Work machinery

Abstract

To provide a work machine reduced in an operator's load when releasing an operation limit of the work machine.SOLUTION: A work machine (10) comprises periphery monitoring cameras (20LB, 20RB, 20RF) as periphery monitoring sensors, receivers (23LB, 23RB, 23RF), a controller (110), a cab (13), and limit releasing switches (22LB, 22RB, 22RF) receiving a limit releasing operation. The controller performs operation limit of the work machine on the basis of a detection result of the periphery monitoring sensors (S04), determines that an object detected on the basis of identification information of a co-worker received by the receivers is a co-worker registered in advance (S05:Yes), and when the limit releasing switches are operated (S06:Yes), releases the operation limit (S07).SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to a work machine, and more particularly to a work machine having a function for releasing operational restrictions after an object is detected. [Background technology]

[0002] Hydraulic excavators and other work machines are equipped with a device that detects objects (including co-workers) within the work area of ​​the work machine and restricts the operation of the work machine in order to prevent the work machine from coming into contact with the detected object when the work machine is turning or traveling. This restricted state of operation can be released by the operator of the work machine operating a switch in the cab after confirming that the detected object is safe, and the machine will return to normal operation (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2018 / 105527 Summary of the Invention [Problem to be solved by the invention]

[0004] The operator can confirm safety when releasing the operation restrictions of the work machine by visually checking the camera image on the monitor installed in the cab, but since the co-worker continues to work on the spot, the co-worker remains visible in the camera image. Because the operator cannot determine whether the co-worker is aware that the operation restrictions have been released just by looking at the camera image, he or she must leave the cab and go to the location where the co-worker is located to confirm that the co-worker is aware that the operation restrictions will be released. This creates the problem of the operator having to spend a lot of time and effort on safety confirmation work.

[0005] Furthermore, after the restriction is lifted, the object detection function stops, which means that newly appearing objects (including people) will no longer be detected.

[0006] The present invention has been made in view of the above-mentioned problems, and has an object to provide a work machine that can reduce the burden on the operator when releasing operational restrictions on the work machine. [Means for solving the problem]

[0007] In order to solve the above problems, the present invention has the configurations described in the claims. For example, the present invention provides a working machine including a vehicle body including a running body and an upper rotating body rotatably mounted on the running body, a cab mounted on the upper rotating body and on which an operator sits, a front working implement connected to the front of the vehicle body so as to be able to be tilted up and down, and an actuator for operating the running body, the upper rotating body, and the front working implement, the working machine further comprising a perimeter monitoring sensor for detecting objects present within a working range around the vehicle body, a receiver for receiving identification information for uniquely identifying a co-worker transmitted from a mobile terminal carried by the co-worker, and a control unit for controlling the actuator. The system includes a controller that controls operation restriction and restriction release, and a restriction release switch that accepts a restriction release operation, the restriction release switch being provided outside the cab of the upper rotating body, and when the perimeter monitoring sensor detects the presence of an object within the working range, the controller stops or slows down the operation of the actuator to restrict the operation, and when the limit release switch accepts the restriction release operation and determines that the detected object is a pre-registered co-worker based on the identification information received by the receiver, the controller performs control to release the operation restriction. stomach , When a pre-registered co-worker is detected by the periphery monitoring sensor after the control for releasing the operation restriction of the actuator is performed by the restriction release switch, if the co-worker detected by the periphery monitoring sensor is the co-worker who operated the restriction release switch, the operation restriction is not executed, and if the co-worker detected by the periphery monitoring sensor is different from the co-worker who operated the restriction release switch, the operation restriction is executed. It is characterized by: [Effects of the Invention]

