A working machine, a system for controlling a working machine, and a method

Abstract

This system allows the operator to recognize the control range set for a specific part of a work machine when that part is approaching a virtual wall. [Solution] The work machine comprises a controller and a display. The controller acquires the position of the work machine. The controller acquires the position of a virtual wall that indicates the boundary of an area where the work machine is prohibited from entering. Based on the position of the virtual wall and the position of the work machine, the controller displays a guide screen on the display that shows at least a specific part included in the work machine and the virtual wall. The controller acquires the position of the control range set for the specific part. The controller displays the control range on the guide screen.

Description

Technical Field

[0001] The present disclosure relates to a work machine, a system for controlling the work machine, and a method.

Background Art

[0002] A technique for setting a virtual wall in a space to limit the operating range of a work machine is known. A controller of the work machine sets a control range for a specific part of the work machine. For example, in Patent Document 1, the work machine includes a working implement having an attachment at a tip end thereof. A control device of the work machine sets a virtual sphere as a control range indicating the position of the attachment. The control device controls the work machine so as not to cross the virtual wall by executing intervention control that limits the operation of an actuator of the work machine according to the distance between the virtual wall and the virtual sphere.

Prior Art Literature

Patent Literature

[0003]

Patent Document 1

Summary of the Invention

Problem to be Solved by the Invention

[0004] On the other hand, a technique for displaying a guide screen indicating the position of a work machine on a display is known. In the above-described work machine, if the control range is not displayed on the guide screen, an operator of the work machine cannot recognize the control range. Therefore, the operator may feel uncomfortable when the intervention control is executed. For example, as described above, when a virtual sphere is set as the control range, the actual shape of the attachment is different from the virtual sphere. Therefore, the operator feels that the attachment has stopped before the virtual wall, and feels uncomfortable. An object of the present disclosure is to enable an operator to recognize a control range set for a specific part of a work machine when the specific part is approaching a virtual wall. [Means for solving the problem]

[0005] A working machine according to a first aspect of this disclosure comprises a controller and a display. The controller acquires the position of the working machine. The controller acquires the position of a virtual wall indicating the boundary of an area where the working machine is prohibited from entering. Based on the position of the virtual wall and the position of the working machine, the controller displays a guide screen on the display that shows at least a specific part included in the working machine and the virtual wall. The controller acquires the position of a control range set for the specific part. The controller displays the control range on the guide screen.

[0006] A system for controlling a work machine according to a second aspect of this disclosure comprises a controller and a display. The controller acquires the position of the work machine. The controller acquires the position of a virtual wall indicating the boundary of an area where the work machine is prohibited from entering. Based on the position of the virtual wall and the position of the work machine, the controller displays a guide screen on the display showing at least a specific part included in the work machine and the virtual wall. The controller acquires the position of a control range set for the specific part. The controller displays the control range on the guide screen.

[0007] A method for controlling a work machine according to a third aspect of this disclosure includes: acquiring the position of the work machine; acquiring the position of a virtual wall indicating the boundary of an area where the work machine is prohibited from entering; displaying a guide screen on a display that shows at least a specific part included in the work machine and the virtual wall based on the position of the virtual wall and the position of the work machine; acquiring the position of a control range set for the specific part; and displaying the control range on the guide screen. [Effects of the Invention]

[0008] According to this disclosure, when a specific part of a work machine is approaching a virtual wall, the operator can recognize the control range set for that specific part. [Brief explanation of the drawing]

