Work machine control device, work machine, and periphery monitoring method

Abstract

To provide a technology that can achieve both improvement of safety and suppression of a decrease in workability.SOLUTION: A work machine control device 40 comprises a controller 50 for controlling a work machine 100 comprising a lower running body 1, an upper rotating body 2 rotatably supported on the lower running body 1, and a work device 3 supported on the upper rotating body 2. The controller 50 sets a travel restriction area AT, which includes a travel direction restriction area AT1 that is adjacent to the work machine 100 in a travel direction D1 of the work machine 100, and an opposite direction restriction area AT2 that is adjacent to the work machine 100 in an opposite direction D2 to the travel direction D1 and that is narrower than the travel direction restriction area AT1, and restricts an operation of the work machine 100 when an object OB is detected in the travel restriction area AT.SELECTED DRAWING: Figure 14

Description

[Technical Field]

[0001] The present disclosure relates to technology relating to work machines such as excavators. [Background technology]

[0002] Patent Documents 1 to 7 disclose techniques for improving work safety by detecting objects present around a work machine. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-105105 [Patent Document 2] Japanese Patent Publication No. 2020-183624 [Patent Document 3] Japanese Patent Publication No. 2020-183622 [Patent Document 4] Japanese Patent Application Laid-Open No. 2016-194481 [Patent Document 5] Japanese Patent Publication No. 2022-83117 [Patent Document 6] International Publication No. 2016 / 016981 [Patent Document 7] International Publication No. 2021 / 029253 Summary of the Invention [Problem to be solved by the invention]

[0004] An operation restriction area is set around the work machine, and operation of the work machine is restricted when the object is detected in the operation restriction area, thereby improving work safety. In this case, if the operation restriction area is set wider, safety will be further improved, but the time during work that the operation of the work machine is restricted will increase, thereby reducing workability. Therefore, a technology that achieves both improved safety and suppression of deterioration in workability is desired.

[0005] An object of the present disclosure is to provide a technology that can achieve both improved safety and suppression of deterioration in workability. [Means for solving the problem]

[0006] A work machine control device according to a first aspect includes a controller for controlling a work machine having a lower running body, an upper rotating body rotatably supported on the lower running body, and a work implement supported on the upper rotating body, and the controller sets a travel time restriction area for the work machine including a travel direction restriction area adjacent to the travel direction of the work machine and an opposite direction restriction area adjacent to the work machine in the opposite direction to the travel direction and narrower than the travel direction restriction area, and restricts the operation of the work machine when an object is detected in the travel time restriction area.

[0007] It is preferable that the work machine control device according to the second aspect further comprises the following configuration in addition to the work machine control device according to the first aspect: That is, in the work machine control device according to the second aspect, when the work machine is stopped, the controller sets a stoppage restriction area that includes a first restriction area that is adjacent to the work machine in a first travelable direction and is wider than the opposite direction restriction area, and a second restriction area that is adjacent to the work machine in a second travelable direction and is wider than the opposite direction restriction area, and when the work machine is stopped and an object is detected in the stoppage restriction area, it is preferable that the controller restricts the operation of the work machine.

[0008] It is preferable that the construction machine control device according to the third aspect further comprises the following configuration in addition to the construction machine control device according to the second aspect: That is, in the construction machine control device according to the third aspect, when the construction machine starts traveling from a stopped state, it is preferable that the controller changes one of the first restricted area and the second restricted area to the traveling direction restricted area, and changes the other of the first restricted area and the second restricted area to the opposite direction restricted area, based on a traveling command operation received by a traveling operating device.

[0009] A construction machine control device according to a fourth aspect is preferably the construction machine control device according to any one of the first to third aspects, further comprising the following configuration: That is, in the construction machine control device according to the fourth aspect, it is preferable that the controller sets, as part of the traveling restriction area, side restriction areas that include a right restriction area adjacent to the work machine on the right and narrower than the traveling direction restriction area, and a left restriction area adjacent to the work machine on the left and narrower than the traveling direction restriction area.

[0010] A construction machine control device according to a fifth aspect is preferably the construction machine control device according to the fourth aspect, further comprising the following configuration: That is, in the construction machine control device according to the fifth aspect, it is preferable that the controller expands the lateral restriction area when the traveling direction is deviated to the right or left with respect to the orientation of the lower traveling body.

[0011] A construction machine control device according to a sixth aspect is preferably the construction machine control device according to the fifth aspect, further comprising the following configuration: That is, in the construction machine control device according to the sixth aspect, it is preferable that the controller changes the size of the expansion of the lateral restriction area in accordance with the swing angle of the upper swing body relative to the lower traveling body.

[0012] A work machine control device according to a seventh aspect is preferably the work machine control device according to any one of the first to sixth aspects, further comprising the following configuration: That is, in the work machine control device according to the seventh aspect, it is preferable that the controller sets a work implement restricted area in accordance with the attitude of the work implement, and restricts the operation of the work machine when an object is detected in the work implement restricted area.

[0013] A construction machine control device according to an eighth aspect is preferably the construction machine control device according to any one of the first to seventh aspects, further comprising the following configuration: That is, in the construction machine control device according to the eighth aspect, when the traveling direction is deviated to the right or left with respect to the orientation of the undercarriage, it is preferable that the controller sets the opposite direction restriction area to an area that includes an end of the undercarriage in the opposite direction to the traveling direction.

[0014] A construction machine control device according to a ninth aspect is preferably the construction machine control device according to any one of the first to eighth aspects, further comprising the following configuration: That is, in the construction machine control device according to the ninth aspect, the controller may define one or both of the outer edges of the travel direction restriction area and the outer edges of the opposite direction restriction area by an arc centered on the rotation center of the upper rotating body.

[0015] A work machine control device according to a tenth aspect is preferably the work machine control device according to any one of the first to ninth aspects, further comprising the following configuration: That is, in the work machine control device according to the tenth aspect, it is preferable that the controller sets an outer area that is part of the travel direction restriction area and includes the outer edge of the travel direction restriction area as a deceleration area, and sets an inner area that is the remaining part of the travel direction restriction area and is closer to the center of rotation of the upper rotating body than the deceleration area as a stop area, and reduces the travel speed of the work machine when an object is detected in the deceleration area, and stops the travel of the work machine when an object is detected in the stop area.

[0016] The work machine control device according to an eleventh aspect is preferably the work machine control device according to any one of the first to tenth aspects, further comprising the following configuration: That is, in the work machine control device according to the eleventh aspect, it is preferable that the controller changes the travel-time restriction area in accordance with the attitude of the work implement.

[0017] A work machine control device according to a twelfth aspect is a work machine control device including a controller for controlling a work machine having a lower running body, an upper rotating body rotatably supported on the lower running body, and a work implement supported on the upper rotating body, wherein the controller sets a travel-time restriction area for the work machine that includes a travel direction restriction area adjacent to the travel direction of the work machine, and changes the travel-time restriction area according to the attitude of the work implement.

[0018] The work machine according to the thirteenth aspect comprises the lower traveling body, the upper rotating body, the work device, an object information detector that detects objects around the work machine, and a work machine control device according to any one of the first to twelfth aspects.

