Work machine

Abstract

To provide a work machine capable of improving work efficiency by reducing a workload of an operator in setting an intrusion-prohibited area.SOLUTION: A work machine 100 comprises an object detection device 15 that acquires objects around vehicle bodies 1 to 3 as point cloud data. A vehicle body controller 21 calculates a first boundary line 201 based on the point cloud data of the objects projected onto a rotation plane that is a plane perpendicular to a rotation central axis 2a of an upper rotating body 2, and sets a plane that passes through the first boundary line 201 and is parallel to the rotation central axis 2a as a first boundary surface 202 which becomes a boundary surface of an intrusion-prohibited area.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present invention relates to a work machine such as a hydraulic excavator, and more particularly to a method for setting a no-entry area for a work machine. [Background technology]

[0002] Conventionally, working machines such as hydraulic excavators have been able to perform complex operations by simultaneously operating multiple parts such as the boom and arm, but they have a characteristic that the working speed is easily affected by the operator's skill level. In recent years, work support systems called machine control (semi-automatic excavation) and area restriction control (suppression of deviation from the working area) have been proposed with the aim of achieving both work accuracy and work speed regardless of the operator's skill level.

[0003] For example, Patent Document 1 discloses a technology in which an operator teaches (sets) a no-entry area for a working machine such as a boom, arm, or bucket, measures the distance between the working machine and the no-entry area by detecting the attitude of the working machine, and decelerates and stops the working machine so that it does not enter the no-entry area. Patent Document 1 also discloses a method in which the operator teaches the no-entry area by pressing a teach switch that selects the side (upper, lower, farther, or closer) on which the no-entry area is to be set while positioning the blade tip of the bucket on the boundary line of the no-entry area. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Publication No. 4-136324 Summary of the Invention [Problem to be solved by the invention]

[0005] In the case of the method in which the operator instructs the operator on the no-entry areas as in Patent Document 1, the operator must reset the no-entry areas every time the situation at the construction site changes or the vehicle body moves, which leads to reduced work efficiency.

[0006] The present invention has been made in consideration of the above-mentioned problems, and has an object to provide a work machine that is capable of improving work efficiency by reducing the workload on the operator in relation to setting no-entry areas. [Means for solving the problem]

[0007] In order to achieve the above-mentioned object, the present invention provides a work machine comprising a lower running body, an upper rotating body rotatably attached on the lower running body, a working device rotatably attached to the upper rotating body and constituting a vehicle body together with the lower running body and the upper rotating body, and a vehicle body controller that sets an inaccessible area of ​​the vehicle body and controls the operation of the vehicle body so that the vehicle body does not intrude into the inaccessible area, and is equipped with an object detection device that acquires objects around the vehicle body as point cloud data, and the vehicle body controller calculates a first boundary line based on the point cloud data of the object projected onto a rotation plane that is a plane perpendicular to the rotation central axis of the upper rotating body, and sets a plane that passes through the first boundary line and is parallel to the rotation central axis as a first boundary surface that becomes the boundary surface of the inaccessible area. Effect of the Invention