[0009] [Figure 1] This is a side view of the work machine according to the embodiment. [Figure 2] This is a block diagram showing the configuration of a work machine and its control system. [Figure 3] This is a flowchart showing the intervention control process. [Figure 4] This is a flowchart showing the intervention control process. [Figure 5] This figure shows an example of a virtual wall. [Figure 6] This figure shows an example of a guide screen. [Figure 7] This figure shows an example of the control range when a specific part is a work attachment. [Figure 8] This figure shows a method for determining the radius of the control range. [Figure 9] This figure shows the first example of a guide screen during the execution of intervention control. [Figure 10] This figure shows a second example of the guide screen during the execution of intervention control. [Figure 11] This figure shows a third example of the guide screen during the execution of intervention control. [Figure 12] This figure shows a fourth example of the guide screen during the execution of intervention control. [Figure 13] This figure shows the guide screen during intervention control related to the first modified example. [Figure 14] This figure shows the guide screen during intervention control related to the second modified example. [Figure 15] This figure shows the guide screen during intervention control related to the third modified example. [Figure 16] This figure shows the guide screen during intervention control related to the fourth modified example. [Figure 17] This figure shows the guide screen during intervention control related to the fifth modified example. [Figure 18] This figure shows the guide screen during intervention control related to the sixth modified example. [Modes for carrying out the invention]

[0010] Hereinafter, a working machine according to an embodiment will be described with reference to the drawings. Figure 1 is a side view of the working machine 1. In the present embodiment, the working machine 1 is an excavator such as a hydraulic excavator or an electric excavator.

[0011] As shown in Figure 1, the working machine 1 includes a vehicle body 2 and a working implement 3. The vehicle body 2 includes a revolving superstructure 4 and a traveling undercarriage 5. The working implement 3 is attached to the revolving superstructure 4. The revolving superstructure 4 is pivotally supported with respect to the traveling undercarriage 5. The revolving superstructure 4 can revolve around a revolution center C1. A cab 6 and a counterweight 8 are arranged on the revolving superstructure 4. The traveling undercarriage 5 includes crawler belts 7. The working machine 1 travels when the crawler belts 7 are driven.

[0012] The working implement 3 is operably attached to the revolving superstructure 4. The working implement 3 includes a boom 11, an arm 12, and a work attachment 13. The boom 11 is operably attached to the revolving superstructure 4. The arm 12 is operably attached to the boom 11. The work attachment 13 is operably attached to the arm 12. The work attachment 13 is, for example, a bucket.

[0013] The working implement 3 includes a boom cylinder 14, an arm cylinder 15, and an attachment cylinder 16. The boom cylinder 14, the arm cylinder 15, and the attachment cylinder 16 are, for example, hydraulic cylinders. The boom cylinder 14 actuates the boom 11. The arm cylinder 15 actuates the arm 12. The attachment cylinder 16 is connected to the arm 12 and the work attachment 13 via a link 17. The attachment cylinder 16 actuates the work attachment 13.

[0014] Figure 2 is a block diagram showing the configuration of the work machine 1 and its control system. As shown in Figure 2, the work machine 1 includes a drive source 21, a hydraulic pump 22, and a controller 24. The drive source 21 is controlled by command signals from the controller 24. The drive source 21 is, for example, an internal combustion engine. Alternatively, the drive source 21 may include an electric motor or a hydrogen engine. The hydraulic pump 22 is driven by the drive source 21 and discharges hydraulic fluid. The hydraulic fluid discharged from the hydraulic pump 22 is supplied to the boom cylinder 14, the arm cylinder 15, and the attachment cylinder 16.

[0015] The work machine 1 includes a slewing motor 25. The slewing motor 25 is, for example, a hydraulic motor. The slewing motor 25 is driven by hydraulic fluid from a hydraulic pump 22. Alternatively, the slewing motor 25 may be an electric motor. The slewing motor 25 rotates the slewing body 4. Although one hydraulic pump is shown in Figure 2, multiple hydraulic pumps may be provided. The work machine 1 includes a travel motor 23. The travel motor 23 is, for example, a hydraulic motor. The travel motor 23 operates with hydraulic fluid discharged from the hydraulic pump 22. Alternatively, the travel motor 23 may be an electric motor. The operation of the travel motor 23 drives the tracks 7, causing the work machine 1 to move.