[0008] According to the present invention, it is possible to provide a work machine that can reduce the burden on the operator when releasing operational restrictions on the work machine. Objects, configurations, and effects other than those described above will become apparent from the description of the following embodiments. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a top view showing the configuration of a hydraulic excavator. [Figure 2] Left side view of the hydraulic excavator. [Figure 3] FIG. 1 is a block diagram showing a hardware configuration of a hydraulic excavator according to a first embodiment. [Figure 4] FIG. 2 is a block diagram showing the functional configuration of a controller according to the first embodiment. [Figure 5] 3 is a flowchart showing the flow of processing in the operation restriction release system according to the first embodiment. [Figure 6] FIG. 10 is a block diagram of a hydraulic excavator according to another example of the first embodiment (re-detection after restriction release). [Figure 7] 10 is a flowchart showing the flow of processing of an operation restriction release system according to another example of the first embodiment (re-detection after restriction release); [Figure 8] FIG. 10 is a block diagram of a hydraulic excavator according to another example of the first embodiment (operator's approval action for releasing restrictions). [Figure 9] FIG. 10 is a block diagram showing the hardware configuration of a hydraulic excavator according to a second embodiment. [Figure 10] FIG. 10 is a block diagram showing the functional configuration of a controller according to a second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In all drawings for explaining the embodiments, components having the same functions are designated by the same or related reference numerals, and repeated description thereof will be omitted.

[0011] The appearance of the hydraulic excavator 10 will be described with reference to Figures 1 and 2. Figure 1 is a top view showing the configuration of the hydraulic excavator 10. Figure 2 is a left side view of the hydraulic excavator 10.

[0012] The hydraulic excavator 10 includes a left crawler 11L, a right crawler 11R (corresponding to running bodies), an upper rotating body 12 that is rotatably supported on the running bodies via a rotating mechanism, a cab 13 attached to the upper rotating body 12, and a front working implement that is connected to the upper rotating body 12 so that it can be tilted up and down. The running bodies and the upper rotating body 12 are sometimes collectively referred to as a vehicle body.

[0013] The front working implement includes a boom 14 supported on the upper rotating body 12 so as to be freely raised and lowered, an arm 15 (see FIG. 2) supported on the boom 14 so as to be freely swingable up and down, and a bucket 16 supported on the arm 15 so as to be freely rotatable.

[0014] In addition, actuators 106 (see FIG. 3) such as hydraulic motors and hydraulic cylinders are provided to perform forward and backward movements using the traveling body, rotation of the upper rotating body 12, and elevation, swing, and rotation movements of the boom 14, arm 15, and bucket 16. The hydraulic motor is provided for rotation movements and the like, and the hydraulic cylinder is provided for elevation, swing, and rotation movements of the boom 14 and the like. Note that although a hydraulic system is assumed here, this is not restrictive and an electric system such as an electric motor or linear actuator may also be used.

[0015] The hydraulic excavator 10 is equipped with a peripheral monitoring sensor that detects objects present within the working area around the vehicle body, a receiver that receives identification information 32 for uniquely identifying a co-worker 30, which is transmitted from a mobile terminal 31 carried by the co-worker, and a limit release switch that accepts a limit release operation.

[0016] In this embodiment, the left rear perimeter monitoring camera 20LB, the right rear perimeter monitoring camera 20RB, and the right front perimeter monitoring camera 20RF are used as perimeter monitoring sensors, but other object detection means such as ultrasonic sensors and LiDAR may be used instead of the monitoring cameras.

[0017] The restriction release switch may be configured as a hard button installed on the vehicle body, or may be configured to allow restriction release to be input by voice input as will be explained in a modified example below.

[0018] In this embodiment, a left rear restriction release switch 22LB, a right rear restriction release switch 22RB, and a right front restriction release switch 22RF are used as the restriction release switches.

[0019] The receiver receives radio waves emitted by a mobile terminal 31 carried by a co-worker 30. The mobile terminal 31 transmits radio waves including identification information that uniquely identifies the co-worker 30. The identification information 32 may be identification information that uniquely identifies the mobile terminal 31, such as the frequency of the transmitted radio waves or a MAC address, and may identify the co-worker 30 by linking the mobile terminal 31 with the co-worker 30 who carries it, or it may be identification information that uniquely identifies the co-worker 30, such as a name or a worker number uniquely assigned to the co-worker, and a packet including this information may be transmitted.

[0020] In this embodiment, a left rear receiver 23LB, a right rear receiver 23RB, and a right front receiver 23RF are used as receivers.

[0021] The left rear perimeter monitoring camera 20LB, the right rear perimeter monitoring camera 20RB, and the right front perimeter monitoring camera 20RF may have the same configuration, but are named differently depending on their locations. Therefore, when there is no need to specifically explain where they are located, they may be simply referred to as perimeter monitoring cameras. The same applies to the restriction release switch and receiver.