[0008] According to the present invention, the workload on the operator in setting the no-entry area for the work machine is reduced, and it is possible to improve the work efficiency. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is an external view of a hydraulic excavator according to a first embodiment of the present invention; [Diagram 2] Functional block diagram of a vehicle controller according to a first embodiment of the present invention. [Diagram 3] 1 is a flowchart showing the processing of a boundary line calculation unit and a boundary surface calculation unit in a first embodiment of the present invention. [Figure 4] FIG. 1 is a diagram showing an example of a method for calculating the boundary line and boundary surface of an intrusion-prohibited area in a first embodiment of the present invention. [Diagram 5] FIG. 1 is a diagram showing an example of a method for calculating the boundary line and boundary surface of an intrusion-prohibited area in a first embodiment of the present invention. [Figure 6] FIG. 11 is a diagram showing another example of a method for calculating the boundary line of an intrusion-prohibited area in the first embodiment of the present invention. [Figure 7] FIG. 10 is a diagram showing an example of a monitor display when adjusting the angle of a boundary line in the first embodiment of the present invention; [Figure 8] FIG. 11 is a diagram showing an example of a monitor display when adjusting the offset of a boundary line in the first embodiment of the present invention; [Figure 9] FIG. 11 is a diagram showing an example of a monitor display when a border is invalidated in the first embodiment of the present invention; [Figure 10] FIG. 11 is a diagram showing an example of a monitor display when structures are detected in the left and right directions and in the rear direction of the vehicle body in the first embodiment of the present invention; [Figure 11] FIG. 11 is a diagram showing an example of a monitor display when a structure is detected to the left and right of the vehicle body and no object is detected to the rear of the vehicle body in the first embodiment of the present invention; [Figure 12] FIG. 11 is a diagram showing an example of a display on a monitor in a second embodiment of the present invention. [Figure 13] FIG. 13 is a diagram showing a method for calculating the boundary line of an intrusion-prohibited area in a third embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In each drawing, the same reference numerals are used to designate the same components, and duplicated explanations will be omitted as appropriate. EXAMPLES

[0011] Fig. 1 is an external view of a hydraulic excavator according to a first embodiment of the present invention. The hydraulic excavator 100 comprises a lower traveling body 1, an upper rotating body 2 rotatably mounted on the lower traveling body 1, and a working device 3 attached to the front side of the upper rotating body 2 so as to be rotatable in the vertical direction. The lower traveling body 1 is driven by left and right traveling motors (not shown) which are actuators. The upper rotating body 2 is driven by a swing motor (not shown) which is an actuator. The lower traveling body 1, the upper rotating body 2 and the working device 3 constitute the vehicle body of the hydraulic excavator 100.

[0012] The working device 3 has a boom 4 attached to the front of the upper rotating body 2 so as to be rotatable in the vertical direction, an arm 5 attached to the tip of the boom 4 so as to be rotatable in the vertical and front-rear directions, and a bucket 6 attached to the tip of the arm 5 so as to be rotatable in the vertical and front-rear directions. The boom 4 is driven by a boom cylinder 7 which is an actuator. The arm 5 is driven by an arm cylinder 8 which is an actuator. The bucket 6 is driven by a bucket cylinder 9 which is an actuator.

[0013] An IMU sensor 10, which is an attitude detection device that detects the attitude of the upper rotating body 2, is attached to the upper rotating body 2. An IMU sensor 11, which is an attitude detection device that detects the attitude of the boom 4, is attached to the boom 4. An IMU sensor 12, which is an attitude detection device that detects the attitude of the arm 5, is attached to the arm 5. An IMU sensor 13, which is an attitude detection device that detects the attitude of the bucket 6, is attached to the bucket link that connects the bucket 6 and the arm 5.

[0014] The upper rotating body 2 is equipped with a hydraulic drive unit 20 (shown in FIG. 2). The hydraulic drive unit 20 is composed of a hydraulic oil tank, a hydraulic pump, a control valve for controlling the flow rate of hydraulic oil supplied from the hydraulic pump to the actuator, and the like. A cab 14 for an operator is provided on the left front side of the upper rotating body 2. In the cab 14, a vehicle body controller 21 for performing vehicle body control and area limiting control, an operation device 22 for instructing the operation of the vehicle bodies 1 to 3, a monitor 23 for displaying various information, a monitor controller 24 for controlling the monitor 23, and an input device 25 such as a console switch or a touch panel of the monitor 23 (all shown in FIG. 2). An object detection device 15 consisting of an infrared sensor (camera), LiDAR, or the like is attached to the left, right, and rear of the upper rotating body 2. The object detection device 15 acquires objects around the vehicle bodies 1 to 3 as point cloud data. The point cloud data is a set of data of points having position information (coordinate values) on the surface of an object.

[0015] 2 is a functional block diagram of the vehicle body controller 21. The vehicle body controller 21 has a target speed calculation unit 21a, a target speed correction unit 21b, a command generation unit 21c, a boundary line calculation unit 21d, and a boundary surface calculation unit 21e. The vehicle body controller 21 is composed of a calculation device such as a CPU, a storage device such as a ROM or RAM, an input / output interface for inputting and outputting signals to and from external devices, and the functions of each unit are realized by executing a program stored in the storage device.