[0016] The hydraulic pump 22 is a variable displacement pump. A pump control device 26 is connected to the hydraulic pump 22. The pump control device 26 changes the capacity of the hydraulic pump 22. The pump control device 26 includes, for example, a solenoid valve and is controlled by command signals from the controller 24. The controller 24 controls the capacity of the hydraulic pump 22 by controlling the pump control device 26. Although one hydraulic pump is shown in Figure 2, multiple hydraulic pumps may be provided.

[0017] The work machine 1 includes a control valve 27. The hydraulic pump 22, cylinders 14-16, slewing motor 25, and travel motor 23 are connected by a hydraulic circuit via the control valve 27. The control valve 27 is controlled by command signals from the controller 24. The control valve 27 controls the flow rate of hydraulic fluid supplied from the hydraulic pump 22 to the cylinders 14-16, slewing motor 25, and travel motor 23. The controller 24 controls the operation of the work machine 3 by controlling the control valve 27. The controller 24 controls the slewing of the slewing body 4 by controlling the control valve 27. The controller 24 controls the travel of the travel body 5 by controlling the control valve 27. Note that the cylinders 14-16 are not limited to hydraulic cylinders, but may also be mechanical cylinders driven by electric motors.

[0018] The controller 24 includes a processor 31 such as a CPU and a storage device 32. The processor 31 performs processing for controlling the work machine 1. The storage device 32 includes memory such as RAM or ROM, and auxiliary storage such as an HDD (Hard Disk Drive) or SSD (Solid State Drive). The storage device 32 stores data and programs for controlling the work machine 1.

[0019] The control system includes an operating device 33, an input device 34, and a display 35. The operating device 33, the input device 34, and the display 35 are located inside the cab 6. The operating device 33 is operable by an operator. The operating device 33 includes a travel operating device 33A, a slewing operating device 33B, and a work implement operating device 33C.

[0020] The travel control device 33A is operable by an operator to manually control the forward and reverse movement of the work machine 1. The travel control device 33A includes, for example, a switch. However, the travel control device 33A may also include other components such as a lever. The travel control device 33A outputs an operation signal to the controller 24 in response to the operator's operation.

[0021] The slewing control device 33B is operable by an operator to manually control the slewing of the slewing body 4. The slewing control device 33B includes, for example, a lever. However, the slewing control device 33B may also include other components such as switches. The slewing control device 33B outputs an operation signal to the controller 24 in response to the operator's actions.

[0022] The work implement operating device 33C is operable by an operator to manually operate the work implement 3. The work implement operating device 33C includes, for example, a lever. However, the work implement operating device 33C may also include other components such as switches. The slewing operating device 33B outputs an operation signal to the controller 24 in response to the operator's operation. The slewing operating device 33B outputs operation signals to the controller 24 for the boom 11, the arm 12, and the work attachment 13, respectively, in response to the operator's operation.

[0023] The controller 24 controls the control valve 27 to move the work machine 1 in response to the operator's operation of the travel control device 33A. As a result, the work machine 1 moves in response to the operation of the travel control device 33A.

[0024] The controller 24 controls the control valve 27 to rotate the slewing body 4 relative to the traveling body 5 in response to the operator's operation of the slewing control device 33B. As a result, the slewing body 4 rotates clockwise or counterclockwise in response to the operation of the slewing control device 33B. The controller 24 also controls the control valve 27 to operate the work implement 3 in response to the operator's operation of the work implement control device 33C. As a result, the work implement 3 moves up and down in response to the operation of the work implement control device 33C.

[0025] The input device 34 is operable by the operator. The input device 34 is a touchscreen. However, the input device 34 may also include hardware keys. The operator inputs various settings related to the work machine 1 by operating the input device 34. The input device 34 outputs input signals in response to the operator's operations. The display 35 is, for example, an LCD, OLED, or another type of display. The display 35 displays a screen in response to display signals from the controller 24.