[0019] A periphery monitoring method according to a fourteenth aspect is a periphery monitoring method for monitoring the periphery of a work machine having a lower running body, an upper rotating body rotatably supported on the lower running body, and a work implement supported on the upper rotating body, and includes a controller setting a travel time restriction area for the work machine including a travel direction restriction area adjacent to the travel direction of the work machine and an opposite direction restriction area adjacent to the work machine in the opposite direction to the travel direction and narrower than the travel direction restriction area, and the controller restricting the operation of the work machine when an object is detected in the travel time restriction area. [Effects of the Invention]

[0020] According to the present disclosure, a technique is provided that can achieve both improved safety and suppression of deterioration in workability. [Brief explanation of the drawings]

[0021] [Figure 1] 1 is a side view showing a work machine equipped with a work machine control device according to an embodiment. [Figure 2] 2 is a block diagram showing the main configuration of the work machine equipped with the work machine control device. FIG. [Figure 3]3 is a diagram for explaining a travel-time restriction region set by a controller of the work machine control device. FIG. [Figure 4] 3 is a diagram for explaining a travel-time restriction region set by a controller of the work machine control device. FIG. [Figure 5] 4 is a diagram for explaining a stoppage limit region set by a controller of the work machine control device. FIG. [Figure 6] 10A and 10B are diagrams for explaining right front deflection, left front deflection, right rear deflection, and left rear deflection. [Figure 7] 10 is a graph for explaining a travel command operation. [Figure 8] 3 is a diagram for explaining a travel-time restriction region set by a controller of the work machine control device. FIG. [Figure 9] 3 is a diagram for explaining a travel-time restriction region set by a controller of the work machine control device. FIG. [Figure 10] 4 is a diagram for explaining a work implement restriction area set by a controller of the work machine control device. FIG. [Figure 11] 4 is a diagram for explaining a work implement restriction area set by a controller of the work machine control device. FIG. [Figure 12] 4 is a diagram for explaining a work implement restriction area set by a controller of the work machine control device. FIG. [Figure 13] 3 is a diagram for explaining a travel-time restriction region set by a controller of the work machine control device. FIG. [Figure 14] 4 is a flowchart showing an example of a calculation process performed by a controller of the work machine control device. DETAILED DESCRIPTION OF THE INVENTION

[0022] A work machine control device 40 and a work machine 100 according to an embodiment of the present disclosure will be described with reference to the drawings.

[0023] FIG. 1 is a side view showing a work machine 100 equipped with a work machine control device 40 according to an embodiment. This work machine 100 is deployed at a work site and performs various tasks at the work site, such as excavation work and ground leveling work. The work machine 100 also performs traveling operations at the work site. The work machine 100 according to this embodiment is a shovel.

[0024] The work machine 100 comprises a self-propelled lower running body 1, an upper rotating body 2 supported on the lower running body 1 so as to be rotatable relative to the lower running body 1 around a rotation axis Z extending vertically, a work device 3 supported on the upper rotating body 2, and a plurality of actuators.

[0025] The lower traveling body 1 includes a pair of left and right crawler traveling devices 1A and a lower frame supported by these crawler traveling devices 1A.

[0026] The upper rotating body 2 includes a rotating frame 2A, a cab 2B, and a rear outer wall 2C. The rotating frame 2A is a frame that is rotatably supported on the lower traveling body 1, and forms a base portion of the upper rotating body 2.

[0027] The cab 2B is disposed, for example, at the left front portion of the revolving frame 2A. Inside the cab 2B, a driver's seat (not shown), an operating device 80 (described later), and the like are disposed.

[0028] The rear outer wall 2C is disposed behind the cab 2B and is an outer wall that defines the machinery room. Various devices are disposed in the machinery room, including power equipment such as an engine, a battery, and a generator, hydraulic equipment such as a hydraulic pump, and electrical equipment. The hydraulic pump is driven by the power equipment. A counterweight may be disposed at the rear or behind the rear outer wall 2C. The counterweight is a weight used to balance the work machine 100.

[0029] The work implement 3 includes a boom 4 that is attached to the upper rotating body 2 so that it can be raised and lowered, an arm 5 that is rotatably attached to the boom 4, and a bucket 6 that is rotatably attached to the arm 5. The bucket 6 is an example of a tip attachment. The tip attachment is not limited to the bucket 6, and may be other devices such as a fork, a grapple, or a lifting magnet.

[0030] Each of the multiple actuators operates by receiving a supply of hydraulic oil discharged from the hydraulic pump. The multiple actuators include a boom cylinder 7 for raising and lowering the boom 4, an arm cylinder 8 for rotating the arm 5, a bucket cylinder 9 for rotating the bucket 6, a swing motor 11 for rotating the upper swing structure 2 relative to the lower traveling structure 1, and a traveling motor 12 for traveling the lower traveling structure 1.

[0031] The work machine 100 is equipped with an operating device 80 , an object information detector 20 , an attitude information detector 30 , a control valve 70 , a display 91 , and an alarm 92 .

[0032] The operating device 80 receives various operations from the operator. The operating device 80 has operating members such as an operating lever, an operating pedal, and an operating button that are operated by the operator. The operating device 80 is disposed inside the cab 2B of the work machine 100. The operating device 80 may be configured to output a pilot pressure corresponding to the operation received by the operating member to a pilot port (described later) of the control valve 70. The operating device 80 may also be configured to output an operation command signal corresponding to the operation received by the operating member to the controller 50, described later.

[0033] The operation device 80 may include a boom operator 81 that receives boom operation for raising and lowering the boom 4, an arm operator 82 that receives arm operation for rotating the arm 5, a bucket operator 83 (tip attachment operator) that receives bucket operation for rotating the bucket 6, a swing operator 84 that receives swing operation for rotating the upper rotating body 2 relative to the lower traveling body 1, and a travel operator 85 that receives travel operation for traveling the lower traveling body 1. The travel operator 85 includes a right travel operator 85A and a left travel operator 85B.

[0034] The work machine 100 is equipped with an operation information detector 86. The operation information detector 86 may constitute a part of the operation device 80, or may be a device separate from the operation device 80. The operation information detector 86 acquires operation information, which is information related to operations by the operator received by the operation device 80. When the operation device 80 is configured to output a pilot pressure corresponding to the operation received by the operation member to the pilot port of the control valve 70, the operation information detector 86 may include a pressure sensor (not shown) that detects the pilot pressure. In this case, the operation information detector 86 may be configured to output the detected pilot pressure to the controller 50 as operation information. Furthermore, the operation information detector 86 may include a sensor that detects the direction and amount of operation received by the operation member, and may be configured to output an operation command signal corresponding to the detected direction and amount of operation to the controller 50 as operation information.

[0035] The object information detector 20 detects objects that exist in the vicinity of the work machine 100. The object information detector 20 inputs the detected object information to the controller 50.

[0036] The object information detector 20 may include, for example, at least one distance measurement sensor. The distance measurement sensor acquires distance information regarding the distance to an object (for example, three-dimensional position information such as point cloud data) by irradiating light such as laser light. The distance measurement sensor may be, for example, a device called LiDAR (Light Detection and Ranging) or a laser scanner. The information received by the distance measurement sensor may include intensity information regarding the intensity of reflected light. The distance measurement sensor may also be a stereo camera, an ultrasonic sensor, a total station, or any other sensor capable of acquiring the distance to an object. The object information detector 20 may include an infrared sensor. The object information detector 20 may include an ultrasonic sensor. The object information detector 20 may include millimeter-wave radar. The object information detector 20 may include an imaging device such as a camera that acquires images of the periphery of the work machine 100.

[0037] 3, the object information detector 20 includes a distance measurement sensor 21 for detecting objects mainly behind the work machine 100, a distance measurement sensor 22 for detecting objects mainly in front of the work machine 100, a distance measurement sensor 23 for detecting objects mainly to the right of the work machine 100, and a distance measurement sensor 24 for detecting objects mainly to the left of the work machine 100.

[0038] The attitude information detector 30 acquires attitude information, which is information relating to the attitude of the work machine 100. The attitude information detector 30 may include a plurality of attitude sensors. As shown in FIG. 1 , the plurality of attitude sensors may include a boom attitude sensor 31, an arm attitude sensor 32, a bucket attitude sensor 33, and a rotating bed attitude sensor 34.