[0016] The target speed calculation unit 21a calculates the target speed of each actuator based on the operation amount input from the operation device 22, and outputs it to the target speed correction unit 21b. The target speed correction unit 21b corrects the target speed of each actuator input from the target speed calculation unit 21a based on the attitude information input from the attitude detection devices 10 to 13, the vehicle body dimension information (e.g., the dimensions of each component of the hydraulic excavator 100, the rotation center position, the mounting position of the object detection device 15) stored in the vehicle body dimension storage unit 21f, and the boundary surface of the intrusion-prohibited area input from the boundary surface calculation unit 21e described later, so that the vehicle bodies 1 to 3 do not intrude into the intrusion-prohibited area, and outputs it to the command generation unit 21c. The command generation unit 21c generates a command signal according to the corrected target speed of each actuator input from the target speed correction unit 21b, and outputs it to the hydraulic drive device 20.

[0017] When an instruction to set an inaccessible area is input from the input device 25, the boundary calculation unit 21d calculates the boundary of the inaccessible area based on the point cloud data input from the object detection device 15, and outputs it to the boundary surface calculation unit 21e and the monitor controller 24. The boundary surface here is a line where a plane (turning plane) perpendicular to the turning central axis intersects with the boundary surface of the inaccessible area. The boundary surface is composed of a straight line, a half-line, a line segment, a broken line, a curve, etc., depending on the shape and range of the inaccessible area. The boundary surface calculation unit 21e calculates a plane that passes through the boundary surface input from the boundary surface calculation unit 21d and is parallel to the turning central axis as the boundary surface of the inaccessible area, and outputs it to the target speed correction unit 21b.

[0018] The monitor controller 24 displays on the monitor 23 the positional relationship between the vehicle bodies 1-3 and the boundary line based on the vehicle body dimension information stored in the vehicle body dimension memory unit 21f, the attitude information input from the attitude detection devices 10-13, and the boundary line information input from the boundary line calculation unit 21d.

[0019] FIG. 3 is a flowchart showing the processing of the boundary line calculation unit 21d and the boundary surface calculation unit 21e. The boundary line calculation unit 21d (shown in FIG. 2) first judges whether or not an instruction to set an intrusion-prohibited area has been input from the input device 25 (step S1). If the judgment result of step S1 is NO, the flow is terminated. If the judgment result of step S1 is YES, the boundary line calculation unit 21d acquires point cloud data from the object detection device 15 (step S2), and calculates the boundary line of the intrusion-prohibited area based on the point cloud data (step S3). Following step S3, the boundary surface calculation unit 21e (shown in FIG. 2) calculates the boundary surface of the intrusion-prohibited area based on the boundary calculated in step S3 (step S4), and the flow is terminated. In this embodiment, the intrusion-prohibited area setting process (steps S2 to S3) is triggered by the instruction to set the intrusion-prohibited area from the input device 25, but may be periodically executed while the lower traveling body 1 is traveling. By periodically executing the intrusion-prohibited area setting process while traveling, it is possible to automatically set the intrusion-prohibited area according to the surrounding conditions of the vehicle body.

[0020] FIG. 4 is a diagram showing an example of a method for calculating the boundary line of the intrusion-prohibited area. A structure 200 (object) is present on the right side of the hydraulic excavator 100 (vehicle bodies 1 to 3), and point cloud data of the structure 200 is acquired by the object detection device 15. The boundary line calculation unit 21d (shown in FIG. 2) projects the point cloud data onto a rotation plane (a plane perpendicular to the rotation central axis 2a) and calculates a boundary line 201 based on the projected point cloud data (points P1 to P5). The boundary line 201 is obtained by offsetting a regression line of points P1 to P5, which is calculated using, for example, the least squares method, toward the vehicle bodies 1 to 3 so as to separate an area including the point cloud data (points P1 to P5) from an area including the vehicle bodies 1 to 3. In addition, the boundary line 201 is extended to a range where the point cloud data (points P1 to P5) on the side of the working device 3 has not been obtained. This makes it possible to prevent the working device 3 from entering the non-detection area of ​​the object detection device 15.