[0026] The control system includes a position sensor 36, an attitude sensor 37, a work machine sensor 38, and a slewing angle sensor 39. The position sensor 36 detects the position and orientation of the work machine 1. The position sensor 36 includes, for example, a GNSS (Global Navigation Satellite System) sensor. Specifically, the position sensor 36 detects the position and orientation of the slewing body 4. The position sensor 36 outputs position data indicating the position and orientation of the slewing body 4.

[0027] The attitude sensor 37 is attached to the slewing body 4. The attitude sensor 37 detects the attitude of the slewing body 4. The attitude of the slewing body 4 includes, for example, the yaw angle, pitch angle, and roll angle of the slewing body 4. The attitude sensor 37 is, for example, an IMU (Inertial Measurement Unit). The attitude sensor 37 outputs first attitude data indicating the attitude of the slewing body 4.

[0028] The work equipment sensor 38 detects the posture of the work equipment 3. The posture of the work equipment 3 includes the boom angle, arm angle, and attachment angle. The boom angle is the angle of the boom 11 relative to the slewing body 4. The arm angle is the angle of the arm 12 relative to the boom 11. The attachment angle is the angle of the work attachment 13 relative to the arm 12. The work equipment sensor 38 outputs second posture data indicating the boom angle, arm angle, and attachment angle. The work equipment sensor 38 may, for example, detect the stroke length of each cylinder 14-16, and the controller 24 may calculate the boom angle, arm angle, and attachment angle from the stroke length of each cylinder 14-16. Alternatively, the work equipment sensor 38 may be an angle sensor that directly detects the boom angle, arm angle, and attachment angle.

[0029] The turning angle sensor 39 detects the turning angle of the turning body 4 relative to the traveling body 5. The turning angle is zero, for example, when the directions of the traveling body 5 and the turning body 4 are aligned. The turning angle sensor 39 outputs turning angle data indicating the turning angle.

[0030] The controller 24 receives an operation signal from the operating device 33. The controller 24 receives an input signal from the input device 34. The controller 24 outputs a display signal to the display 35. The controller 24 receives position data from the position sensor 36. The controller 24 receives first posture data from the posture sensor 37. The controller 24 receives second posture data from the work equipment sensor 38. The controller 24 receives swivel angle data from the swivel angle sensor 39.

[0031] The controller 24 calculates the position and orientation of a predetermined part of the work machine 1 from the position data, first posture data, second posture data, and slewing angle data. For example, the controller 24 calculates the position and orientation of the traveling body 5 and the slewing body 4 based on the position data, first posture data, and slewing angle data. The controller 24 calculates the position and orientation of the work implement 3 based on the position data, first posture data, and second posture data. The position and orientation of the work implement 3 may also be directly detected by a position sensor attached to the work implement 3.

[0032] Next, intervention control of the work machine 1 will be described. Intervention control is a control that restricts the operation of the work machine 1 so that it does not cross the virtual wall 40 when the work machine 1 is about to cross the set virtual wall 40. Figures 3 and 4 are flowcharts of the intervention control process. As shown in Figure 3, in step S101, the controller 24 acquires operation signals. The controller 24 acquires operation signals from the travel operation device 33A, the slewing operation device 33B, and the work machine operation device 33C.

[0033] In step S102, the controller 24 acquires data from sensors 36-39. The controller 24 acquires position data, first posture data, second posture data, and swivel angle data from the position sensor 36, posture sensor 37, work machine sensor 38, and swivel angle sensor 39.

[0034] In step S103, the controller 24 acquires the position of the work machine 1. The controller 24 calculates the position and orientation of the traveling body 5, the position and orientation of the slewing body 4, and the position and orientation of the work machine 3 from the position data, the first posture data, the second posture data, and the slewing angle data.

