Work machine and work machine control method

Abstract

To provide a work machine allowing cost to be reduced.SOLUTION: A hydraulic shovel 1 comprises a work machine body 2, object detection sensors 3a to 3b, a revolving angle sensor 61, and a controller 4. The work machine body 2 comprises a traveling body 11 and a revolving body 12. The revolving body 12 is mounted on an upper side of the traveling body 11, capable of revolving relating to the traveling body 11. The object detection sensors 3a to 3b are placed on the revolving body 12. The revolving angle sensor 61 detects a revolving angle of the revolving body 12. The controller 4 detects an object around the work machine body 2 with the object detection sensors 3a to 3b by revolving the revolving body 12 to, if the object is detected, determine a position of the object with respect to the work machine body 2 based on a distance from the work machine 2 to the object detected with the object detection sensors 3a to 3b and a revolving angle at which the object is detected to set a virtual wall W based on the determined position.SELECTED DRAWING: Figure 9

Description

[Technical Field]

[0001] The present invention relates to a work machine and a method for controlling a work machine. [Background technology]

[0002] Excavators are often used in road construction, pipe installation work, etc. When used on roads in urban areas, etc., even if a small excavator is introduced, the operator must operate the excavator while paying attention to obstacles such as cars traveling on the side, fences, and guardrails.

[0003] For this reason, for example, Patent Document 1 discloses setting a virtual wall to restrict the movement of an excavator. In Patent Document 1, object detection sensors are arranged at the front, rear, left and right parts of a rotating body, as well as at diagonal parts, to detect obstacles around the excavator and to detect the distance from the excavator, thereby setting the virtual wall. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] International Publication No. 2019 / 189030 Brochure Summary of the Invention [Problem to be solved by the invention]

[0005] However, the configuration shown in Patent Document 1 requires the placement of multiple sensors around the entire circumference of the rotating body, which increases costs.

[0006] An object of the present disclosure is to provide a work machine and a control method for a work machine that can reduce costs. [Means for solving the problem]

[0007] A work machine according to an aspect of the present disclosure includes a work machine main body, at least one object detection sensor, a swing angle sensor, and a controller. The work machine main body has a running body and a rotating body. The rotating body is disposed above the running body and is rotatable relative to the running body. The object detection sensor is disposed on the rotating body. The swing angle sensor detects the swing angle of the rotating body. The controller rotates the rotating body to detect objects around the work machine main body with the object detection sensor, and when an object is detected, identifies the position of the object relative to the work machine main body based on the distance from the work machine main body to the object detected by the object detection sensor and the swing angle at which the object was detected, and sets a virtual wall based on the identified position.

[0008] A work machine control method according to another aspect of the present disclosure includes a detection step, a position identification step, and a setting step. The detection step rotates a rotating body arranged above the traveling body to detect objects around the work machine body including the traveling body and the rotating body. The position identification step identifies the position of the object relative to the work machine body based on the distance from the work machine body to the object and the rotation angle at which the object is detected. The setting step sets a virtual wall based on the identified position. [Effects of the Invention]

[0009] According to an aspect of the present disclosure, it is possible to provide a work machine and a control method for a work machine that can reduce costs. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a side view showing a hydraulic excavator according to an embodiment of the present disclosure. [Figure 2] FIG. 1 is a plan view of a hydraulic excavator according to an embodiment of the present disclosure. [Figure 3] 1 is a block diagram showing a configuration of a hydraulic excavator and its control system according to an embodiment of the present disclosure. FIG. [Figure 4]FIG. 2A is a schematic side view illustrating attitude detection of a hydraulic excavator according to an embodiment of the present disclosure, and FIG. 2B is a plan view illustrating a swing angle of the hydraulic excavator according to an embodiment of the present disclosure. [Figure 5A] 1 is a side view showing a hydraulic excavator in a state where a work machine is set to an object detection posture in an embodiment of the present disclosure. FIG. [Figure 5B] 1 is a plan view showing a hydraulic excavator in a state where a work machine is set to an object detection posture in an embodiment of the present disclosure. FIG. [Figure 6] FIG. 1 is a plan view showing a hydraulic excavator and an initial virtual wall according to an embodiment of the present disclosure. [Figure 7] FIG. 2 is a plan view showing an example of an object detection area in the hydraulic excavator according to the embodiment of the present disclosure. [Figure 8] FIG. 1 is a plan view illustrating detection of an object around a hydraulic excavator according to an embodiment of the present disclosure. [Figure 9] FIG. 9 is a plan view showing a virtual wall set based on the position of the object detected in FIG. 8 and a hydraulic excavator. [Figure 10] FIG. [Figure 11] 11 is a plan view showing a state in which a virtual wall is set in the construction site shown in FIG. 10. FIG. [Figure 12] FIG. 10 is a diagram illustrating a display on a display of the hydraulic excavator according to an embodiment of the present disclosure. [Figure 13] FIG. 10 is a flowchart showing a virtual wall creation operation of the hydraulic excavator according to an embodiment of the present disclosure. [Figure 14] FIG. 10 is a flowchart showing an operation of monitoring approach of a work implement to a virtual wall in a hydraulic excavator according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0011] A hydraulic excavator as an example of a work machine according to the present disclosure will be described below with reference to the drawings.