[0039] The boom attitude sensor 31 may be a sensor that detects the attitude of the boom 4, or may be a sensor that detects the state of the boom cylinder 7 that correlates with the attitude of the boom 4. The arm attitude sensor 32 may be a sensor that detects the attitude of the arm 5, or may be a sensor that detects the state of the arm cylinder 8 that correlates with the attitude of the arm 5. The bucket attitude sensor 33 may be a sensor that detects the attitude of the bucket 6, or may be a sensor that detects the state of the bucket cylinder 9 that correlates with the attitude of the bucket 6. The rotating structure attitude sensor 34 may be a sensor that detects the attitude of the upper rotating structure 2, or may be a sensor that detects the state of the swing motor 11 that correlates with the attitude of the upper rotating structure 2.

[0040] Each of the plurality of attitude sensors may include, for example, an inertial measurement unit (IMU), a sensor that detects the degree of extension / contraction of a cylinder (e.g., a stroke sensor), or other sensors. The rotating body attitude sensor 34 may include a sensor such as a rotary encoder, resolver, or potentiometer that detects the rotation angle of the upper rotating body 2 relative to the undercarriage 1, or a sensor that detects the tilt angle of the upper rotating body 2 relative to the horizontal plane.

[0041] The attitude information detector 30 inputs the acquired attitude information to the controller 50 of the work machine control device 40. The controller 50 can calculate the attitude of the work machine 100 using the attitude information input from the attitude information detector 30. Specifically, the controller 50 can calculate the attitude of the boom 4, the attitude of the arm 5, the attitude of the bucket 6, and the attitude of the upper rotating body 2 based on the attitude information. The controller 50 may represent at least one of the attitude of the boom 4, the attitude of the arm 5, the attitude of the bucket 6, and the attitude of the upper rotating body 2 based on the attitude information, for example, in coordinates in any one of various coordinate systems (e.g., a reference coordinate system) described below.

[0042] The control valve 70 may be configured to adjust the direction and flow rate of hydraulic oil supplied to at least one of the plurality of actuators in accordance with an operation received by the operating device 80. The control valve 70 may include, for example, a boom flow rate regulator 71, an arm flow rate regulator 72, a bucket flow rate regulator 73, a swing flow rate regulator 74, and a travel flow rate regulator 75.

[0043] The boom flow rate adjuster 71 may have a boom control valve for adjusting the direction and flow rate of hydraulic oil supplied to the boom cylinder 7. The arm flow rate adjuster 72 may have an arm control valve for adjusting the direction and flow rate of hydraulic oil supplied to the arm cylinder 8. The bucket flow rate adjuster 73 may have a bucket control valve for adjusting the direction and flow rate of hydraulic oil supplied to the bucket cylinder 9. The swing flow rate adjuster 74 may have a swing control valve for adjusting the direction and flow rate of hydraulic oil supplied to the swing motor 11. The travel flow rate adjuster 75 may have a right-side travel control valve for adjusting the direction and flow rate of hydraulic oil supplied to the travel motor 12 of the right-side crawler travelling device 1A, and a left-side travel control valve for adjusting the direction and flow rate of hydraulic oil supplied to the travel motor 12 of the left-side crawler travelling device 1A.

[0044] Each of the boom control valve, the arm control valve, the bucket control valve, the swing control valve, the right travel control valve, and the left travel control valve may have a pair of pilot ports and a spool that displaces in response to pilot pressure supplied to the pilot port. In this case, when the control device 80 is operated by the operator, the pilot pressure output from the control device 80 in response to the operation is supplied to the pilot port of a flow regulator corresponding to the operation, and the flow regulator adjusts the direction and flow rate of the hydraulic oil in response to the pilot pressure input to the pilot port. This causes an actuator corresponding to the operation received by the control device 80 to operate.

[0045] The control valve 70 may have a plurality of proportional valves 76 (e.g., electromagnetic proportional pressure reducing valves). Each proportional valve 76 may be arranged in an oil passage between an actuator corresponding to that proportional valve 76 and a pilot port of a flow regulator corresponding to that proportional valve 76. Each proportional valve 76 may be configured to reduce the pilot pressure in response to a control command input from, for example, the controller 50, and output the reduced pilot pressure to the pilot port. In this case, the controller 50 can adjust the pilot pressure input to the pilot port corresponding to the proportional valve 76 to a magnitude in accordance with the control command.

[0046] The display 91 is controlled by the controller 50 to display information required for the operator. The display 91 may be, for example, a display. Examples of the display include a liquid crystal display, an organic EL display, a head-up display, and a head-mounted display. The display 91 may be disposed, for example, inside the cab 2B.

[0047] The alarm device 92 is controlled by the controller 50 to output a warning such as sound or light. The alarm device 92 may be a speaker that emits sound or a warning light that emits light. The alarm device 92 may be located, for example, inside the cab 2B.

[0048] The work machine 100 is equipped with a work machine control device 40. The work machine control device 40 is equipped with a controller 50. The controller 50 is equipped with a computer including an arithmetic processing unit and a memory.

[0049] The controller 50 includes a traveling direction determination unit 51, a restricted area setting unit 52, and an operation control unit 53. The controller 50 realizes the functions of the traveling direction determination unit 51, the restricted area setting unit 52, and the operation control unit 53 by the arithmetic processing unit executing a program stored in the memory.

[0050] The traveling direction determination unit 51 may determine the traveling direction based on an operation command signal input from the operation device 80, for example.

[0051] The restricted area setting unit 52 sets a restricted area, which will be described later.

[0052] The operation control section 53 controls the operation of the work machine 100. Specifically, the operation control section 53 controls the operation of the control valve 70, the operation of the display device 91, and the operation of the alarm device 92.

[0053] The controller 50 may specify various positions required to control the operation of the work machine 100 in, for example, a reference coordinate system, which is a coordinate system that is set in advance. The reference coordinate system may be, for example, a coordinate system based on the work machine 100 (machine coordinate system), a coordinate system based on the object information detector 20 (detector coordinate system), a coordinate system based on a specific position at the work site (site coordinate system), or a global coordinate system. The controller 50 is capable of converting between these coordinate systems. Specifically, for example, the controller 50 can convert object information specified in the detector coordinate system (for example, three-dimensional position information such as point cloud data) into object information in the machine coordinate system (for example, three-dimensional position information such as point cloud data).

[0054] In the following, an example will be described in which the reference coordinate system is the machine coordinate system. In this case, the origin of the reference coordinate system may be set at a specific position on the work machine 100, for example. Specifically, the origin of the reference coordinate system may be at any position on the rotation axis Z, for example. More specifically, the origin of the reference coordinate system may be the intersection of the rotation axis Z and the ground. Furthermore, the origin O of the reference coordinate system may be at a position on the rotation axis Z and between the lower traveling body 1 and the upper rotating body 2, for example, as shown in FIG. 1.

[0055] In this embodiment, the reference coordinate system is a three-dimensional coordinate system, and may be, for example, an orthogonal coordinate system defined by an X-axis parallel to the front-rear direction, a Y-axis parallel to the left-right direction, and a Z-axis parallel to the vertical direction.

[0056] The fore-and-aft direction of the work machine 100 is the direction parallel to the longitudinal direction of the crawler traveling device 1A of the undercarriage 1 at that time. The left-and-right direction is the horizontal direction perpendicular to the fore-and-aft direction. The terms "front" and "rear" are specified for the sake of convenience in explaining this embodiment, and these terms may be reversed. In the following explanation, for the sake of convenience, the fore will be defined as the direction parallel to the longitudinal direction of the crawler traveling device 1A and the direction approaching the bucket 6 from the swing axis Z, and the rear will be defined as the direction opposite to the fore, i.e., the direction parallel to the longitudinal direction of the crawler traveling device 1A and the direction away from the bucket 6.