[0035] In step S104, the controller 24 obtains the position of the virtual wall 40. The virtual wall 40 indicates the boundary of the area where the work machine 1 is prohibited from entering. The virtual wall 40 is set manually, for example, by the operator of the work machine 1 operating the input device 34. Alternatively, the controller 24 may obtain data indicating the position of the virtual wall 40 from an external computer. Figure 5 shows an example of the virtual wall 40. The virtual wall 40 may include a plane extending vertically. Alternatively, the virtual wall 40 may include a plane extending horizontally. Alternatively, the virtual wall 40 may be curved.

[0036] In step S105, the controller 24 displays the guide screen 41 on the display 35. Figure 6 shows an example of the guide screen 41. The guide screen 41 includes diagrams showing the work machine 1, the design surface 42, and the virtual wall 40. In the example guide screen shown in Figure 6, only the work attachment 13 of the work machine 1 is displayed.

[0037] The design surface 42 indicates the target terrain for excavation and other operations performed by the work machine 1. The design surface 42 is set manually, for example, by the operator of the work machine 1 operating the input device 34. Alternatively, the controller 24 may obtain data indicating the position of the design surface 42 from an external computer. Based on the position of the work machine 1, the position of the design surface 42, and the position of the virtual wall 40, the controller 24 displays the guide screen 41 on the display 35.

[0038] In step S106, the controller 24 obtains the position of the control range 43. The control range 43 is a range set for a specific part to determine whether that part of the work machine 1 is approaching the virtual wall 40. Figure 7 shows an example of the control range 43 when the specific part is the work attachment 13. To reduce the computational load on the controller 24, the control range 43 has a different shape from the specific part. As shown in Figure 7, in this embodiment, the control range 43 has a spherical shape centered on the attachment center C2. The attachment center C2 is the midpoint of the line segment connecting the arm top pin 18 and the cutting edge 19, and is located at the center of the work attachment 13 in the width direction. The arm top pin 18 is the connection part between the arm 12 and the work attachment 13.

[0039] Figure 8 shows a method for determining the radius R1 of the control range 43. As shown in Figure 8, the radius R1 of the control range 43 is the length of the longest line segment among the multiple line segments connecting the attachment center C2 to each of the multiple contour points P1-P12 of the work attachment 13. Note that only a portion of the multiple line segments are shown in Figure 8. The controller 24 stores the radius R1 of the control range 43 in advance. The controller 24 calculates the position of the control range 43 based on the position of the work machine 3 and the radius R1 of the control range 43.

[0040] In step S107, the controller 24 determines whether the proximity detection condition is met. The proximity detection condition indicates that the control range 43 is approaching the virtual wall 40. For example, the proximity detection condition includes that the minimum rotation angle of the rotating body 4 is less than or equal to a predetermined first angle threshold. The minimum rotation angle is the rotation angle of the rotating body 4 until the control range 43 contacts the virtual wall 40. Alternatively, the proximity detection condition may include that the minimum distance between the control range 43 and the virtual wall 40 is less than or equal to a predetermined first distance threshold. If the controller 24 determines that the proximity detection condition is met, the process proceeds to step S108.

[0041] In step S108, the controller 24 performs intervention control. In intervention control, the controller 24 controls the work machine 1 so that the control range 43 does not come into contact with the virtual wall 40. For example, if the slewing body 4 is slewing due to the operation of the slewing control device 33B by the operator, the controller 24 limits the slewing speed of the slewing body 4 in intervention control. The controller 24 refers to the speed limit information and determines the speed limit of the slewing body 4 from the minimum slewing angle. For example, the controller 24 stores the speed limit information. The speed limit information defines the relationship between the minimum slewing angle and the speed limit. The speed limit information defines a speed limit that decreases as the minimum slewing angle decreases. The controller 24 controls the slewing body 4 so that its slewing speed is less than or equal to the speed limit. Alternatively, the controller 24 may limit the slewing speed of the slewing body 4 by multiplying the target slewing speed of the slewing body 4, which corresponds to the amount of operation of the slewing control device 33B, by a reduction rate corresponding to the minimum slewing angle.