[0012] <Configuration> (Overview of Hydraulic Excavator 1) Fig. 1 is a side view showing the configuration of a hydraulic excavator 1 according to this embodiment. Fig. 2 is a plan view showing the configuration of the hydraulic excavator 1 according to this embodiment.

[0013] The hydraulic excavator 1 (an example of a construction machine) has a construction machine main body 2, object detection sensors 3a to 3c, and a controller 4 (an example of a control unit) (see FIG. 3).

[0014] The work machine body 2 has a running body 11 and a rotating body 12. The running body 11 has a pair of running devices 11a, 11b. Each of the running devices 11a, 11b has tracks 11c, 11d. The driving force from the engine rotates a travel motor, driving the tracks 11c, 11d, causing the hydraulic excavator 1 to travel.

[0015] The swing unit 12 is disposed above the running unit 11. The swing unit 12 is configured to be able to swing relative to the running unit 11 around an axis along the vertical direction by a swing motor 27 (see FIG. 3). A swing machinery is disposed on the swing unit 12. A swing circle is disposed on the running unit 11 and engages with the output pinion of the swing machinery. The rotational drive of the swing motor 27 is slowed down by the swing machinery (not shown) and output from the output pinion. As a result, the swing machinery rotates inside or outside the swing circle, causing the swing unit 12 to rotate relative to the running unit 11.

[0016] The rotating body 12 has a rotating frame 13, a cab 14, and a work implement 15. The rotating frame 13 is disposed above the running body 11 and is a frame that can rotate relative to the running body 11. The cab 14 is provided at the front left side of the rotating frame 13. The cab 14 is provided as a driver's seat where an operator sits when driving. Inside the cab 14, the driver's seat, levers for operating the work implement 15, various display devices (including a display 53 described below), etc. are disposed.

[0017] In this embodiment, unless otherwise specified, front, rear, left and right will be described based on the driver's seat in the cab 14. The direction in which the driver's seat faces directly ahead is the forward direction, and the direction opposite the forward direction is the rearward direction. The right and left sides of the driver's seat when facing directly ahead are the right and left directions, respectively.

[0018] The work implement 15 is attached to the front center position of the rotating unit 12. As shown in FIG. 1 , the work implement 15 has a boom 21, an arm 22, and a bucket 23. The base end of the boom 21 is rotatably connected to the rotating unit 12. The tip end of the boom 21 is rotatably connected to the base end of the arm 22. The tip end of the arm 22 is rotatably connected to the bucket 23. The bucket 23 is attached to the arm 22 so that its opening faces toward the rotating unit 12 (rear). A hydraulic excavator 1 with the bucket 23 attached in this orientation is called a backhoe.

[0019] Hydraulic cylinders 24 to 26 (boom cylinder 24, arm cylinder 25, and bucket cylinder 26) are arranged to correspond to the boom 21, arm 22, and bucket 23, respectively. The work implement 15 is driven by driving these hydraulic cylinders 24 to 26, thereby performing work such as excavation.

[0020] An engine room 16 is disposed behind the cab 14 of the revolving body 12. The engine room 16 houses an engine, a cooling unit for cooling the engine, a hydraulic pump, and the like.