[0022] The left rear periphery monitoring camera 20LB and the left rear receiver 23LB are disposed on the upper left rear side of the upper rotating body 12. The imaging area of ​​the left rear periphery monitoring camera 20LB is indicated by the reference symbol 21LB.

[0023] The left rear limit release switch 22LB is disposed at a position on the left rear side surface of the upper rotating body 12 where the co-worker operating the left rear limit release switch 22LB is included in the imaging area 21LB. This allows the co-worker operating the left rear limit release switch 22LB to be captured in the camera image captured by the left rear periphery monitoring camera 20LB, making it easier for the operator to check using the camera image.

[0024] The right rear periphery monitoring camera 20RB and the right rear receiver 23RB are disposed on the upper right rear side of the upper swing structure 12. The imaging area of ​​the right rear periphery monitoring camera 20RB is indicated by the reference symbol 21RB.

[0025] The right rear limit release switch 22RB is disposed on the right rear side surface of the upper swing structure 12 at a position where the co-worker operating the right rear limit release switch 22RB is included in the imaging area 21RB.

[0026] The right front periphery monitoring camera 20RF and the right front receiver 23RF are disposed on the upper right front side of the upper rotating body 12. The imaging area of ​​the right front periphery monitoring camera 20RF is indicated by the reference symbol 21RF.

[0027] The right front restriction release switch 22RF is disposed on the right front side surface of the upper swing structure 12 at a position where the co-worker operating the right front restriction release switch 22RF is included in the imaging area 21RF.

[0028] The cab 13 is provided with operation levers 101 (see FIG. 3) including a right lever and a left lever. Operating the right lever back and forth inputs an instruction to lower or raise the boom 14, operating it left and right inputs an instruction to lower or raise the bucket 16, operating the left lever back and forth inputs an instruction to push out or retract the arm 15, and operating it left and right inputs an instruction to rotate the upper rotating body 12 left or right.

[0029] The cab 13 is also provided with a display device 120 .

[0030] The hardware of the hydraulic excavator 10 will be described with reference to Fig. 3. Fig. 3 is a block diagram showing the hardware configuration of the hydraulic excavator 10 according to the first embodiment.

[0031] The hydraulic excavator 10 includes an operating lever 101, a pilot pump 102, a main pump (hydraulic pump) 103, a solenoid proportional valve 104, a control valve 105, an actuator 106, an engine 107, a flow path 108, and a controller 110. For ease of explanation, one solenoid proportional valve 104, one control valve 105, and one actuator 106 are shown, but in reality, multiple systems may be provided. The control valve 105 is provided on the flow path 108 that supplies pressure oil from the main pump 103 to the actuator 106.

[0032] The controller 110 includes a processor 111 consisting of a CPU (Central Processing Unit) or the like, a RAM (Random Access Memory) 112, a ROM (Read Only Memory) 113, a storage device 114, an input I / F 115, and an output I / F 116, which are connected to each other via a bus 117.

[0033] The storage device 114 may be any device capable of storing data in a non-volatile manner, and may be any type such as a hard disk drive (HDD) or a solid state drive (SSD).

[0034] An operation signal is input to the input I / F 115 from the operating lever 101. The operation signal from the potentiometer, which converts the signal into an electric signal corresponding to the amount of operation of the operating lever 101 and outputs it, drives the electromagnetic proportional valve 104 via the controller 110, and the pilot pressure output from this electromagnetic proportional valve 104 drives the control valve 105 to operate the actuator 106. The pilot pump 102 discharges pressure oil to the electromagnetic proportional valve 104, and the main pump 103 discharges pressure oil to the control valve 105.

[0035] The input I / F 115 is also connected to a left rear periphery monitoring camera 20LB, a right rear periphery monitoring camera 20RB, and a right front periphery monitoring camera 20RF, and acquires camera images from each periphery monitoring camera.

[0036] Furthermore, the input I / F 115 is connected to a left rear receiver 23LB, a right rear receiver 23RB, and a right front receiver 23RF, and acquires identification information from each receiver.

[0037] The input I / F 115 is also connected to a left rear limit release switch 22LB, a right rear limit release switch 22RB, and a right front limit release switch 22RF, and receives operation signals from each limit release switch.