[0042] When the work implement 3 is operating due to the work implement operating device 33C being operated by an operator, the controller 24 limits the operating speed of the work implement 3 in intervention control. The controller 24 determines the limit speed of the work implement 3 from the minimum distance between the control range 43 and the virtual wall 40. For example, the controller 24 stores limit speed information. The limit speed information defines the relationship between the minimum distance between the control range 43 and the virtual wall 40 and the limit speed. The limit speed information defines a limit speed that decreases as the minimum distance between the control range 43 and the virtual wall 40 decreases. The controller 24 controls the work implement 3 so that its operating speed is less than or equal to the limit speed. Alternatively, the controller 24 may limit the operating speed of the work implement 3 by multiplying the target operating speed of the work implement 3, which corresponds to the amount of operation of the work implement operating device 33C, by a reduction rate corresponding to the minimum distance between the control range 43 and the virtual wall 40.

[0043] Although a detailed explanation will be omitted, even when the travel control device 33A is being operated, the controller 24 controls the travel body 5 in intervention control to limit the travel speed of the work machine 1, in the same manner as described above.

[0044] In step S107, if the controller 24 determines that the proximity determination condition is not met, it does not perform intervention control. In that case, the controller 24 controls the vehicle 5 at a target travel speed corresponding to the amount of operation of the travel control device 33A. The controller 24 controls the slewing body 4 at a target slewing speed corresponding to the amount of operation of the slewing control device 33B. The controller 24 controls the work implement 3 at a target operating speed corresponding to the amount of operation of the work implement control device 33C.

[0045] In step S109, the controller 24 displays the control range 43 on the guide screen 41 while performing intervention control. That is, the controller 24 displays the control range 43 on the guide screen 41 when the proximity determination condition is met. Figure 9 shows a first example of the guide screen 41 during the execution of intervention control. As shown in Figure 9, the controller 24 displays a diagram on the guide screen 41 showing the position and shape of the control range 43. The controller 24 also displays a proximity warning display 44 on the guide screen 41. The proximity warning display 44 includes a message that warns the operator of the work machine 1 that the control range 43 is approaching the virtual wall 40, and the name of the specific part that is approaching the virtual wall 40.

[0046] Figure 10 shows a second example of the guide screen 41 during the execution of intervention control. In Figure 9 described above, the guide screen 41 shows a side view of the work attachment 13. However, as shown in Figure 10, the guide screen 41 may also show a front view or a rear view of the work attachment 13.

[0047] Figure 11 shows a third example of the guide screen 41 during intervention control. As shown in Figure 11, the entire work machine 1 may be shown on the guide screen 41. Figure 12 shows a fourth example of the guide screen 41 during intervention control. In Figure 11 described above, a side view of the work machine 1 is shown on the guide screen 41. However, as shown in Figure 12, a top view of the work machine 1 may be shown on the guide screen 41. Alternatively, a front view or a rear view of the work machine 1 may be shown on the guide screen 41.

[0048] The guide screens 41 in the first to fourth examples may be manually switched by the operator using the input device 34. Alternatively, the guide screens 41 in the first to fourth examples may be automatically switched by the controller 24. Alternatively, multiple guide screens 41 from the first to fourth examples may be displayed simultaneously.

[0049] In step S107 described above, if the determination condition is not met, the controller 24 hides the control range 43 on the guide screen 41. In other words, the controller 24 hides the control range 43 on the guide screen 41 when intervention control is not being performed.

[0050] During the execution of intervention control, the controller 24 determines in step S110 whether the release condition is met, as shown in Figure 4. The release condition indicates that the control range 43 is away from the virtual wall 40. For example, the release condition includes the minimum rotation angle of the rotating body 4 being greater than a predetermined second angle threshold. The second angle threshold may be the same as or different from the first angle threshold. Alternatively, the release condition may include the minimum distance between the control range 43 and the virtual wall 40 being greater than a predetermined second distance threshold. The second distance threshold may be the same as or different from the first distance threshold.