[0021] (Object detection sensors 3a to 3c) The object detection sensors 3a to 3c detect objects around the work machine main body 2. The object detection sensors 3a to 3c detect the presence of an object, and also detect distance information relating to the distance from each of the object detection sensors 3a to 3c to the object, and transmit the detected distance information to the controller 4. The object detection sensors 3a to 3c can be at least one of millimeter-wave radar, ultrasonic sensors, LiDAR (Laser Imaging Detection and Ranging), cameras, etc. The distance information may be the distance itself, or may be information required for the controller 4 to calculate the distance.

[0022] As shown in Fig. 2, object detection sensors 3a to 3c are arranged on the left side surface 12a, right side surface 12b, and rear side surface 12c of the revolving structure 12 of the work machine body 2. The object detection sensor 3a arranged on the left side surface 12a detects objects present on the left side of the periphery of the revolving structure 12. The object detection sensor 3b arranged on the right side surface 12b detects objects present on the right side of the periphery of the revolving structure 12. The object detection sensor 3c arranged on the rear side surface 12c detects objects present on the rear side of the periphery of the revolving structure 12. The object detection sensors 3a to 3c are arranged in locations other than the front part of the revolving unit 12 where the work unit 15 is arranged so that the detection directions of the object detection sensors 3a to 3c do not overlap with the work unit 15. This makes it possible to suppress erroneous detection of objects by the work unit 15.

[0023] (Control configuration of hydraulic excavator 1) Fig. 3 is a block diagram showing the configuration of the hydraulic excavator 1 and its control system. As shown in Fig. 3, the hydraulic excavator 1 includes an engine 31, a hydraulic pump 32, a power transmission device 33, a pump control device 34, a control valve 35, and the above-mentioned controller 4.

[0024] The engine 31 is controlled by a command signal from the controller 4. The hydraulic pump 32 is driven by the engine 31 and discharges hydraulic oil. The hydraulic oil discharged from the hydraulic pump 32 is supplied to the boom cylinder 24, the arm cylinder 25, the bucket cylinder 26, and the swing motor 27.

[0025] The above-mentioned swing motor 27 is, for example, a hydraulic motor. The swing motor 27 is driven by hydraulic oil from a hydraulic pump 32. The swing motor 27 causes the swing body 12 to swing.

[0026] The hydraulic pump 32 is a variable displacement pump. A pump control device 34 is connected to the hydraulic pump 32. The pump control device 34 controls the tilt angle of the hydraulic pump 32. The pump control device 34 includes, for example, a solenoid valve, and is controlled by a command signal from the controller 4. The controller 4 controls the displacement of the hydraulic pump 32 by controlling the pump control device 34. Note that although one hydraulic pump is illustrated in FIG. 3, multiple hydraulic pumps may be provided.

[0027] The control valve 35 controls the flow rate of hydraulic oil supplied from the hydraulic pump 32 to the hydraulic cylinders 24-26 and the swing motor 27. The hydraulic cylinders 24-26, the swing motor 27 and the hydraulic pump 32 are connected by a hydraulic circuit via the control valve 35. The control valve 35 is controlled by a command signal from the controller 4. The controller 4 controls the operation of the work implement 15 by controlling the control valve 35. The controller 4 controls the swing of the swing body 12 by controlling the control valve 35.

[0028] The power transmission device 33 transmits the driving force of the engine 31 to the running body 11. The tracks 11c, 11d are driven by the driving force from the power transmission device 33 to cause the hydraulic excavator 1 to travel. The power transmission device 33 may be, for example, a torque converter or a transmission having multiple speed change gears. Alternatively, the power transmission device 33 may be another type of transmission such as an HST (Hydro Static Transmission) or an HMT (Hydraulic Mechanical Transmission).

[0029] The controller 4 includes a processor 41 such as a CPU. The processor 41 performs processing for controlling the hydraulic excavator 1. The controller 4 includes a storage device 42. The storage device 42 includes a memory such as a RAM or a ROM, and an auxiliary storage device such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive). The storage device 42 stores data and programs for controlling the hydraulic excavator 1.