[0057] Below, we will explain the features of the work machine control device 40 and the features of the work machine 100 according to this embodiment. The work machine control device 40 and the work machine 100 each have the first to eleventh features described below.

[0058] [First feature] The controller 50 of the work machine control device 40 sets a travel restriction area AT, and restricts the operation of the work machine 100 when an object is detected in the travel restriction area AT. The travel restriction area AT includes a travel direction restriction area AT1 and an opposite direction restriction area AT2. The travel direction restriction area AT1 is an area adjacent to the travel direction D1 of the work machine 100 relative to the work machine 100. The opposite direction restriction area AT2 is an area adjacent to the opposite direction D2 of the travel direction D1 relative to the work machine 100, and is a narrower area than the travel direction restriction area AT1.

[0059] In this embodiment, a travel-time restriction area AT is set that includes a travel direction restriction area AT1 and a narrower opposite direction restriction area AT2, making it possible to achieve both improved safety and suppression of deterioration in workability.

[0060] Specifically, for example, if an object OB (e.g., a monitored object such as a person) is present at a distance in the traveling direction D1 relative to the work machine 100 and this object OB is detected in the traveling direction restriction area AT1, the controller 50 can improve safety by restricting the operation of the work machine 100. On the other hand, if an object is present at a distance in the opposite direction D2 of the traveling direction D1 relative to the work machine 100, the work machine 100 will move away from the object OB as it travels, so the opposite direction restriction area AT2 does not need to be set to the same size as the traveling direction restriction area AT1. In this embodiment, because the opposite direction restriction area AT2 is narrower than the traveling direction restriction area AT1, it is possible to prevent the traveling restriction area AT from being set larger than necessary, compared to, for example, when the traveling direction restriction area AT1 and the opposite direction restriction area AT2 are set to the same size across the board. This makes it possible to prevent unnecessary restrictions on the operation of the work machine 100. From the above, this embodiment makes it possible to achieve both improved safety and reduced degradation in workability.

[0061] As an operation restriction for the work machine 100, the controller 50 may, for example, perform control to reduce the travel speed of the work machine 100, or may perform control to stop the work machine 100 from traveling.

[0062] Fig. 3 shows the travel-time restriction area AT that is set when the work machine 100 travels backward, and Fig. 4 shows the travel-time restriction area AT that is set when the work machine 100 travels forward. In each of Fig. 3 and Fig. 4, the travel-time restriction area AT is indicated by a two-dot chain line.

[0063] When the traveling direction D1 is rearward as shown in Figure 3, the controller 50 may set a traveling direction restriction area AT1 in a predetermined range based on the position of the rear of the work machine 100. The predetermined range may be, for example, a three-dimensional area (space) having a preset length in the front-to-rear direction, a preset length in the left-to-right direction, and a preset length in the up-to-down direction. The controller 50 may, for example, pre-store a range such as that indicated by the dashed line AT1 in Figure 3 as the predetermined range. In this case, the controller 50 may identify the coordinates of the rear of the work machine 100 based on the attitude information input from the attitude information detector 30, and set a traveling direction restriction area AT1 based on the identified coordinates of the rear and the pre-stored predetermined range.

[0064] 3, the position of the rear of the work machine 100 that serves as the reference for setting the travel direction restriction area AT1 is, for example, the position of the rear end of the upper rotating body 2 indicated by the dash-dotted line L11, and the rear end of the travel direction restriction area AT1 is the position indicated by the dash-dotted line L12. However, the position of the rear of the work machine 100 that serves as the reference for setting the travel direction restriction area AT1 may also be, for example, the position of the rear end of the undercarriage 1 indicated by the dash-dotted line L14, or may be another position at the rear end of the work machine 100.

[0065] Furthermore, when the traveling direction D1 is rearward as shown in Figure 3, the controller 50 may set the opposite direction restriction area AT2 in a predetermined range based on the position of the front of the work machine 100. The predetermined range may be, for example, a three-dimensional area (space) having a preset length in the front-to-rear direction, a preset length in the left-to-right direction, and a preset length in the up-to-down direction. The controller 50 may, for example, pre-store a range such as that indicated by the dashed line AT2 in Figure 3 as the predetermined range. In this case, the controller 50 may identify the coordinates of the front of the work machine 100 based on the attitude information input from the attitude information detector 30, and set the opposite direction restriction area AT2 based on the identified coordinates of the front and the pre-stored predetermined range.

[0066] 3, the position of the front of the work machine 100 that serves as the reference for setting the opposite direction restriction area AT2 is, for example, the position of the front end of the upper rotating body 2 indicated by the dash-dotted line L21, and the front end of the opposite direction restriction area AT2 is the position indicated by the dash-dotted line L22. However, the position of the front of the work machine 100 that serves as the reference for setting the opposite direction restriction area AT2 may also be, for example, the position of the front end of the undercarriage 1 indicated by the dash-dotted line L23, or may be another position of the front end of the work machine 100.

[0067] When the traveling direction D1 is forward as shown in Figure 4, the controller 50 may set a traveling direction restriction area AT1 in a predetermined range based on the position of the front of the work machine 100. The predetermined range may be, for example, a three-dimensional area (space) having a preset length in the front-to-rear direction, a preset length in the left-to-right direction, and a preset length in the up-to-down direction. The controller 50 may, for example, pre-store a range such as that indicated by the dashed line AT1 in Figure 4 as the predetermined range. In this case, the controller 50 may identify the coordinates of the front of the work machine 100 based on the attitude information input from the attitude information detector 30, and set a traveling direction restriction area AT1 based on the identified coordinates of the front and the pre-stored predetermined range.

[0068] 4, the position of the front of the work machine 100 that serves as the reference for setting the travel direction restriction area AT1 is, for example, the position of the front end of the upper rotating body 2 indicated by the dash-dotted line L16, and the front end of the travel direction restriction area AT1 is the position indicated by the dash-dotted line L17. However, the position of the front of the work machine 100 that serves as the reference for setting the travel direction restriction area AT1 may also be, for example, the position of the front end of the undercarriage 1 indicated by the dash-dotted line L19, or may be another position of the front end of the work machine 100.

[0069] Furthermore, when the traveling direction D1 is forward as shown in Figure 4, the controller 50 may set the opposite direction restriction area AT2 in a predetermined range based on the position of the rear of the work machine 100. The predetermined range may be, for example, a three-dimensional area (space) having a preset length in the front-to-rear direction, a preset length in the left-to-right direction, and a preset length in the up-to-down direction. The controller 50 may, for example, pre-store a range such as that indicated by the dashed line AT2 in Figure 4 as the predetermined range. In this case, the controller 50 may identify the coordinates of the rear of the work machine 100 based on the attitude information input from the attitude information detector 30, and set the opposite direction restriction area AT2 based on the identified coordinates of the rear and the pre-stored predetermined range.

[0070] 4, the position of the rear of the work machine 100 that serves as the reference for setting the opposite direction restriction area AT2 is, for example, the position of the rear end of the upper rotating body 2 indicated by the dash-dotted line L26, and the rear end of the opposite direction restriction area AT2 is the position indicated by the dash-dotted line L27. However, the position of the rear of the work machine 100 that serves as the reference for setting the opposite direction restriction area AT2 may also be, for example, the position of the rear end of the undercarriage 1 indicated by the dash-dotted line L28, or may be another position of the rear end of the work machine 100.