[0038] A display device 120 is connected to the output I / F 116 and displays images captured by the left rear periphery monitoring camera 20LB, the right rear periphery monitoring camera 20RB, and the right front periphery monitoring camera 20RF.

[0039] In addition, the output I / F 116 is connected to an electromagnetic proportional valve 104, and if, as a result of object detection, the swing, forward, or backward movement of the hydraulic excavator 10 is stopped or the movement is slowed down, a close signal is output to the electromagnetic proportional valve 104.

[0040] FIG. 4 is a block diagram showing the functional configuration of the controller 110 according to the first embodiment.

[0041] The processor 111 executes the functions of each of the object detection unit 141, the display control unit 142, the operation restriction unit 143, the restriction removal unit 144, and the operation signal conversion unit 146. These units are realized by the processor 111 loading an operation restriction removal program into the RAM 112 and executing it.

[0042] The storage device 114 also includes an identification information storage unit 145 that stores the identification information 32 of the co-workers 30 .

[0043] First Embodiment FIG. 5 is a flowchart showing the flow of processing in the operation restriction release system according to the first embodiment.

[0044] When the main power of the controller 110 of the hydraulic excavator 10 is turned on and processing of the operation restriction release system starts, the object detection unit 141 acquires camera images from all surrounding monitoring cameras (S01). The display control unit 142 displays the acquired camera images on the display device 120.

[0045] The object detection unit 141 executes a subject detection process on the camera images and an object detection process on the detected subject. If the object detection unit 141 determines that an object that will obstruct work has been captured in at least one camera image (S02: Yes), the operation restriction unit 143 determines whether operation of the hydraulic excavator 10 is restricted. If no obstructing object has been captured in any of the camera images from the peripheral monitoring cameras (S02: No), the process proceeds to a step of determining whether the operation restriction release process has been terminated (S08).

[0046] If no operation restriction is being applied (S03: No), the operation restriction unit 143 outputs an operation restriction signal to the operation signal conversion unit 146.

[0047] When no operation restriction is imposed, the operation signal conversion unit 146 outputs the operation signal from the operation lever 101 to the solenoid proportional valve 104 as is without converting it. On the other hand, when the operation signal conversion unit 146 acquires an operation restriction signal, it invalidates the operation signal from the operation lever 101 until it acquires a restriction release signal from the restriction release unit 144, i.e., it does not output the operation signal to the solenoid proportional valve 104, or it performs conversion processing on the operation signal so as to slow down the operation speed, and outputs the converted operation signal to the solenoid proportional valve 104. As a result, when the operation restriction is imposed, the actuator does not operate even if the operation lever 101 is operated, or it is operated at a slowed operation speed, thereby realizing the operation restriction (S04).

[0048] If the operation is restricted (S03: Yes), or following step S04, the restriction release unit 144 determines whether the detected object is a pre-registered co-worker 30 (S05). The restriction release unit 144 compares the identification information stored in the identification information storage unit 145 with the identification information 32 received by the left rear receiver 23LB, the right rear receiver 23RB, and the right front receiver 23RF, and determines whether the co-worker 30 is a pre-registered co-worker 30.

[0049] If the detected co-worker is a pre-registered co-worker 30 (S05: Yes), and the limit release switch provided near the perimeter monitoring camera that detected the co-worker 30, among the left rear limit release switch 22LB, the right rear limit release switch 22RB, and the right front limit release switch 22RF, is operated (S06: Yes), the limit release unit 144 outputs a limit release signal to the operation signal conversion unit 146. The operation signal conversion unit 146 releases the operation limit signal, and thereafter outputs the operation signal from the operation lever 101 to the solenoid proportional valve 104 without conversion. This releases the operation limit (S07).

[0050] If the detected person is not a pre-registered co-worker (S05: No), if the restriction release switch is not operated (S06: No), or after the operation restriction is released (S07), the process proceeds to the operation restriction release process termination determination. If the operation restriction release process is to be continued (S08: No), the process returns to step S01 and continues. If the operation restriction release system is to be terminated (S08: Yes), the process ends.

[0051] According to this embodiment, when the perimeter monitoring sensor detects an object, the operation of the work machine is temporarily restricted to ensure safety. It is then determined whether the detected object is a pre-registered co-worker, and the operation restriction is released when the registered co-worker operates a restriction release switch located outside the cab of the work machine. This allows the operator to determine, without leaving the cab, that the co-worker is aware that the operation restriction has been released.