[0030] The control system of the hydraulic excavator 1 includes an operating device 51. The operating device 51 can be operated by an operator. The operating device 51 includes, for example, a lever, a pedal, or a switch. The operating device 51 outputs an operating signal to the controller 4 in response to an operation by the operator. The controller 4 controls the control valve 35 in response to the operator's operation of the operating device 51 so as to operate the work implement 15. The controller 4 controls the control valve 35 in response to the operator's operation of the operating device 51 so as to rotate the rotating body 12. The controller 4 controls the engine 31 and the power transmission device 36 in response to the operator's operation of the operating device 51 so as to travel the hydraulic excavator 1.

[0031] The control system of the hydraulic excavator 1 includes an input device 52 and a display 53 (an example of a display unit). The input device 52 can be operated by an operator. The input device 52 is, for example, a touch screen. However, the input device 52 may also include hardware keys. The operator operates the input device 52 to input various settings related to the hydraulic excavator 1. The input device 52 outputs an input signal in response to the operator's operation. When the operator operates the input device 52, setting control of a virtual wall W, which will be described later, is executed.

[0032] The display 53 is, for example, an LCD, an OELD, or any other type of display. The display 53 displays a screen in response to a display signal from the controller 4.

[0033] The control system of the hydraulic excavator 1 includes an attitude detection unit 60 and a swing angle sensor 61. The attitude detection unit 60 detects the attitude of the hydraulic excavator 1.

[0034] The attitude detection unit 60 detects the attitudes of the traveling body 11 and the work implement 15. The attitude detection unit 60 includes a traveling body attitude sensor 62 and a work implement attitude detection unit 63.

[0035] The running body attitude sensor 62 detects the attitude of the running body 11. The attitude of the running body 11 includes a pitch angle θ1 of the running body 11. The running body attitude sensor 62 outputs first attitude data including the pitch angle θ1 to the controller 4. As shown in FIG. 4(a), the pitch angle θ1 of the running body 11 is the tilt angle of the running body 11 in the forward / backward direction with respect to the horizontal direction. The running body attitude sensor 62 is, for example, an IMU (Inertial Measurement Unit). The running body attitude sensor 62 outputs the first attitude data indicating the attitude of the running body 11 to the controller 4.

[0036] The work implement attitude detection unit 63 detects the attitude of the work implement 15. The attitude of the work implement 15 includes a boom angle θ2, an arm angle θ3, and a bucket angle θ4. The work implement attitude detection unit 63 outputs second attitude data indicating the boom angle θ2, the arm angle θ3, and the bucket angle θ4 to the controller 4.

[0037] The work implement attitude detection unit 63 includes a boom angle sensor 63a, an arm angle sensor 63b, and a bucket angle sensor 63c. The boom angle sensor 63a detects a boom angle θ2. The boom angle sensor 63a is, for example, an IMU. The boom angle θ2 is the angle of the boom 21 with respect to the up-and-down direction of the traveling body 11. The arm angle sensor 63b detects an arm angle θ3. The arm angle θ3 is the angle of the arm 22 with respect to the boom 21. The arm angle sensor 63b is, for example, an IMU. The bucket angle sensor 63c detects a bucket angle θ4. The bucket angle θ4 is the angle of the bucket 23 with respect to the arm 22. The bucket angle sensor 63c detects, for example, the stroke length of the bucket cylinder 26. The bucket angle θ4 is detected from the stroke length of the bucket cylinder 26. The work implement attitude detection unit 63 outputs second attitude data indicating the attitude of the work implement 15 to the controller 4.

[0038] The swing angle sensor 61 detects the swing angle θ5 of the rotating unit 12 with respect to the running unit 11. The swing angle sensor 61 outputs swing angle data indicating the swing angle θ5 to the controller 4. FIG. 4(b) is a diagram for explaining the swing angle θ5. As shown in FIG. 4(b), a first reference line L1 is a straight line that is in a direction along the tracks 11c, 11d of the running unit 11 and passes through the swing center 12g of the rotating unit 12. A swing line M is a straight line that passes through the swing center 12g of the rotating unit 12 and follows the fore-and-aft direction of the rotating unit 12. The swing angle θ5 is the angle formed by the first reference line L1 and the swing line M. The swing angle sensor 61 is, for example, an encoder disposed on the swing motor 27 or a sensor that detects the teeth of the swing machinery.