[0021] 5 is a diagram showing an example of a method for calculating the boundary surface of the intrusion-prohibited area. The boundary surface calculation unit 21e (shown in FIG. 2) calculates a plane that passes through the boundary line 201 and is parallel to the turning central axis 2a as the boundary surface 202 of the intrusion-prohibited area.

[0022] FIG. 6 is a diagram showing another example of a method for calculating the boundary line of the intrusion-prohibited area. In FIG. 6, two objects 300 and 301 exist on the right side of the hydraulic excavator 100, and objects 302 and 303 exist on the rear side. The boundary line calculation unit 21d divides the turning plane into four areas A, B, C, and D on the front, rear, left, and right sides of the vehicle bodies 1 to 3, and calculates the boundary lines in each of the areas A, B, C, and D. In the example shown in FIG. 6, a boundary line 304 is calculated based on the point cloud data (points P10 to P13) of the objects 300 and 301 existing in the area A, and a boundary line 305 is calculated based on the point cloud data (points P14 to P17) of the objects 302 and 303 existing in the area B. Both sides of the boundary lines 304 and 305 are extended as long as they do not intersect with other boundary lines. Specifically, one side of boundary line 304 calculated in area A is extended until it intersects with boundary line 305 calculated in area B, and one side of boundary line 305 calculated in area B is extended until it intersects with boundary line 304 calculated in area A. Then, a plane passing through boundary lines 304, 305 and parallel to turning central axis 2a is calculated as the boundary surface of the intrusion-prohibited area.

[0023] 7 to 9 are diagrams showing examples of display on the monitor 23 when a structure is detected to the right of the vehicle bodies 1 to 3. In the examples shown in Figs. 7 to 9, an overall view of the hydraulic excavator 100, a structure 200 detected to the right of the vehicle bodies 1 to 3, and a boundary line 201 set for the structure 200 are displayed. This allows the operator to visually confirm the positional relationship between the hydraulic excavator 100 and the boundary line 201. In response to an instruction from the input device 25, the vehicle body controller 21 can adjust the angle of the boundary line 201 as shown in Fig. 7, adjust the offset amount of the boundary line 201 as shown in Fig. 8, or disable the boundary line 401 as shown in Fig. 9.

[0024] Fig. 10 is a diagram showing a display example of the monitor 23 when structures are detected in the left and right directions and the rear direction of the vehicle bodies 1 to 3. In the example shown in Fig. 10, an overall view of the hydraulic excavator 100, a structure 210 (object) detected in the left direction of the vehicle bodies 1 to 3, a boundary line 211 set for the structure 210, a structure 220 (object) detected in the right direction of the vehicle bodies 1 to 3, a boundary line 221 set for the structure 220, a structure 230 (object) detected in the rear direction of the vehicle bodies 1 to 3, and a boundary line 231 set for the structure 230 are displayed. When the boundary line 221 set in the right direction of the vehicle bodies 1 to 3 is invalidated in response to an instruction from the input device 25, for example, the boundary line 221 is hidden, and the right end side of the boundary line 231 set in the rear direction of the vehicle bodies 1 to 3 is extended infinitely.

[0025] Fig. 11 is a diagram showing an example of the display on the monitor 23 when structures are detected to the left and right of the vehicle bodies 1 to 3, and no object is detected rearward of the vehicle bodies. In the example shown in Fig. 11, an overall view of the hydraulic excavator 100, a structure 240 (object) detected to the left of the vehicle bodies 1 to 3, a boundary line 241 set for the structure 240, a structure 250 (object) detected to the right of the vehicle bodies 1 to 3, and a boundary line 251 set for the structure 700 are displayed. Since no object is detected rearward of the vehicle bodies 1 to 3, no boundary line is displayed rearward of the vehicle bodies 1 to 3.