[0052] (If there are multiple collaborators) In the first embodiment, when there are multiple co-workers, the identification information storage unit 145 stores the identification information of all the co-workers.

[0053] Then, in step S06, the restriction release unit 144 may be configured to release the operation restrictions from all of the pre-registered co-workers if the number of times the restriction release switch has been operated is equal to the total number of co-workers and the receiver receives the identification information 32 of all of the co-workers when the restriction release switch is operated.

[0054] (Re-detection after restriction is lifted) In the first embodiment, the perimeter monitoring sensor may be configured so that, when it detects again the co-worker who operated the restriction release switch, it does not transmit a detection signal to the operation restriction unit 143. Fig. 6 is a block diagram of a hydraulic excavator 10a according to another example of the first embodiment.

[0055] As shown in FIG. 6, the object detection unit 141 acquires the determination result of the restriction release unit 144 that the restriction should be released, and the identification information 32 received by the left rear receiver 23LB, the left rear receiver 23LB, and the left rear receiver 23LB.

[0056] Fig. 7 is a flowchart showing the processing flow of an operation restriction release system according to another example of the first embodiment. In Fig. 7, the processing flow differs before and after the operation restriction is released. In Fig. 7, the same steps as in Fig. 5 are assigned the same reference numerals, and duplicated explanations will be omitted.

[0057] When the perimeter monitoring sensor detects an object for the first time without imposing any movement restrictions (S02: Yes), the movement restrictions are implemented (S04) without determining whether or not the movement restrictions are in effect in step S03. After that, the same processes as in Fig. 5 are carried out up to step S08.

[0058] If the process does not end in step S08 (S08: No), the object detection process after the restriction is lifted starts. Camera images are acquired again from all peripheral monitoring cameras (S01a). If at least one peripheral monitoring camera detects an object (S02a: Yes), the object detection unit 141 queries the restriction lifting unit 144 for identification information. The restriction lifting unit 144 compares the identification information 32 being received by the receiver with the identification information stored in the identification information storage unit 145 (S09), and outputs the comparison result to the object detection unit 141.

[0059] If the comparison result is a match, the object detection unit 141 determines that the detected person is a co-worker who has already operated the restriction release switch (S09: Yes), and proceeds to determine the end of the movement restriction release process without outputting a detection signal from the object detection unit 141 to the movement restriction unit 143 indicating that an object has been detected (S08).

[0060] If none of the peripheral monitoring cameras has captured an image of an obstructing object in step S02a (step S02a: No), the process also proceeds to a step of determining whether or not to terminate the operation restriction release process (S08).

[0061] On the other hand, if the comparison result is a mismatch, the object detection unit 141 determines that the detected person is not a co-worker who has already operated the restriction release switch (S09: No), and a detection signal is output from the object detection unit 141 to the movement restriction unit 143, and movement restriction is performed (S04).

[0062] On the other hand, if the detected person is not a co-worker who has already operated the restriction release switch (S09: No), the object detection unit 141 outputs a detection signal indicating that an object has been detected to the movement restriction unit 143, and movement restriction is executed (S04).

[0063] According to the other examples shown in Figures 6 and 7 above, even if the co-worker who operated the restriction release switch is detected again, movement is prevented from being restricted again, and if an object (including a new co-worker) different from the co-worker who operated the restriction release switch is detected, movement is restricted to ensure safety.

[0064] (Removing restrictions by voice input) The restriction release switch may be configured using a voice recognition device instead of a hard button. When configured using a voice recognition device, a microphone is provided on the vehicle body instead of the restriction release switch consisting of a hard button, and voice recognition processing is performed on the voice collected by the microphone to determine whether the spoken content is a word indicating restriction release. The word indicating restriction release may be a predetermined hot word. The voice recognition processing may be performed by the restriction release unit, or a separate processor for voice recognition processing may be provided.

[0065] If the limit release switch is configured as a hard button, the co-worker must approach the side of the work machine and operate the hard button, but if it is voice input, the co-worker can simply speak the words indicating that the limit should be released from where he is working, so there is no need to interrupt his work to release the limit.