[0039] The controller 4 receives an operation signal from the operating device 51. The controller 4 receives an input signal from the input device 52. The controller 4 outputs a display signal to the display 53. The controller 4 receives first attitude data from the traveling body attitude sensor 62. The controller 4 receives second attitude data from the work machine attitude detection unit 63. The controller 4 receives turning angle data from the turning angle sensor 61. The controller 4 receives distance information to an object from the object detection sensors 3a to 3c.

[0040] When the operator operates the input device 52 to execute setting control of the virtual wall W, the controller 4 sets the work implement 15 to an object detection attitude. Then, the controller 4 detects objects around the work machine body 2 using the object detection sensor 3 while rotating the rotating body 12 by driving the swing motor 27. The virtual wall W is a virtual wall set on the controller 4, and is assumed to be positioned perpendicular to the ground.

[0041] FIG. 5A is a side view showing the hydraulic excavator 1 with the work implement 15 set to the object detection posture. FIG. 5B is a plan view showing the hydraulic excavator 1 with the work implement 15 set to the object detection posture. When rotating the revolving unit 12 to detect surrounding objects, it is preferable to keep the work implement 15 in the object detection posture so as to minimize the turning radius to avoid interference with the object. In the object detection posture, as shown in FIGS. 5A and 5B, the boom angle θ2 of the work implement 15 is set to its minimum value, the arm angle θ3 is set to its maximum value, and the bucket angle θ4 is set to its maximum value. In this state, the revolving unit 12 is rotated to detect an object, as indicated by arrow A in FIG. 5B.

[0042] The angle at which the revolving unit 12 is rotated is preferably such that detection can be performed by the object detection sensors 3a to 3c over the entire circumference of the work machine body 2. For example, in this embodiment, object detection sensors are disposed on the left side surface 12a and right side surface 12b of the revolving unit 12, so that by rotating the revolving unit 12 by at least 180°, objects can be detected over the entire circumference of the work machine body 2. Furthermore, the same area may be detected by multiple object detection sensors, in which case the accuracy of object detection can be improved.

[0043] (Virtual wall settings) The controller 4 sets a virtual wall W based on the position of the identified object. The controller 4 has an initial virtual wall W' serving as a template in the storage device 42. FIG. 6 is a plan view showing the hydraulic excavator 1 and the initial virtual wall W'. As shown in FIG. 6, the initial virtual wall W' is set in a rectangular shape that surrounds the entire hydraulic excavator 1. The initial virtual wall W' is formed by a first initial wall portion W1', a second initial wall portion W2', a third initial wall portion W3', and a fourth initial wall portion W4'. In FIG. 6, the first reference line L1 and the turning line M coincide with each other.

[0044] The first initial wall portion W1' and the second initial wall portion W2' are disposed perpendicular to the first reference line L1 of the traveling body 11. If a straight line that is perpendicular to the first reference line L1 and passes through the turning center 12g is defined as the second reference line L2, the third initial wall portion W3' and the fourth initial wall portion W4' are disposed perpendicular to the second reference line L2. One end of the first initial wall portion W1' is connected to one end of the third initial wall portion W3'. The other end of the third initial wall portion W3' is connected to one end of the second initial wall portion W2'. The other end of the second initial wall portion W2' is connected to one end of the fourth initial wall portion W4'. The other end of the fourth initial wall portion W4' is connected to the other end of the first initial wall portion W1'. This forms a rectangular initial virtual wall W'.

[0045] The controller 4 sets the virtual wall W by moving the positions of the first initial wall portion W1', the second initial wall portion W2', the third initial wall portion W3', and the fourth initial wall portion W4' based on the position of the identified object. As shown in Fig. 6, the first initial wall portion W1' and the second initial wall portion W2' are moved in the Y direction (an example of the front-rear direction) along the first reference line L1. The third initial wall portion W3' and the fourth initial wall portion W4' are moved in the X direction (an example of the width direction) along the second reference line L2.

