed based on this obstacle. Therefore, even when working in a situation where an obstacle is always present in the non-movable range S1 around the machine body 5, the operation of the machine body 5 is not restricted by this obstacle, and therefore the working efficiency of the hydraulic excavator 1a can be improved while ensuring safety.

[0065] Furthermore, the controller 100 performs operation restriction control when an obstacle is detected in the first region R1, and performs warning control to issue a warning when an obstacle is detected in the second region R2, and excludes an overlapping region S2 between the first region R1 and the second region R2 and the non-movable region S1 from the detection range of the obstacle detection sensor 78. With this configuration, even when switching between operation restriction control and warning control according to the distance between the obstacle and the aircraft 5, by excluding the overlapping region S2 between the detection range of the obstacle detection sensor 78 and the non-movable region S1 from the detection range, it is possible to prevent operation restriction control from being performed even if an obstacle is present in the non-movable region S1.

[0066] In the above-described second embodiment, a case has been described in which the overlapping area S2 between the first area R1 and the second area R2 and the non-movable area S1 is excluded from the detection range of the obstacle detection sensor 78. However, in another example of the second embodiment, only the overlapping area between the first area R1 and the non-movable area S1 may be excluded from the detection range of the obstacle detection sensor 78.

[0067] <Third embodiment> Next, a third embodiment of the present invention will be described with reference to Figs. 12 to 14. Fig. 12 is a side view showing an outline of the overall configuration of a hydraulic excavator 1b according to a third embodiment of the present invention. Fig. 13 shows an outline of a functional block diagram for controlling the operation of the machine body 5 of the hydraulic excavator 1b shown in Fig. 12, and shows input / output paths centered around the controller 101. Fig. 14 is a diagram showing an example of the positional relationship between the detection range of the obstacle detection sensor 78 and an obstacle P when the lower traveling structure 10 of the hydraulic excavator 1b shown in Fig. 12 is caused to travel within a set movable range A.

[0068] The hydraulic excavator 1b according to the third embodiment differs from the above-described hydraulic excavators 1, 1a in that it is provided with a GNSS antenna 80, which will be described later, and in that it is provided with a machine body position calculation unit 90h in the controller 101. Hereinafter, configurations having the same or similar functions as those of the above-described hydraulic excavators 1, 1a will be given the same reference numerals as those of the hydraulic excavators 1, 1a, and descriptions thereof will be omitted, and only different portions will be described.

[0069] As shown in FIG. 12, the GNSS antenna 80 includes a first GNSS antenna 80a installed behind the cab 32 and in front of the machine room 35, and a second GNSS antenna 80b installed above the machine room 35. The GNSS antenna 80 receives signals from a plurality of positioning satellites and is an antenna for measuring the current position of the hydraulic excavator 1b on the ground. The current position of the hydraulic excavator 1b detected by the GNSS antenna 80 may be a three-dimensional coordinate of latitude, longitude, and altitude, or may be determined by a local coordinate system determined at the construction site. As shown in FIG. 13, the GNSS antenna 80 transmits the position information to a machine body position calculation unit 90h. The machine body position calculation unit 90h calculates the current position of the hydraulic excavator 1b based on the position information received from the GNSS antenna 80, and transmits the calculated position to a machine body control calculation unit 90d and an obstacle detection range calculation unit 90g. As shown in FIG. 13, the aircraft position calculation unit 90h is included in both the movable range control function unit 92 and the obstacle control function unit 103.

[0070] The operator can set the travel range of the machine body 5 by the lower traveling body 10, i.e., the movable range of the machine body 5, by, for example, operating a movable range input switch provided on the movable range setting device 77. As a result, the traveling operation of the machine body 5 is restricted to, for example, the inside of a frame line in FIG. 14. The frame line is set as a range that the entire machine body 5 of the hydraulic excavator 1b does not exceed. In other words, the frame line becomes the movable range A of the machine body 5. Note that the movable range A of the machine body 5 is not limited to the square shown in FIG. 14, and can be set to any shape, such as a triangle, other quadrangles (rectangles, trapezoids, etc.), circle, sector, etc.

[0071] The movable range calculation unit 90c receives the movable range information of the machine body 5 transmitted from the movable range setting device 77, and calculates the range in which the machine body 5 exists due to the traveling operation of the lower traveling body 10 as the movable range A. The movable range calculation unit 90c is configured to determine an area outside the movable range A as a non-movable range S1 of the machine body 5 in accordance with the movable range A. The movable range calculation unit 90c then transmits the set movable range information of the machine body 5 to the machine body control calculation unit 90d, and transmits the non-movable range information of the machine body 5 to the obstacle detection range calculation unit 90g.