[0066] (Operator approval action to remove restrictions) The configuration may be such that, after the co-worker operates the restriction release switch, the operation restriction is not released unless the operator performs some operation in the cab 13 to approve the restriction release. Fig. 8 is a block diagram of a hydraulic excavator according to another example of the first embodiment.

[0067] As an example of the restriction removal approval device, a touch panel 121 may be stacked on the display device 120.

[0068] Then, the restriction release unit 144 determines that the detected person is a pre-registered co-worker (S05 in FIG. 5: Yes), and when all pre-registered co-workers operate the restriction release switch, it outputs the determination result to the display control unit 142. In response to this, the display control unit 142 displays an approval button on the display device 120 together with an approval message such as "Do you want to release the restriction?" When the operator touches the approval button, the result is determined to be affirmative (Yes) in step S06, and the operation restriction unit 143 outputs a restriction release signal, and the operation restriction is released (S07).

[0069] This allows the operator to know at what point the operational restriction is lifted, since the operational restriction is lifted only when the operator finally approves it.

[0070] Second Embodiment The second embodiment has a function of identifying an individual co-worker using the sensor output of a perimeter monitoring sensor, and the operation restriction is released when the co-worker operates a restriction release switch located outside the cab 13.

[0071] Fig. 9 is a block diagram showing the hardware configuration of a hydraulic excavator 10a according to the second embodiment. The hydraulic excavator 10a according to the second embodiment differs from the hydraulic excavator 10 according to the first embodiment shown in Fig. 3 in that the hydraulic excavator 10a according to the second embodiment does not include the left rear receiver 23LB, the right rear receiver 23RB, and the right front receiver 23RF.

[0072] Furthermore, an AI (Artificial Intelligence) camera is used as a peripheral monitoring sensor, and the AI ​​camera performs facial recognition processing on the captured camera image to determine whether it matches the facial image of a co-worker, thereby identifying whether the person in the image is a co-worker.

[0073] 10 is a block diagram showing the functional configuration of a controller 110a according to the second embodiment. The controller 110a according to the second embodiment differs from the controller 110 according to the first embodiment in that the object detection unit 141 and the restriction release unit 144 acquire the object detection results and the determination results as to whether or not the object matches a pre-registered co-worker from the left rear periphery monitoring camera 20LB, the right rear periphery monitoring camera 20RB, and the right front periphery monitoring camera 20RF, which are all AI cameras.

[0074] The processing flow of the operation restriction release system according to the second embodiment is the same as that of the first embodiment, and therefore will be described using FIG.

[0075] In the second embodiment, in step S05, the restriction removal unit 144 acquires the result of matching the result of the face recognition process by the AI ​​camera with the face image data of the pre-registered co-worker (S05). The other steps are the same as those in the first embodiment.

[0076] According to the second embodiment, the perimeter monitoring sensor detects an object and determines whether the object is a pre-registered co-worker, so a receiver and a mobile terminal are not required.

[0077] In the hydraulic excavator 10a according to the second embodiment, similarly to the hydraulic excavator 10 according to the first embodiment, if there are multiple co-workers, the restriction is released only when all of them operate the restriction release switch in step S06.

[0078] Furthermore, in the hydraulic excavator 10a according to the second embodiment, similar to the hydraulic excavator 10 according to the first embodiment, the peripheral monitoring camera may be configured not to transmit a detection signal to the operation restriction unit 143 when it again captures (detects) an image of a co-worker who has operated the restriction release switch.

[0079] The restriction release switch may also be configured to be operable by voice input.

[0080] Furthermore, in step S06, after all the co-workers have operated the restriction release switch, if the operator performs an approval action to release the restriction, the restriction may be released in step S07.