[0046] The controller 4 defines a detection area as a circle having a radius of a predetermined distance centered on the rotation center 12g in a plan view, and divides the detection area into four areas. The predetermined distance may be set as appropriate, but for example, the maximum length that the work implement 15 can reach from the rotation center 12g may be set as the predetermined distance.

[0047] FIG. 7 is a plan view showing an example of the detection area R. In FIG. 7, the detection area R is divided into four areas at 90° intervals. The detection area R includes a first area R1, a second area R2, a third area R3, and a fourth area R4. Here, a half line extending in one direction from the turning center 12g along the first reference line L1 is referred to as L11, and a half line extending in the other direction is referred to as L12. The first area R1 is an area extending 45° on both sides of the half line L11 in the circumferential direction. The second area R2 is an area extending 45° on both sides of the half line L12 in the circumferential direction. The second area R2 is an area formed symmetrically to the first area R1 with respect to the second reference line L2.

[0048] Of the second reference line L2, a half line extending in one direction from the turning center 12g along the second reference line L2 is designated as L21, and a half line extending in the other direction is designated as L21. The third area R3 is an area extending 45° on both sides of the half line L21 in the circumferential direction. The fourth area R4 is an area extending 45° on both sides of the half line L22 in the circumferential direction. The fourth area R4 is an area formed symmetrically to the third area R3 on the first reference line L1. As shown in Fig. 6, the first initial wall W1' is disposed so as to intersect perpendicularly with the half-line L11 and corresponds to the first area R1. The second initial wall W2' is disposed so as to intersect perpendicularly with the half-line L12 and corresponds to the second area R2. The third initial wall W3' is disposed so as to intersect perpendicularly with the half-line L21 and corresponds to the third area R3. The fourth initial wall W4' is disposed so as to intersect perpendicularly with the half-line L22 and corresponds to the fourth area R4.

[0049] Fig. 8 is a plan view illustrating the detection of objects around the hydraulic excavator 1. Fig. 9 is a plan view showing a virtual wall W set based on the positions of detected objects and the hydraulic excavator 1. In Fig. 8, an object N1 is detected in the first area R1. An object N2 is detected in the second area R2. An object N3 is detected in the third area R3. Objects N4 and N5 are detected in the fourth area R4.

[0050] The controller 4 identifies the position of the object relative to the hydraulic excavator 1 based on the distance information to the object received from the object detection sensors 3a to 3c and the swing angle data when the object was detected. Specifically, the controller 4 identifies a position P1 of the object N1 detected in the first area R1 relative to the hydraulic excavator 1. The position P1 relative to the hydraulic excavator 1 is the position from the second reference line L2 to the object N1 along the first reference line L1, and can also be said to be the distance d1 from the second reference line L2 to the object N1 along the first reference line L1. The controller 4 moves the first initial wall portion W1' of the initial virtual wall W' in the Y direction to position P1, and sets the first wall portion W1 of the virtual wall W shown in FIG. 9.

[0051] The controller 4 identifies a position P2 of the object N2 detected in the second area R2 relative to the hydraulic excavator 1. The position P2 relative to the hydraulic excavator 1 is the position of the object N2 along the first reference line L1 from the second reference line L2, and can also be said to be a distance d2 from the second reference line L2 to the object N2 along the first reference line L1. The controller 4 moves the second initial wall portion W2' of the initial virtual wall W' in the Y direction to position P2, and sets the second wall portion W2 of the virtual wall W shown in FIG. 9.

[0052] The controller 4 identifies a position P3 of the object N3 detected in the third area R3 relative to the hydraulic excavator 1. The position P3 relative to the hydraulic excavator 1 is the position of the object N3 along the first reference line L1 and the second reference line L2, and can also be said to be a distance d3 from the first reference line L1 to the object N3 along the second reference line L2. The controller 4 moves the third initial wall portion W3' of the initial virtual wall W' in the X direction to position P3, and sets the third wall portion W3 of the virtual wall W shown in FIG. 9.

[0053] The controller 4 identifies positions P4 and P5 of the objects N4 and N5 detected in the fourth area R4 relative to the hydraulic excavator 1. The positions P4 and P5 relative to the hydraulic excavator 1 in the fourth area R4 are the positions of the objects N4 and N5 along the first reference line L1 and the second reference line L2, and can also be said to be distances d4 and d5 from the first reference line L1 to the objects N4 and N5 along the second reference line L2. The controller 4 moves the fourth initial wall portion W4' of the initial virtual wall W' in the X direction to position P5 of the object N5 that is closest to the first reference line L1, and sets the fourth wall portion W4 of the virtual wall W shown in FIG. 9.