[0071] In this embodiment, the controller 50 sets each of the traveling direction restriction region AT1 and the opposite direction restriction region AT2 so that the volume of the space corresponding to the opposite direction restriction region AT2 is smaller than the volume of the space corresponding to the traveling direction restriction region AT1. Specifically, the controller 50 sets each of the traveling direction restriction region AT1 and the opposite direction restriction region AT2 so that the length in the front-to-rear direction of the opposite direction restriction region AT2 is smaller than the length in the front-to-rear direction of the traveling direction restriction region AT1. In this embodiment, the left-to-right length of the opposite direction restriction region AT2 is the same as the left-to-right length of the traveling direction restriction region AT1, and the up-to-down length of the opposite direction restriction region AT2 is the same as the up-to-down length of the traveling direction restriction region AT1. However, the left-to-right length of the opposite direction restriction region AT2 may be different from the left-to-right length of the traveling direction restriction region AT1. Furthermore, the up-to-down length of the opposite direction restriction region AT2 may be different from the up-to-down length of the traveling direction restriction region AT1.

[0072] When an object OB is detected in the travel restriction area AT, the controller 50 not only restricts the operation of the work machine 100, but may also control the display device 91 to output a display indicating that an object OB has been detected in the travel restriction area AT, or may control the alarm device 92 to output an alarm. In this case, the controller 50 can effectively make the operator of the work machine 100 aware of the presence of the object.

[0073] [Second feature] When the work machine 100 is stopped, the controller 50 sets a stop-time restricted area AS, and restricts the operation of the work machine 100 when the work machine 100 is stopped and an object OB is detected in the stop-time restricted area AS. The stop-time restricted area AS includes a first restricted area AS1 and a second restricted area AS2. The first restricted area AS1 is an area adjacent to the first travelable direction D11 of the work machine 100 relative to the work machine 100, and is a wider area than the opposite direction restricted area AT2. The second restricted area AS2 is an area adjacent to the second travelable direction D21 of the work machine 100 relative to the work machine 100, and is a wider area than the opposite direction restricted area AT2.

[0074] In this embodiment, when the work machine 100 is stopped, a stopped time restricted area AS is set, which includes a first restricted area AS1 and a second restricted area AS2 based on the orientation of the lower running body 1, and each of these first restricted area AS1 and second restricted area AS2 is wider than the opposite direction restricted area AT2, thereby further improving safety when the work machine 100 is stopped.

[0075] 5, the first travelable direction D11 is forward of the lower traveling body 1, and the second travelable direction D21 is rearward of the lower traveling body 1. Specifically, when the work machine 100 is stopped, there is a possibility that the work machine 100 will start traveling in either the first travelable direction D11 or the second travelable direction D21, but in this embodiment, a restricted area that is wider than the opposite direction restricted area AT2 is set for the work machine 100 in either direction, so it is possible to further improve safety when the work machine 100 is stopped.

[0076] In this embodiment, the first restriction area AS1 and the second restriction area AS2 of the stoppage restriction area AS may each be, for example, the same size as the driving direction restriction area AT1, or may be the same area as the driving direction restriction area AT1.

[0077] [Third feature] When the work machine 100 starts traveling from a stopped state as shown in FIG. 5, the controller 50 changes one of the first restricted area AS1 and the second restricted area AS2 to a traveling direction restricted area AT1 based on the traveling command operation received by the traveling operation device 85, and changes the other of the first restricted area AS1 and the second restricted area AS2 to an opposite direction restricted area AT2.

[0078] In this case, the controller 50 can switch between a stopped restriction area AS, which is a preferred restriction area when the work machine 100 is stopped, and a traveling restriction area AT, which is a preferred restriction area when the work machine 100 is traveling, based on the traveling command operation received by the traveling operation device 85.

[0079] The controller 50 may determine the next traveling direction D1 based on the traveling command operation received by the traveling operation device 85, and set the traveling direction restriction area AT1 and the opposite direction restriction area AT2 according to the determined traveling direction D1.

[0080] [Fourth feature] The controller 50 sets the lateral restriction areas as part of the traveling restriction area AT. The lateral restriction areas include a right-side restriction area AT3 and a left-side restriction area AT4. The right-side restriction area AT3 is an area adjacent to the right of the work machine 100 and is narrower than the traveling direction restriction area AT1. The left-side restriction area AT4 is an area adjacent to the left of the work machine 100 and is narrower than the traveling direction restriction area AT1.

[0081] In this embodiment, a right-side restricted area AT3 and a left-side restricted area AT4 are further set, and each of these restricted areas AT3, AT4 is narrower than the travel direction restricted area AT1, making it possible to achieve both a further improvement in safety and prevention of a decrease in workability. In this embodiment, the controller 50 restricts the operation of the work machine 100 when an object is detected in the side restricted areas that are part of the travel restricted area AT.

[0082] As shown in each of Figures 3 and 4, the controller 50 may set a right-side limit area AT3 in a predetermined range based on the position of the right end of the work machine 100, and may set a left-side limit area AT4 in a predetermined range based on the position of the left end of the work machine 100. Each of these predetermined ranges may be, for example, a three-dimensional area (space) having a preset length in the front-to-rear direction, a preset length in the left-to-right direction, and a preset length in the up-to-down direction. For example, the controller 50 may pre-store a range such as that indicated by the dashed line AT3 in each of Figures 3 and 4 as the predetermined range for the right-side limit area AT3, and may pre-store a range such as that indicated by the dashed line AT4 in each of Figures 3 and 4 as the predetermined range for the left-side limit area AT4. In this case, the controller 50 may identify the coordinates of the right end and the left end of the work machine 100 based on the posture information input from the posture information detector 30, set a right-side restricted area AT3 based on the identified coordinates of the right end and the predetermined range stored in advance, and set a left-side restricted area AT4 based on the identified coordinates of the left end and the predetermined range stored in advance.

[0083] 3 and 4, the position of the right end of the work machine 100 that serves as the reference for setting the right-side restricted area AT3 is, for example, the position of the right end of the undercarriage 1 indicated by the dash-dotted line L31, and the right end of the right-side restricted area AT3 is the position indicated by the dash-dotted line L32. The position of the left end of the work machine 100 that serves as the reference for setting the left-side restricted area AT4 is, for example, the position of the left end of the undercarriage 1 indicated by the dash-dotted line L41, and the left end of the left-side restricted area AT4 is the position indicated by the dash-dotted line L42. However, the position of the right end of the work machine 100 that serves as the reference for setting the right-side restricted area AT3 may be, for example, the position of the right end of the upper rotating body 2 indicated by the dash-dotted line L33, or may be another right end position of the work machine 100. Similarly, the position of the left end of the work machine 100 that serves as the reference for setting the left-side restricted area AT4 may be, for example, the position of the left end of the upper rotating body 2 indicated by the dash-dotted line L43, or may be another left end position of the work machine 100.

[0084] The right-side restriction area AT3 may have a portion overlapping with the driving direction restriction area AT1, or may have a portion overlapping with the opposite direction restriction area AT2. Similarly, the left-side restriction area AT4 may have a portion overlapping with the driving direction restriction area AT1, or may have a portion overlapping with the opposite direction restriction area AT2.

[0085] The controller 50 may set the lateral restriction areas as part of the stopped restriction area AS even when the work machine 100 is stopped, as shown in Fig. 3. The lateral restriction areas of the stopped restriction area AS may include a right restriction area AS3 similar to the right restriction area AT3 of the traveling restriction area AT, and a left restriction area AS4 similar to the left restriction area AT4 of the traveling restriction area AT. In this case, the right restriction area AS3 and the left restriction area AS4 are each narrower than the first restriction area AS1 and the second restriction area AS2, respectively.