[0026] (summary) In the first embodiment, the work machine 100 includes a lower running body 1, an upper rotating body 2 rotatably attached on the lower running body 1, a working device 3 rotatably attached to the upper rotating body 2 in the vertical direction and constituting a vehicle body together with the lower running body 1 and the upper rotating body 2, and a vehicle body controller 21 that sets no-entry areas for the vehicle bodies 1 to 3 and controls the operation of the vehicle bodies 1 to 3 so that the vehicle bodies 1 to 3 do not enter the no-entry areas. The work machine 100 is equipped with an object detection device 15 that acquires objects around the vehicle bodies 1 to 3 as point cloud data, and the vehicle body controller 21 calculates a first boundary line 201 based on the point cloud data of the objects projected onto a rotation plane, which is a plane perpendicular to the rotation central axis 2a of the upper rotating body 2, and calculates a plane that passes through the first boundary line 201 and is parallel to the rotation central axis 2a as a first boundary surface 202 that becomes the boundary surface of the no-entry area.

[0027] According to the first embodiment configured as described above, the intrusion-prohibited area is automatically set based on the point cloud data acquired by the object detection device 15, so that the operator does not need to reset the intrusion-prohibited area every time the situation at the construction site changes or the vehicle bodies 1 to 3 move. This reduces the workload of the operator in setting the intrusion-prohibited area, making it possible to improve work efficiency.

[0028] Moreover, the first boundary lines 201, 304 in the first embodiment are straight lines that are connected based on the point cloud data, and are set by extending the straight lines at least toward the working device 3. This makes it possible to prevent the working device 3 from entering an undetectable area of ​​the object detection device 15.

[0029] Moreover, the vehicle body controller 21 in the first embodiment divides the turning plane into four regions in the front, rear, left and right directions of the vehicle bodies 1 to 3, and calculates the first boundary lines 304, 305 in each of the four regions. This makes it possible to set no-entry regions in the front, rear, left and right directions of the vehicle bodies 1 to 3.

[0030] Moreover, the hydraulic excavator 100 in the first embodiment includes a cab 14 provided on the upper rotating body 2 and a monitor 23 arranged in the cab 14, and the monitor 23 displays the positional relationship between the vehicle bodies 1 to 3 and the first boundary line 201. This allows the operator to visually confirm the positional relationship between the vehicle bodies 1 to 3 and the first boundary line 201.

[0031] Moreover, the hydraulic excavator 100 in the first embodiment includes an input device 25 for inputting information to the vehicle body controller 21, and the vehicle body controller 21 adjusts the position of the first boundary line 201 or invalidates the first boundary line 201 in response to an instruction from the input device 25. This allows the operator to modify the automatically set no-entry area. EXAMPLES

[0032] A second embodiment of the present invention will be described, focusing on the differences from the first embodiment. In this embodiment, in addition to the front, rear, left and right directions of the vehicle body, an intrusion-prohibited area is also set in the up and down directions of the vehicle body. The object detection device 15 in this embodiment acquires objects around and above and below the vehicle bodies 1 to 3 as point cloud data.

[0033] 12 is a diagram showing an example of the display on the monitor 23 in this embodiment. In this embodiment, in addition to the boundary lines 221, 231 of the intrusion-prohibited areas to the right and rear of the vehicle bodies 1 to 3, boundary lines 401, 411 of the intrusion-prohibited areas to the upper and lower directions of the upper rotating body 2 are displayed.

[0034] When an instruction to set an inaccessible area is input from the input device 25, the boundary calculation unit 21d in this embodiment projects point cloud data of a ceiling 400 (object) onto a plane (rotation plane) perpendicular to the rotation axis of the working device 3 (boom 4, arm 5 or bucket 6), calculates a boundary line 401 of the inaccessible area in the upward direction based on the projected point cloud data, and calculates a plane that passes through the boundary line 401 and is parallel to the rotation axis as the boundary surface of the inaccessible area in the upward direction. Similarly, the boundary calculation unit 21d projects point cloud data of a ground 410 (object) onto the rotation plane, calculates a boundary line 411 of the inaccessible area in the downward direction based on the projected point cloud data, and calculates a plane that passes through the boundary line 411 and is parallel to the rotation axis as the boundary surface of the inaccessible area in the downward direction. The angle and offset amount of the boundary lines 401, 411 in the up and down directions can be adjusted by operating the input device 25, similar to the boundary lines 221, 231 in the right direction and backward direction.