[0054] In this way, when a plurality of objects are detected in the same area, a virtual wall is set at the position of the object that is closest to the hydraulic excavator 1.

[0055] Positions P1 to P5 may be set to the portion of objects N1 to N5 closest to the hydraulic excavator 1, or may be positions moved a predetermined distance toward the hydraulic excavator 1 from the portion of objects N1 to N5 closest to the hydraulic excavator 1. Moving toward the hydraulic excavator 1 means, in the case of objects detected in the first area R1 and the second area R2, a position moved toward the hydraulic excavator 1 along the first reference line L1 from the object. Also, in the case of objects detected in the third area R3 and the fourth area R4, a position moved toward the hydraulic excavator 1 along the second reference line L2 from the object.

[0056] The controller 4 connects the first wall W1 to the third wall W3, connects the third wall W3 to the second wall W2, connects the second wall W2 to the fourth wall W4, and connects the fourth wall W4 to the first wall W1. In this way, by connecting adjacent walls, the controller 4 can set four virtual walls W on the front, back, left, and right sides, as shown in FIG.

[0057] If an area in which no object is detected exists in the detection area R, it is not necessary to set a wall portion of the virtual wall in that area. For example, if no object is detected in the first area R1, it is not necessary to set the first wall portion W1.

[0058] Furthermore, control can be performed by the operator using the input device 52 so that a predetermined wall portion is not set.

[0059] FIG. 10 is a plan view of a construction site. FIG. 10 shows a construction site where a road is divided by multiple road cones 101. FIG. 10 shows a state where one lane in each direction is closed for construction work. The multiple road cones 101 are arranged along the center lane. Vehicles are passing on one side of the road cone 101, and construction work is taking place on the other side. In such a case, the operator can use the input device 52 (an example of a selection unit) to select not to set the first wall portion W1, the second wall portion W2, and the third wall portion W3. The operator's selection may be made before or after the object is detected by rotating the rotating body 12. FIG. 11 is a diagram showing a virtual wall W in which only the fourth wall portion W4 is set at the construction site shown in FIG. 10. The virtual wall W shown in FIG. 11 is set along the multiple road cones 101.

[0060] The controller 4 displays the set virtual wall W on the display 53. If the hydraulic excavator 1 has a camera, the camera captures images of the surroundings by photographing the entire circumference when the revolving body 12 rotates, and displays the images together with the virtual wall W on the display 53. This allows the operator to recognize the position where the virtual wall W is provided relative to the hydraulic excavator 1. On a display screen D1 of the display 53 shown in FIG. 12, the entire hydraulic excavator 1, surrounding objects, and the virtual wall W are displayed in a plan view. On a display screen D2 of the display 53 shown in FIG. 12, the rear side surface portion 12c of the hydraulic excavator 1, the second wall portion W2 of the virtual wall W, and the object N are displayed.

[0061] (Monitoring and Control) The controller 4 monitors the approach of the work implement 15 to the virtual wall W.

[0062] The controller 4 constantly calculates the outermost position of the work implement 15 based on the first attitude data and the second attitude data. The outermost position is the position of the work implement 15 that is farthest from the center of rotation 12g. The outermost position P1 of the work implement 15 is shown in Figure 11.

[0063] The storage device 42 stores dimensional data of the work implement 15. The dimensional data is shape data such as the length, thickness, and width of the boom 21, arm 22, and bucket 23. As an example, the dimensional data includes the length L1 of the boom 21, the length L2 of the arm 22, and the length L3 of the bucket 23. In detail, the length L1 of the boom 21 is the distance between the boom pin 28 that connects the boom 21 to the rotating bed 12 and the arm pin 29 that connects the arm 22 to the boom 21. The length L2 of the arm 22 is the distance between the arm pin 29 and the bucket pin 30 that connects the bucket 23 to the arm 22. The length of the bucket 23 is the distance between the bucket pin 30 and the cutting edge 23a of the bucket 23.