[0086] [5th ​​feature] For example, as shown in FIG. 6, when the traveling direction D1 is shifted to the right or left with respect to the forward / backward direction, which is the orientation of the lower traveling body 1, the controller 50 preferably expands the lateral restriction area.

[0087] In this embodiment, even if the working machine 100 does not move straight ahead in a direction parallel to the direction of the lower running body 1, but the running direction D1 of the working machine 100 is shifted to the right or left relative to the direction of the lower running body 1 (front-to-back direction), the lateral restriction area is expanded, thereby further improving safety.

[0088] When the traveling direction D1 is shifted to the right or left with respect to the orientation (front-rear direction) of the lower traveling body 1, the controller 50 may, for example, expand one or both of the right restricted area AT3 and the left restricted area AT4.

[0089] Specifically, when the traveling direction D1 is a direction in which the lower traveling body 1 advances in a direction shifted to the right with respect to the longitudinal direction of the lower traveling body 1 (in the case of right-front deflection in FIG. 6), it is preferable that the controller 50 enlarge the left-side limiting area AT4 in FIG. 4 compared to when the lower traveling body 1 advances straight. Also, when the traveling direction D1 is a direction in which the lower traveling body 1 advances in a direction shifted to the left with respect to the longitudinal direction of the lower traveling body 1 (in the case of left-front deflection in FIG. 6), it is preferable that the controller 50 enlarge the right-side limiting area AT3 in FIG. 4 compared to when the lower traveling body 1 advances straight.

[0090] Similarly, when the traveling direction D1 is a direction in which the lower traveling body 1 moves backward in a direction shifted to the right with respect to the fore-and-aft direction (in the case of right-rearward deflection in FIG. 6), it is preferable that the controller 50 enlarge the left-side restriction area AT4 in FIG. 3 compared to when the lower traveling body 1 moves straight. Also, when the traveling direction D1 is a direction in which the lower traveling body 1 moves backward in a direction shifted to the left with respect to the fore-and-aft direction (in the case of left-rearward deflection in FIG. 6), it is preferable that the controller 50 enlarge the right-side restriction area AT3 in FIG. 3 compared to when the lower traveling body 1 moves straight.

[0091] The controller 50 may increase the size of the expansion of one or both of the right limiting area AT3 and the left limiting area AT4 as the degree of deflection increases.

[0092] In this case, when the traveling direction D1 is shifted to the right or left relative to the orientation of the lower traveling body 1, the controller 50 may expand the traveling restriction area AT laterally compared to when the lower traveling body 1 moves straight.

[0093] In this embodiment, the controller 50 may determine the travel direction D1 based on the direction and amount of a travel command operation received by the right travel operator 85A and the direction and amount of a travel command operation received by the left travel operator 85B. Specifically, if the operation information detector 86 includes a pressure sensor that detects the pilot pressure, the controller 50 can identify the operation amounts of the travel command operations received by each of the right travel operator 85A and the left travel operator 85B based on the pilot pressure detected by the pressure sensor of the operation information detector 86, as shown in the graph of FIG. 7, for example. The controller 50 may determine that the right travel operator 85A has received a right travel operation when the pilot pressure detected by the pressure sensor corresponding to the right travel operator 85A is equal to or greater than a predetermined pressure threshold PiA, as shown in FIG. 7, for example. Similarly, the controller 50 may determine that the left travel operator 85B has received a left travel operation when the pilot pressure detected by the pressure sensor corresponding to the left travel operator 85B is equal to or greater than a predetermined pressure threshold PiA. Furthermore, controller 50 may determine that the travel operation device is not receiving a travel operation when the pilot pressure is equal to or less than a predetermined pressure threshold PiB. Note that in Fig. 7, the timing at which it is determined that a travel operation has been received from a state in which no travel operation is being received (no travel operation) (the timing indicated as "travel operation is present") is later than the timing at which the pilot pressure reaches or exceeds the pressure threshold PiA, with the following purpose: That is, to prevent repeated switching between determining that a travel operation is present and determining that a travel operation is not present in a short period of time when the amount of operation received by the operating member of the travel operation device is small (during fine operation), controller 50 determines that a travel operation is present when the pilot pressure is equal to or greater than the pressure threshold PiA for two consecutive travel operation determination cycles.

[0094] As described above, the controller 50 can determine the operation direction and operation amount of the travel command operation received by each of the right travel operation device 85A and the left travel operation device 85B. Therefore, the controller 50 can identify whether the travel direction D1 is a straight forward direction, a straight backward direction, the right front deflection, the left front deflection, the right rear deflection, or the left rear deflection, based on the pilot pressure detected by the pressure sensor of the operation information detector 86. Then, the controller 50 stores the identified travel direction D1 (sets a flag corresponding to the identified travel direction D1).

[0095] The degree to which the left restricted area AT4 is enlarged for each of the right front deflection and the right rear deflection may be preset and stored in the controller 50. In this case, the controller 50 may enlarge the left restricted area AT4 based on the preset degree when the traveling direction D1 is the right front deflection or the right rear deflection. Similarly, the degree to which the right restricted area AT3 is enlarged for each of the left front deflection and the left rear deflection may be preset and stored in the controller 50. In this case, the controller 50 may enlarge the right restricted area AT3 based on the preset degree when the traveling direction D1 is the left front deflection or the left rear deflection.

[0096] [6th feature] It is preferable that the controller 50 changes the size of the expansion of the lateral restriction area in accordance with the swing angle θ of the upper swing body 2 relative to the lower traveling body 1.

[0097] In this case, even if the orientation of the upper rotating body 2 is not the same as the orientation of the lower running body 1, the size of the expansion of one or both of the right-side restricted area AT3 and the left-side restricted area AT4 is changed depending on the rotation angle θ, thereby further improving safety.

[0098] 8, when the work machine 100 travels with the upper rotating body 2 positioned at a position rotated to the right relative to the undercarriage 1, it is preferable that the controller 50 expand the left-side restriction area AT4. Furthermore, although not shown, when the work machine 100 travels with the upper rotating body 2 positioned at a position rotated to the left relative to the undercarriage 1, it is preferable that the controller 50 expand the right-side restriction area AT3.

[0099] Furthermore, as shown in Fig. 9, the controller 50 may increase the degree to which the lateral restriction area is expanded as the turning angle θ increases. The upper diagram in Fig. 9 shows the case where the turning angle θ is zero, the center diagram in Fig. 9 shows the case where the turning angle θ is 10 degrees, and the lower diagram in Fig. 9 shows the case where the turning angle θ is 20 degrees.

[0100] Note that the ranges indicated by dashed lines in the center diagram and the bottom diagram of Fig. 9 indicate the right end position of the right-side restriction area AT3 and the left end position of the left-side restriction area AT4 when the swing angle θ is zero. As shown in these diagrams, when the work machine 100 travels with the upper rotating body 2 positioned in a position rotated to the right relative to the undercarriage 1, it is preferable that the controller 50 increase the degree to which the left-side restriction area AT4 is enlarged more than the degree to which the right-side restriction area AT3 is enlarged. Similarly, when the work machine 100 travels with the upper rotating body 2 positioned in a position rotated to the left relative to the undercarriage 1, it is preferable that the controller 50 increase the degree to which the right-side restriction area AT3 is enlarged more than the degree to which the left-side restriction area AT4 is enlarged.

[0101] [7th feature] The controller 50 may set a work implement restricted area AD according to the attitude of the work implement 3, and may restrict the operation of the work machine 100 when an object OB is detected in the work implement restricted area AD, for example, as shown in Figures 10 to 12.

[0102] In this case, the work tool restricted area AD is further set, which further improves safety.