[0072] The machine body control calculation unit 90d is configured to control the operation of the machine body 5 according to the movable range A of the machine body 5 set by the movable range setting device 77. For example, when the first front lever 32d and the second front lever 32e are operated and the lower running body 10 performs a running operation, the machine body control calculation unit 90d compares the position of the lower running body 10 calculated by the machine body position calculation unit 90h with the movable range A of the machine body 5 calculated by the movable range calculation unit 90c. When the machine body control calculation unit 90d determines that the position of the lower running body 10 approaches the boundary of the movable range A and deviates from the movable range A, it controls the traveling solenoid valves such as the first traveling solenoid valve 42a and the second traveling solenoid valve 42b (FIG. 4), thereby performing operation limiting control to limit (slow down or stop) the operation of the traveling hydraulic motor and thus the running operation of the lower running body 10. On the other hand, if the machine body control calculation unit 90d determines that the machine body 5 will not deviate from the movable range A, it does not restrict the operation of the traveling hydraulic motor and therefore the traveling operation of the lower running body 10, and causes the lower running body 10 to operate in accordance with the control during normal operation.

[0073] As in the second embodiment, the obstacle detection range calculation unit 90g determines whether to reduce the detection range of the obstacle detection sensor 78 based on the information on the non-movable range S1 of the machine body 5 received from the movable range calculation unit 90c and the position information of the undercarriage 10 received from the machine body position calculation unit 90h. That is, the obstacle detection range calculation unit 90g is configured to exclude the overlapping area S2 of the non-movable range S1 and the first and second areas R1 and R2 from the detection range of the obstacle detection sensor 78.

[0074] 14, the overlapping area S2 indicated by the two-dot chain line is excluded from the detection range of the rear center obstacle detection sensor 78b. As a result, the area surrounded by the solid line (the area where the first area R1 and the second area R2 overlap with the movable range A of the machine body 5) becomes the substantial detection range.

[0075] The obstacle control function unit 103 executes the control flow shown in FIG. 11, similarly to the obstacle control function unit 102 of the second embodiment. Thereby, when an obstacle is detected in the first region R1 (see, for example, obstacle P7 in FIG. 11), the motion restriction control and the warning control are performed. On the other hand, when an obstacle is detected in the second region R2 (see, for example, obstacle P8 in FIG. 11), the warning control is performed. Also, when an obstacle is detected in the overlapping region S2, which is the excluded detection range, as shown by obstacle P9 in FIG. 11, for example, neither the motion restriction control nor the warning control is performed. Note that other configurations in the obstacle control function unit 103 and other configurations in the movable range control function unit 92 are similar to those in the second embodiment, and therefore the description thereof will be omitted.

[0076] Next, the operation and effect of the hydraulic excavator 1b according to the third embodiment of the present invention will be described. According to the hydraulic excavator 1b according to the third embodiment, the movable range calculation unit 90c included in the controller 101 sets the range in which the machine body 5 exists within the set travel range of the lower traveling body 10 as the movable range A, and sets the area outside the movable range A as the non-movable range S1. With this configuration, an obstacle in the non-movable range S1 of the machine body 5 is not detected by the obstacle detection sensor 78, and therefore the operation restriction control of the machine body 5 is not performed based on this obstacle. Therefore, even when working in a situation where an obstacle is always present in the non-movable range S1 around the machine body 5, the operation of the machine body 5 is not restricted by this obstacle, and therefore the working efficiency of the hydraulic excavator 1b can be improved while ensuring safety.

[0077] In the above third embodiment, a case has been described in which the overlapping area S2 between the first area R1 and the second area R2 and the non-movable area S1 is excluded from the detection range of the obstacle detection sensor 78. However, in another example of the third embodiment, only the overlapping area between the first area R1 and the non-movable area S1 may be excluded from the detection range of the obstacle detection sensor 78.

[0078] <Modification> In the third embodiment, an example has been described in which the overlapping region S2 between the first region R1 and the second region R2 and the non-movable region S1 is excluded from the detection range of the obstacle detection sensor 78. However, as described below, in the third embodiment, the obstacle collision determination unit 90f may also determine whether to perform the operation restriction control or the warning control of the machine body 5 by a method similar to that of the first embodiment. Fig. 15 is a diagram showing an example of the positional relationship between the detection range of the obstacle detection sensor and an obstacle when the lower traveling body of the hydraulic excavator shown in Fig. 12 is caused to travel within a set movable range.