[0035] (summary) In the second embodiment, the vehicle body controller 21 calculates second boundary lines 401, 411 based on point cloud data of an object projected onto a rotation plane, which is a plane perpendicular to the rotation axis of the working device 3, and sets a plane that passes through the second boundary lines 401, 411 and is parallel to the rotation axis as a second boundary surface that becomes the boundary surface of the inaccessible area.

[0036] According to the second embodiment configured as above, the workload of the operator in setting the intrusion-prohibited areas in the vertical direction of the vehicle bodies 1 to 3 is reduced, so that the work efficiency can be improved. EXAMPLES

[0037] The third embodiment of the present invention will be described with a focus on the differences from the first embodiment. In the first embodiment, both sides of the first boundary line of the intrusion-prohibited area are extended as long as they do not intersect with other boundary lines, so there is a risk that the movable range of the vehicle bodies 1 to 3 may be excessively restricted. This embodiment is intended to solve this problem.

[0038] FIG. 13 is a diagram showing a method of calculating the boundary of the intrusion-prohibited area in this embodiment. In FIG. 13, a plurality of objects 500-502 are detected to the right of the hydraulic excavator 100. The boundary calculation unit 21d (shown in FIG. 2) first sandwiches the point cloud data (points P20-P25) of the objects 500-502 projected onto the revolving plane between two half lines 503 and 504 with the revolving central axis 2a as the base point, and calculates a line segment 505 that divides the area sandwiched between the two half lines 503 and 504 into an area where the point cloud data (points P20-P25) exists and an area where it does not exist as the first boundary line 505. Next, two half lines 503a and 504a that extend in the opposite direction to the revolving central axis 2a with the intersection points Pa and Pb of the two half lines 503 and 504 with the first boundary line 505 as the base point are calculated as the third boundary lines 503a and 504a. The boundary surface calculation unit 21e (shown in FIG. 2) calculates a plurality of continuous planes that pass through the first boundary line 505 and the third boundary lines 503a, 504a and are parallel to the turning central axis 2a as boundary surfaces of the intrusion-prohibited area.

[0039] (summary) In the third embodiment, the vehicle body controller 21 sandwiches the point cloud data (points P20 to P25) of the object projected onto the turning plane between two half-lines 503, 504 extending radially from the turning central axis 2a, and calculates a line segment 505 that divides the area sandwiched between the two half-lines 503, 504 into an area where the point cloud data (points P20 to P25) exists and an area where it does not exist as a first boundary line 505, calculates half-lines 503a, 504a of the two half-lines 503, 504 that extend from intersections Pa, Pb with the first boundary line 505 to the opposite side of the turning central axis 2a as third boundary lines 503a, 504a of the intrusion-prohibited area, and sets a plane that passes through the third boundary lines 503a, 504a and is parallel to the turning central axis 2a as a third boundary surface that serves as the boundary surface of the intrusion-prohibited area.

[0040] According to the third embodiment configured as described above, the first boundary line 503 of the intrusion-prohibited area is limited to the range in which the objects 500-502 are detected, so that it is possible to prevent the movable range of the vehicle bodies 1-3 from being excessively restricted.