[0103] Specifically, the controller 50 may set the work implement restricted area AD based on the position of the tip of the work implement 3. For example, the controller 50 may set the work implement restricted area AD based on the position of the tip of the work implement 3 in the traveling direction D1. The controller 50 may select the tip of the work implement 3 from any one of the tip 4a of the boom 4, the tip 5a of the arm 5, and the tip 6a of the bucket 6. In the specific example shown in FIG. 10, the tip of the work implement 3 is the tip 4a of the boom 4, so the controller 50 may set the coordinates obtained by adding a predetermined length to the position (coordinates) of the tip 4a of the boom 4 as the edge of the work implement restricted area AD. In the specific example shown in FIG. 11, the tip of the work implement 3 is the tip 5a of the arm 5, so the controller 50 may set the coordinates obtained by adding a predetermined length to the position (coordinates) of the tip 5a of the arm 5 as the edge of the work implement restricted area AD. The upper diagram in Fig. 10 is a side view of the work machine 100, and the lower diagram in Fig. 10 is a plan view of the work machine 100 as seen from above. Similarly, the upper diagram in Fig. 11 is a side view of the work machine 100, and the lower diagram in Fig. 11 is a plan view of the work machine 100 as seen from above.

[0104] The controller 50 may also set the work implement restricted area AD based on the position of the surface of the work implement 3 facing the traveling direction D1 (in Figure 12, the surface 6S of the bucket 6 facing the traveling direction D1) and the traveling direction D1.

[0105] The controller 50 may change the traveling restriction area AT depending on the attitude of the working implement 3. The controller 50 may set the working implement restriction area AD as part of the traveling restriction area AT, or may set the working implement restriction area AD separately from the traveling restriction area AT.

[0106] [8th feature] When the running direction D1 is shifted to the right or left relative to the orientation of the lower running body 1, it is preferable that the controller 50 sets the opposite direction restriction area AT2 in an area including the end of the lower running body 1 in the opposite direction D2 of the running direction D1.

[0107] In this case, even if the traveling direction D1 of the work machine 100 is shifted to the right or left relative to the traveling body direction DT, it is possible to more effectively prevent objects from interfering with the end of the lower traveling body 1 in the opposite direction D2.

[0108] Specifically, for example, when the traveling direction D1 is deflected rearward to the left as shown in Figure 13 and the turning angle θ is close to 90 degrees, safety is improved more when the opposite direction restriction area AT2 includes the end (front end) of the lower traveling body 1 as shown in the right figure of Figure 13 than when the opposite direction restriction area AT2 does not include the end (front end) of the lower traveling body 1 as shown in the left figure of Figure 13.

[0109] [9th feature] The controller 50 may define one or both of the outer edges of the travel direction restriction area AT1 and the opposite direction restriction area AT2 as arcs centered on the rotation center of the upper rotating body 2. In this case, as shown in Figures 3 and 4, for example, the outer edges of the right corner CR and the left corner CL of the travel direction restriction area AT1 are each arc-shaped, and the outer edges of the right corner CR and the left corner CL of the opposite direction restriction area AT2 are each arc-shaped. This further reduces unnecessary movement restrictions.

[0110] [10th feature] As shown in each of Figures 3 and 4, the controller 50 preferably sets an outer region that is part of the travel direction restriction region AT1 and includes the outer edge of the travel direction restriction region AT1 as a deceleration region AT12, and sets an inner region that is the remaining part of the travel direction restriction region AT1 and is closer to the rotation center (swing axis Z) of the upper rotating body 2 than the deceleration region AT12 as a stop region AT11, and if an object is detected in the deceleration region AT12, it preferably reduces the travel speed of the work machine 100, and if an object is detected in the stop region AT11, it preferably stops the travel of the work machine 100.

[0111] In this case, a deceleration area AT12 in which the traveling speed is reduced and a stop area AT11 in which the traveling of the work machine 100 is stopped are set in stages, so that the traveling of the work machine 100 can be decelerated in stages when an object is detected in the traveling direction restriction area AT1.

[0112] FIG. 14 is a flowchart showing an example of the calculation process performed by the controller 50 of the work machine control device 40.

[0113] The controller 50 acquires operation information from the operation information detector 86 while the work machine 100 is working (step S101), and determines whether the work machine 100 is in a traveling state or not based on the acquired operation information (step S102). If the work machine 100 is in a traveling state (YES in step S102), the controller 50 performs traveling processing, which is the processing from step S103 onwards, and if the work machine 100 is not in a traveling state (NO in step S102), the controller 50 performs stoppage processing, which is the processing from step S109 onwards.

[0114] [Driving process] In the traveling process, the controller 50 acquires attitude information from the attitude information detector 30 (step S103), and sets a traveling restriction area AT based on the attitude information and the traveling direction D1 (step S104). Next, the controller 50 acquires object information from the object information detector 20 (step S105), and determines whether or not an object OB has been detected (step S106). If the object OB has not been detected (NO in step S106), the controller 50 repeats the processes from step S101 onwards. On the other hand, if the object OB has been detected (YES in step S106), the controller 50 determines whether or not the object OB is in the traveling restriction area AT (step S107). If the object OB is in the traveling restriction area AT (YES in step S107), the controller 50 restricts the operation of the work machine 100 (step S108). On the other hand, if the object OB is not in the traveling restriction area AT (NO in step S107), the controller 50 does not restrict the operation of the work machine 100, and repeats the processing from step S101 onwards.

[0115] [Stop processing] In the stoppage processing, the controller 50 acquires attitude information from the attitude information detector 30 (step S109), and sets a stoppage restriction area AS based on the attitude information (step S110). Next, the controller 50 performs the processing from step S105 onwards. That is, the controller 50 acquires object information from the object information detector 20 (step S105), and determines whether or not an object OB has been detected (step S106). If an object OB has not been detected (NO in step S106), the controller 50 repeats the processing from step S101 onwards. On the other hand, if an object OB has been detected (YES in step S106), the controller 50 determines whether or not the object OB is in the stoppage restriction area AS (step S107). If the object OB is in the stoppage restriction area AS (YES in step S107), the controller 50 restricts the operation of the work machine 100 (step S108). Specifically, when the object OB is in the stoppage restriction area AS, the controller 50 may impose an operation restriction such that the work machine 100 does not travel even if the travel operation device 85 is operated to travel, or may impose an operation restriction such that the travel speed of the work machine 100 is limited to within a predetermined range. On the other hand, when the object OB is not in the stoppage restriction area AS (NO in step S107), the controller 50 does not restrict the operation of the work machine 100, and repeats the processing from step S101 onwards.

[0116] [Variations] Although the embodiments of the present disclosure have been described above, the present disclosure is not limited to the above-described embodiments and includes, for example, the following modified examples.

[0117] (A) A work machine control device 40 according to a first variant example of the present disclosure is a work machine control device 40 including a controller 50 for controlling a work machine 100 having a lower running body 1, an upper rotating body 2 rotatably supported on the lower running body 1, and a work implement 3 supported on the upper rotating body 2, wherein the controller 50 sets a travel-time restricted area AT for the work machine 100 including a travel direction restricted area AT1 adjacent to the travel direction D1 of the work machine 100, and when the travel direction D1 is shifted to the right or left relative to the running body direction DT, which is the orientation of the lower running body 1, the controller 50 expands the travel-time restricted area AT laterally compared to when the lower running body 1 moves straight ahead.

[0118] The work machine control device 40 according to this modified example 1 can improve safety while preventing a decrease in workability. In this modified example 1, the controller 50 is only required to set at least the travel direction restriction area AT1 in the travel-time restriction area AT, and is not necessarily required to set the opposite direction restriction area AT2.