[0081] The above-described embodiment is not intended to limit the present invention, and various modifications are also included in the present invention. For example, the mounting positions and number of cameras are not limited to those described above. [Explanation of symbols]

[0082] 10: Hydraulic excavator 10a: Hydraulic excavator 11L: Left crawler 11R: Right crawler 12: Upper rotating body 13: Cab 14: Boom 15: Arm 16: Bucket 20LB: Left rear perimeter surveillance camera 20RB: Right rear perimeter surveillance camera 20RF: Right front peripheral monitoring camera 21LB: Imaging area 21RB: Imaging area 21RF: Imaging area 22LB: Left rear limit release switch 22RB: Right rear limit release switch 22RF: Right front limit release switch 23LB: Left rear receiver 23RB: Right rear receiver 23RF: Right front receiver 30: Collaborator 31: Mobile devices 32: Identification information 101: Operating lever 102: Pilot pump 103: Main pump 104: Solenoid proportional valve 105: Control valve 106: Actuator 107: Engine 108: Flow path 110: Controller 110a: Controller 111: Processor 112:RAM 113:ROM 114:Storage device 115: Input I / F 116: Output I / F 117: Bus 120:Display device 121: Touch panel 141: Object detection unit 142: Display control unit 143: Operation restriction section 144: Restriction removal section 145: Identification information storage unit 146: Operation signal conversion unit

Claims

1. a vehicle body including a running body and an upper rotating body rotatably mounted on the running body; a cab mounted on the upper rotating body and in which an operator sits; a front working machine connected to the front of the vehicle body so as to be able to be tilted up and down; a working machine including the traveling body, the upper rotating body, and an actuator that operates the front working implement, a periphery monitoring sensor that detects an object present within a work area around the vehicle body; a receiver that receives identification information for uniquely identifying a collaborator, the identification information being transmitted from a mobile terminal carried by the collaborator; a controller for controlling operation restriction and restriction release of the actuator; a restriction release switch that accepts a restriction release operation, The limit release switch is provided outside the cab of the upper rotating body, The controller When the perimeter monitoring sensor detects the presence of an object within the working range, the operation of the actuator is stopped or slowed down to restrict the operation; When the restriction release switch accepts the restriction release operation and the receiver determines that the detected object is a pre-registered co-worker based on the identification information received, the receiver performs control to release the operation restriction; When a pre-registered co-worker is detected by the periphery monitoring sensor after the restriction release switch has been used to release the operation restriction on the actuator, If the co-worker detected by the perimeter monitoring sensor is the co-worker who operated the restriction release switch, the operation restriction is not executed, If the co-worker detected by the periphery monitoring sensor is different from the co-worker who operated the restriction release switch, the operation restriction is implemented. A work machine characterized by:

2. 2. A work machine according to claim 1, a storage device for storing information uniquely identifying the co-worker; the receiver receives the identification information from a plurality of mobile terminals; the controller releases the operation restriction when it is determined that the restriction release switches have been operated by all of the co-workers and that all of the co-workers are pre-registered co-workers, based on the information uniquely identifying the co-workers stored in the storage device and the identification information received by the receiver. A work machine characterized by:

3. 2. A work machine according to claim 1, The restriction release switch is configured using a microphone and a voice recognition device, the voice recognition device accepts the restriction release operation based on the restriction release voice generated by the co-worker and collected by the microphone; A work machine characterized by:

4. 2. A work machine according to claim 1, After the restriction release switch receives a restriction release operation from the co-worker, the controller does not release the operation restriction until it receives an approval operation for the restriction release from the operator. A work machine characterized by:

5. A vehicle body including a running body and an upper rotating body rotatably mounted on the running body; a cab mounted on the upper rotating body and in which an operator sits; a front working machine connected to the front of the vehicle body so as to be able to be tilted up and down; a working machine including the traveling body, the upper rotating body, and an actuator that operates the front working implement, a periphery monitoring sensor that detects an object present within a work area around the vehicle body; a controller for controlling operation restriction and restriction release of the actuator; a restriction release switch that accepts a restriction release operation, The limit release switch is provided outside the cab of the upper rotating body, The controller When the perimeter monitoring sensor detects the presence of an object within the working range, the operation of the actuator is stopped or slowed down to restrict the operation; When the restriction release switch receives the restriction release operation and determines based on the sensor output of the perimeter monitoring sensor that the detected object is a pre-registered co-worker, the operation restriction is released. When a pre-registered co-worker is detected by the periphery monitoring sensor after the restriction release switch has been used to release the operation restriction on the actuator, If the co-worker detected by the perimeter monitoring sensor is the co-worker who operated the restriction release switch, the operation restriction is not executed, If the co-worker detected by the periphery monitoring sensor is different from the co-worker who operated the restriction release switch, the operation restriction is implemented. A work machine characterized by:

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