[0079] In the third embodiment, when the movable range of the machine body 5 is set and it is determined that an obstacle is detected in the first region R1, for example, as shown by obstacle P10 in Fig. 15, the obstacle collision determination unit 90f determines to perform the motion restriction control and the warning control. However, when it is determined that an obstacle is detected in the overlapping region S2 (see the shaded region in Fig. 7) between the first region R1 and the non-movable range S1, for example, as shown by obstacle P11 in Fig. 15, the obstacle collision determination unit 90f determines not to perform the motion restriction control but to perform the warning control. In other words, when an obstacle is detected in the overlapping region S2 by the obstacle detection sensor 78, the obstacle collision determination unit 90f considers the obstacle to be not a target for motion restriction control and determines not to perform the motion restriction control.

[0080] Furthermore, the obstacle collision determination unit 90f determines to perform warning control when it determines that an obstacle has been detected in the second region R2, for example as shown by obstacle P12 in Fig. 15, regardless of whether or not a movable range of the machine body 5 has been set. Other than that, the function of the obstacle collision determination unit 90f is similar to that of the obstacle collision determination unit 90f in the first embodiment, and therefore a description thereof will be omitted.

[0081] Although the embodiments of the present invention have been described above, the present invention is not limited to the hydraulic excavators 1, 1a, and 1b according to the above embodiments, and includes all aspects included in the concept of the present invention and the scope of the claims. In addition, each configuration may be appropriately and selectively combined to achieve the above-mentioned problems and effects. For example, the shape, material, arrangement, size, etc. of each component in the above embodiments may be appropriately changed depending on the specific aspects of the present invention.

[0082] For example, in the above embodiment, a crawler-type hydraulic excavator has been used as an example of construction machinery, but this is not limited to this, and the present invention can be widely applied to construction machinery such as wheel-type hydraulic excavators. [Explanation of symbols]

[0083] 1,1a,1b Hydraulic excavator (construction machinery) 5. Aircraft 10 Undercarriage 30 Upper rotating body 50 Front equipment (work equipment) 70 Aircraft information acquisition device 77 Movable range setting device 78 Obstacle detection sensor (obstacle detection device) 90,100,101 Controller 90c Movable range calculation section 90d Aircraft control calculation unit 90f Obstacle collision detection section 90g Obstacle detection range calculation unit P1~P12 Obstacles R1 1st area R2 2nd area S1 Non-moving range S2 overlap area

Claims

1. A machine body including a lower traveling body capable of traveling, an upper rotating body attached to an upper portion of the lower traveling body and capable of rotating, and a working device attached to the upper rotating body and capable of rotating; A movable range setting device that sets a movable range of the aircraft; an obstacle detection device that detects obstacles around the aircraft; a controller that performs motion restriction control to restrict motion of the aircraft when it is determined that the aircraft will depart from the movable range set by the movable range setting device and when an obstacle is detected by the obstacle detection device; In a construction machine equipped with The construction machine according to claim 1, wherein the controller does not perform the operation limit control when the obstacle is within a non-movable range determined based on the movable range.

2. 2. The construction machine according to claim 1, characterized in that, when an obstacle is detected in the non-movement range by the obstacle detection device, the controller considers the obstacle to be not a target for the operation restriction control and does not perform the operation restriction control.

3. The controller: When the obstacle is detected in a first area within a first distance from the aircraft, the operation restriction control is performed, and when the obstacle is detected in a second area between a second distance longer than the first distance from the aircraft and the first distance, the warning control is performed to issue a warning. The construction machine according to claim 2, characterized in that when the obstacle detection device detects an obstacle in an overlapping area between the first area and the non-movement range, the obstacle is deemed not to be a target for the operation restriction control, and the operation restriction control is not performed.

4. 2. The construction machine according to claim 1, wherein the controller excludes the non-moving area from a detection area of ​​the obstacle detection device.

5. The controller: performing the operation restriction control when the obstacle is detected in a first area within a first distance from the airframe; and performing an alarm control to issue an alarm when the obstacle is detected in a second area between a second distance longer than the first distance from the airframe and the first distance; 5. The construction machine according to claim 4, wherein an overlapping area between the first area and the non-moving area is excluded from a detection area of ​​the obstacle detection device.

6. 2. The construction machine according to claim 1, wherein the controller sets a range in which the machine body exists due to a rotational movement of the upper rotating body as the movable range.

7. 2. The construction machine according to claim 1, wherein the controller sets, as the movable range, a range in which the machine body exists due to a traveling operation of the undercarriage.

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