[0051] In step S110, if the controller 24 determines that the release condition is met, the process proceeds to step S111. In step S111, the controller 24 terminates the intervention control. Also, in step S112, the controller 24 removes the control range 43 from the guide screen 41. In step S110, if the controller 24 determines that the release condition is not met, the intervention control continues.

[0052] In the work machine 1 according to this embodiment described above, the control range 43 is displayed on the guide screen 41 when the proximity detection condition is met. This allows the operator to recognize the control range 43 set for a specific part of the work machine 1 when that part is approaching the virtual wall 40.

[0053] Although one embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and various modifications are possible without departing from the spirit of the invention.

[0054] The work machine 1 is not limited to an excavator; it may be other machines such as a bulldozer, wheel loader, or grader. The work machine 1 may be operable remotely. The operating device 33, input device 34, and display 35 may be located outside the work machine 1. Some of the intervention control processing described above may be performed by a controller outside the work machine 1. The intervention control processing may be distributed and performed across multiple controllers.

[0055] The specified part is not limited to the work attachment 13, but may be any other part of the work machine 1. The specified part may also be included in the running body 5. For example, the specified part may be included in the track 7. Figure 13 shows the guide screen 41 during intervention control according to the first modified example. As shown in Figure 13, in the first modified example, the specified part is the rear end of the left track 7. Alternatively, the specified part may be the front end of the left track 7. Figure 14 shows the guide screen 41 during intervention control according to the second modified example. As shown in Figure 14, in the second modified example, the specified part is the front end of the right track 7. Alternatively, the specified part may be the rear end of the right track 7.

[0056] The specific part may be included in the rotating body 4. For example, the specific part may be included in the counterweight 8. Figure 15 shows the guide screen 41 during intervention control according to the third modified example. As shown in Figure 15, in the third modified example, the specific part is the center of the counterweight 8 in the left-right direction. Figure 16 shows the guide screen 41 during intervention control according to the fourth modified example. As shown in Figure 16, in the fourth modified example, the specific part is the right end of the counterweight 8. Alternatively, the specific part may be the left end of the counterweight 8.

[0057] The specified part may be a part of the work machine 3 other than the work attachment 13. Figure 17 shows the guide screen 41 during intervention control according to the fifth modified example. As shown in Figure 17, in the fifth modified example, the specified part is the arm boss 51. The arm boss 51 is the part of the arm 12 to which the link 17 (see Figure 1) for attaching the attachment cylinder 16 is attached.

[0058] Figure 18 shows the guide screen 41 during intervention control related to the sixth modified example. As shown in Figure 18, in the sixth modified example, the specific part is the boom top pin 52. The boom top pin 52 is the connection part between the boom 11 and the arm 12.

[0059] The controller 24 may determine whether each of the above-mentioned specific body parts is approaching the virtual wall 40. The controller 24 may perform intervention control if it determines that at least one of the above-mentioned specific body parts is approaching the virtual wall 40.

[0060] The shape of the control range 43 is not limited to a spherical shape as in the above embodiment, and may be changed. For example, as shown in Figures 13 to 16, the control range 43 may be a point. Alternatively, the control range 43 may be a polygon such as a quadrilateral or triangle, or an ellipse.

[0061] The conditions for executing intervention control and the conditions for displaying the control range 43 on the guide screen 41 may be different. For example, the controller 24 may execute intervention control when the first proximity detection condition is met and display the control range 43 on the guide screen 41 when the second proximity detection condition is met. Also, the conditions for ending intervention control and the conditions for removing the control range 43 from the guide screen 41 may be different. For example, the controller 24 may end intervention control when the first release condition is met and remove the control range 43 from the guide screen 41 when the second release condition is met. [Industrial applicability]

[0062] According to this disclosure, when a specific part of a work machine is approaching a virtual wall, the operator can recognize the control range set for that specific part. [Explanation of Symbols]