[0041] Although the embodiments of the present invention have been described above in detail, the present invention is not limited to the above-mentioned embodiments and includes various modified examples. For example, the above-mentioned embodiments have been described in detail to easily explain the present invention, and the present invention is not necessarily limited to those having all of the configurations described. In addition, it is possible to add a part of the configuration of one embodiment to the configuration of another embodiment, and it is also possible to delete a part of the configuration of one embodiment or replace it with a part of another embodiment. [Explanation of symbols]

[0042] 1...lower running body (vehicle body), 2...upper rotating body (vehicle body), 2a...rotation center axis, 3...working device (vehicle body), 4...boom, 5...arm, 6...bucket, 7...boom cylinder, 8...arm cylinder, 9...bucket cylinder, 10-13...IMU sensor (attitude detection device), 14...operator's cab, 15...object detection device, 20...hydraulic drive device, 21...vehicle body controller, 21a...target speed calculation unit, 21b...target speed correction unit, 21c...command generation unit, 21d...boundary line calculation unit, 21e...boundary surface calculation unit, 21f...vehicle body dimension memory unit, 22...operation device, 23...monitor, 24...monitor controller, 25...input device, 100...hydraulic excavator (working machine), 200...structure (object), 201 ...Boundary line (first boundary line), 202...Boundary surface (first boundary surface), 210...Structure (object), 211...Boundary line (first boundary line), 220...Structure (object), 221...Boundary Line (first boundary line), 230...Structure (object), 231...Boundary line (first boundary line), 240...Structure (object), 241...Boundary line (first boundary line), 250...Structure (object) ), 251...Boundary line (first boundary line), 300~303...Object, 304,305...Boundary line (first boundary line), 400...Ceiling (object), 401...Boundary line (second boundary line), 410...Ground (object), 411...Boundary line (second boundary line), 500~502...Object, 503a, 504a...Boundary line (third boundary line), 505...Boundary line (first boundary line).

Claims

1. A lower running body; An upper rotating body rotatably attached on the lower traveling body; a working device attached to the upper rotating body so as to be rotatable in the vertical direction, the working device constituting a vehicle body together with the lower traveling body and the upper rotating body; A vehicle body controller that sets an inaccessible area for the vehicle body and controls an operation of the vehicle body so that the vehicle body does not intrude into the inaccessible area. An object detection device that acquires objects around the vehicle body as point cloud data, The vehicle body controller includes: Calculating a first boundary line based on the point cloud data of the object projected onto a rotation plane that is a plane perpendicular to the rotation central axis of the upper rotating body; A plane that passes through the first boundary line and is parallel to the turning central axis is set as a first boundary surface that is a boundary surface of the intrusion-prohibited area. A working machine characterized by:

2. 2. The work machine according to claim 1, The first boundary line is a straight line that is connected based on the point cloud data, and is set by extending the straight line at least toward the working device. A working machine characterized by:

3. 2. The work machine according to claim 1, The vehicle body controller includes: Calculating a second boundary line based on the point cloud data of the object projected onto a rotation plane that is a plane perpendicular to the rotation axis of the working device; A plane that passes through the second boundary line and is parallel to the rotation axis is set as a second boundary surface that is a boundary surface of the intrusion-prohibited area. A working machine characterized by:

4. 2. The work machine according to claim 1, The vehicle body controller includes: the point cloud data of the object projected onto the rotating plane is sandwiched between two half lines having the rotating central axis as a base point, and a line segment that divides a region sandwiched between the two half lines into a region where the point cloud data exists and a region where the point cloud data does not exist is calculated as the first boundary line; Among the two half lines, two half lines extending in a direction opposite to the turning central axis from an intersection point with the first boundary line are calculated as a third boundary line of the intrusion-prohibited area; A plane that passes through the third boundary line and is parallel to the turning central axis is set as a third boundary surface that becomes a boundary surface of the intrusion-prohibited area. A working machine characterized by:

5. 2. The work machine according to claim 1, The vehicle body controller divides the turning plane into four regions, namely, front, rear, left and right regions of the vehicle body, and calculates the first boundary line in each of the four regions. A working machine characterized by:

6. 2. The work machine according to claim 1, A cab provided on the upper rotating body; A monitor disposed in the cab, The monitor displays a positional relationship between the vehicle body and the first boundary line. A working machine characterized by:

7. 7. The work machine according to claim 6, an input device for inputting information to the vehicle body controller; The vehicle body controller adjusts a position of the first boundary line or invalidates the first boundary line in response to an instruction from the input device. A working machine characterized by:

Images