[0119] (B) A work machine control device 40 according to a second modification of the present disclosure is a work machine control device 40 including a controller 50 for controlling a work machine 100 having a lower traveling body 1, an upper rotating body 2 rotatably supported on the lower traveling body 1, and a work implement 3 supported on the upper rotating body 2, wherein the controller 50 sets a travel-time restricted area AT for the work machine 100 that includes a travel direction restricted area AT1 adjacent to the travel direction D1 of the work machine 100, and changes a work implement restricted area AD of the travel-time restricted area AT according to the attitude of the work implement 3, for example as shown in Figures 10 to 12.

[0120] The work machine control device 40 according to this modified example 2 can improve safety while preventing a decrease in workability. In this modified example 2, the controller 50 is only required to set at least the travel direction restriction area AT1 in the travel-time restriction area AT, and is not necessarily required to set the opposite direction restriction area AT2.

[0121] (C) Work machine control devices In the embodiment, the work machine control device 40 is provided on the work machine 100, but the work machine control device in the present disclosure may also be provided on an external device located away from the work machine 100. In this case, the external device may be, for example, a remote control device for remotely controlling the work machine 100, an automatic driving device for automatically driving the work machine 100, or a management device for managing the work of the work machine 100.

[0122] (D) Operating device In the above embodiment, the operating device 80 is a device that is placed inside the cab 2B of the work machine 100 and operated by an operator, but it may also be a remotely operated device that is placed in a location away from the work machine 100 and operated by an operator.

[0123] (E) When an object is detected in the travel direction restriction area while the work machine is traveling and the operation of the work machine is restricted, causing the work machine to stop, and the work machine starts traveling from this stopped state in a moving away direction, which is a direction in which the work machine moves away from the object, the controller may change the travel direction restriction area to include an area offset from the work machine in the moving away direction, and may change the opposite direction restriction area to include an area offset from the work machine in the direction opposite to the moving away direction, but so as not to include the object.

[0124] (F) Periphery monitoring method The periphery monitoring method disclosed herein is a periphery monitoring method for monitoring the periphery of a work machine 100 that includes a lower traveling body 1, an upper rotating body 2 rotatably supported on the lower traveling body 1, and a work implement 3 supported on the upper rotating body 2, and includes a controller 50 setting, for the work machine 100, a travel-time restricted area AT that includes a travel direction restricted area AT1 adjacent to the travel direction D1 of the work machine 100 and an opposite direction restricted area AT2 that is adjacent to the work machine 100 in the opposite direction D2 to the travel direction D1 and is narrower than the travel direction restricted area AT1, and the controller 50 restricting the operation of the work machine 100 when an object is detected in the travel-time restricted area AT. According to this periphery monitoring method, a travel-time restricted area AT that includes the travel direction restricted area AT1 and the narrower opposite direction restricted area AT2 is set, making it possible to achieve both improved safety and suppression of a decrease in workability. [Explanation of symbols]

[0125] 1: Lower running body 20: Object information detector 30: Attitude information detector 40: Work machine control device 50: Controller 80: Operating device 85A: Right travel control 85B: Left travel controller 86: Operation information detector 100: Work machines AD: Work equipment restricted area AS: Stop limit area AS1: First restricted area AS2: Second restricted area AT: Limited driving range AT1: Travel direction restriction area AT2: Reverse direction restriction area AT11: Stop area in driving direction restricted area AT12: Deceleration area in driving direction restriction area AT3: Right restricted area in the lateral restricted area AT4: Left restricted area in the lateral restricted area D1: Direction of travel D2: Opposite direction of travel D11: First possible direction of travel when stopped D21: Second possible direction of travel when stopped Z: Rotation axis

Claims

1. A work machine control device including a controller for controlling a work machine including a lower traveling body, an upper rotating body rotatably supported on the lower traveling body, and a work implement supported on the upper rotating body, The controller a travel time restriction area is set that includes a travel direction restriction area adjacent to the work machine in the travel direction of the work machine, and an opposite direction restriction area that is adjacent to the work machine in the opposite direction to the travel direction and is narrower than the travel direction restriction area; A work machine control device that limits the operation of the work machine when an object is detected in the travel restriction area.

2. The controller When the work machine is stopped, a stop-time restriction area is set that includes a first restriction area that is adjacent to the work machine in a first travelable direction and is wider than the opposite direction restriction area, and a second restriction area that is adjacent to the work machine in a second travelable direction and is wider than the opposite direction restriction area, The work machine control device according to claim 1 , wherein the operation of the work machine is restricted when the work machine is stopped and an object is detected in the stop-time restriction area.

3. 3. The work machine control device according to claim 2, wherein, when the work machine starts traveling from a stopped state, the controller changes one of the first restricted area and the second restricted area to the traveling direction restricted area and changes the other of the first restricted area and the second restricted area to the opposite direction restricted area based on a traveling command operation received by a traveling operation device.

4. 2. The work machine control device according to claim 1, wherein the controller sets, as part of the traveling restriction area, lateral restriction areas that include a right restriction area adjacent to the work machine on the right and narrower than the traveling direction restriction area, and a left restriction area adjacent to the work machine on the left and narrower than the traveling direction restriction area.

5. The work machine control device according to claim 4 , wherein the controller expands the lateral restriction area when the traveling direction is deviated to the right or left with respect to the orientation of the undercarriage.

6. The work machine control device according to claim 5 , wherein the controller changes the size of the enlarged lateral restriction area in accordance with a swing angle of the upper swing body relative to the lower traveling body.

7. The work machine control device according to claim 1 , wherein the controller sets a work implement restricted area in accordance with the attitude of the work implement, and restricts the operation of the work machine when an object is detected in the work implement restricted area.

8. 2. The work machine control device according to claim 1, wherein, when the traveling direction is shifted to the right or left with respect to the orientation of the undercarriage, the controller sets the opposite direction restriction area to an area that includes an end of the undercarriage in a direction opposite to the traveling direction.

9. The work machine control device according to claim 1 , wherein the controller defines one or both of the outer edge of the travel direction restriction area and the outer edge of the opposite direction restriction area by an arc centered on the rotation center of the upper rotating body.

10. 2. The work machine control device according to claim 1, wherein the controller sets an outer region that is part of the travel direction restriction region and includes an outer edge of the travel direction restriction region as a deceleration region, and sets an inner region that is the remaining part of the travel direction restriction region and is closer to the center of rotation of the upper rotating body than the deceleration region as a stop region, and reduces the travel speed of the work machine when an object is detected in the deceleration region, and stops the travel of the work machine when an object is detected in the stop region.

11. The work machine control device according to claim 1 , wherein the controller changes the travel restriction area in accordance with the attitude of the work machine.

12. A work machine control device including a controller for controlling a work machine including a lower traveling body, an upper rotating body rotatably supported on the lower traveling body, and a work implement supported on the upper rotating body, The controller setting a travel time restriction area for the work machine, the travel time restriction area including a travel direction restriction area adjacent to the travel direction of the work machine; A work machine control device that changes the travel-time restriction area in accordance with the attitude of the work machine.

13. The lower traveling body; The upper rotating body; The working device; an object information detector that detects objects in the vicinity of the work machine; A work machine comprising: a work machine control device according to any one of claims 1 to 12.

14. 1. A periphery monitoring method for monitoring the periphery of a work machine including a lower traveling body, an upper rotating body rotatably supported on the lower traveling body, and a work implement supported on the upper rotating body, comprising: a controller sets a travel time restriction area including a travel direction restriction area adjacent to the work machine in the travel direction of the work machine, and an opposite direction restriction area adjacent to the work machine in the opposite direction to the travel direction and narrower than the travel direction restriction area; the controller restricting operation of the work machine when an object is detected in the travel restriction area.

Images