[0063] 1: Work machine, 2: Vehicle body, 3: Work machine, 4: Rotating body, 5: Traveling body, 24: Controller, 35: Display, 40: Virtual wall, 41: Guide screen, 43: Control range

Claims

1. It is a work machine, Controller and The display and Equipped with, The aforementioned controller, The position of the aforementioned work machine is obtained, The position of a virtual wall indicating the boundary of the area where the aforementioned work machine is prohibited from entering is obtained. Based on the position of the virtual wall and the position of the work machine, a guide screen showing at least a specific part included in the work machine and the virtual wall is displayed on the display. The position of the control range set for the aforementioned specific portion is obtained, The control range is displayed on the guide screen. A type of machinery used for industrial work.

2. The controller displays the control range on the guide screen when the determination condition indicating that the control range is approaching the virtual wall is met. The work machine according to claim 1.

3. If the determination condition is not met, the controller will hide the control range on the guide screen. The working machine according to claim 2.

4. The aforementioned controller, If the above determination condition is met, intervention control is performed to control the work machine so that the control range does not come into contact with the virtual wall. During the execution of the intervention control, the control range is displayed on the guide screen. The working machine according to claim 2.

5. The controller hides the control range on the guide screen when the intervention control is not being performed. The work machine according to claim 4.

6. The car body and, A work machine operably mounted on the vehicle body, Furthermore, The aforementioned specific part is included in the work machine, The work machine according to claim 1.

7. The vehicle and A slewing body supported by the aforementioned traveling body so as to be rotatable, Furthermore, The aforementioned specific part is included in the rotating body, The work machine according to claim 1.

8. After displaying the control range on the guide screen, the controller removes the control range from the guide screen when a release condition is met, which includes the distance between the control range and the virtual wall being greater than a second distance threshold. The working machine according to claim 2.

9. The control range has a shape different from the specific portion. The work machine according to claim 1.

10. The control range is spherical. The working machine according to claim 9.

11. The control range is point-shaped. The working machine according to claim 9.

12. A system for controlling working machinery, Controller and The display and Equipped with, The aforementioned controller, The position of the aforementioned work machine is obtained, The position of a virtual wall indicating the boundary of the area where the aforementioned work machine is prohibited from entering is obtained. Based on the position of the virtual wall and the position of the work machine, a guide screen showing at least a specific part included in the work machine and the virtual wall is displayed on the display. The position of the control range set for the aforementioned specific portion is obtained, The control range is displayed on the guide screen. system.

13. The controller displays the control range on the guide screen when the determination condition indicating that the control range is approaching the virtual wall is met. The system according to claim 12.

14. If the determination condition is not met, the controller will hide the control range on the guide screen. The system according to claim 13.

15. The aforementioned controller, If the above determination condition is met, intervention control is performed to control the work machine so that the control range does not come into contact with the virtual wall. During the execution of the intervention control, the control range is displayed on the guide screen. The system according to claim 13.

16. The controller hides the control range on the guide screen when the intervention control is not being performed. The system according to claim 15.

17. After displaying the control range on the guide screen, the controller removes the control range from the guide screen when a release condition is met, which includes the distance between the control range and the virtual wall being greater than a second distance threshold. The system according to claim 13.

18. A method for controlling a work machine, To obtain the position of the aforementioned work machine, Obtain the position of a virtual wall that indicates the boundary of the area where the aforementioned work machine is prohibited from entering, Based on the position of the virtual wall and the position of the work machine, a guide screen showing at least a specific part included in the work machine and the virtual wall is displayed on the display, To obtain the position of the control range set for the aforementioned specific part, The control range is displayed on the guide screen. A method for providing this.

19. When the determination condition indicating that the control range is approaching the virtual wall is met, the control range is displayed on the guide screen. The method according to claim 18, comprising:

20. If the aforementioned determination condition is not met, the control range is further hidden from the guide screen. The method according to claim 19.

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