[0064] The controller 4 calculates the outermost position of the work implement 15 based on the dimensional data stored in the storage device 42, the pitch angle θ1, the boom angle θ2, the arm angle θ3, and the bucket angle θ4.

[0065] When the controller 4 detects that the outermost position P1 of the work implement 15 has entered a predetermined range from the virtual wall W, it executes a motion restriction on the work implement 15 or the rotating body 12 to restrict the work implement 15 or the rotating body 12 from moving closer to the virtual wall W. The motion restriction only needs to restrict the work implement 15 or the rotating body 12 from moving closer to the virtual wall W, and includes stopping the operation of the work implement 15 or the rotation of the rotating body 12. FIG. 13 shows a state in which the outermost position P1 of the work implement 15 has entered within the predetermined range from the virtual wall W. The controller 4 constantly calculates the outermost position P1, and when the outermost position P1 has entered within a predetermined distance from the virtual wall W, it decelerates the operation of the work implement 15 or the rotation of the rotating body 12 and stops them before they reach the virtual wall W. The predetermined range can be set to a range on the hydraulic excavator 1 side of the virtual wall W that allows the operation of the work implement 15 and the rotation of the rotating body 12 to be stopped before they reach the virtual wall W.

[0066] The controller 4 controls the control valve 35 to stop the supply of hydraulic oil to the hydraulic cylinders 24 to 26 and the swing motor 27, thereby stopping the operation of the work implement 15 and the swing of the swing structure 12. The controller 4 controls the pump control device 34 to stop the supply of hydraulic oil from the hydraulic pump 32, thereby stopping the operation of the work implement 15 and the swing of the swing structure 12. In addition, the operation of the work implement 15 and the swing of the swing structure 12 can be decelerated by gradually reducing the supply of hydraulic oil.

[0067] When it is detected that the outermost position P1 of the work implement 15 has entered a predetermined range from the virtual wall W, if the work implement 15 is operating with the rotation of the revolving unit 12 stopped, the controller 4 imposes an operational restriction on the work implement 15. Furthermore, when it is detected that the outermost position P1 of the work implement 15 has entered a predetermined range from the virtual wall W, if the revolving unit 12 is rotating with the operation of the work implement 15 stopped, the controller 4 imposes an operational restriction on the rotation of the revolving unit 12.

[0068] The controller 4 may detect that not only the outermost position P1 of the work implement 15 but also other parts of the revolving body 12 have entered a predetermined range from the virtual wall W.

[0069] When the outermost position P1 of the work implement 15 enters within a predetermined distance from the virtual wall W, the controller 4 may decelerate and stop the operation of the work implement 15 or the rotation of the rotating body 12, and may also issue an alarm. The alarm may be displayed on the display 53, or may be sound, light, or the like.

[0070] <Operation> Next, the control operation of the hydraulic excavator 1 of this embodiment will be described.

[0071] (Virtual wall creation) Among the control operations of the hydraulic excavator 1 of this embodiment, a description will be given of the operation of creating the virtual wall W. Fig. 13 is a flowchart showing the operation of the hydraulic excavator 1 of creating the virtual wall W.

[0072] First, in step S1, the controller 4 receives information that the operator has performed an input operation using the input device 52 to execute setting control of a virtual wall.

[0073] Next, in step S2, the controller 4 controls the pump control device 34 and the control valve 35 to adjust the hydraulic oil supplied to the hydraulic cylinders 24 to 26, and sets the work machine 15 to the object detection posture shown in FIGS. 5A and 5B.

[0074] Next, in step S3, the controller 4 causes the object detection sensors 3a to 3c to detect objects around the hydraulic excavator 1 while rotating the rotating body 12. The controller 4 detects objects within a set detection area R. When an object is detected outside the detection area R, the controller 4 does not need to determine that an object has been detected.

[0075] Next, in step S4, the controller 4 identifies the position of the detected object based on distance information from the object to the object, whichever of the object detection sensors 3a to 3c detected the object, and the rotation angle θ5 at which the object was detected. In the example shown in Fig. 8, an object N1 is detected in the first area R1 and a position P1 is identified. An object N2 is detected in the second area R2 and a position P2 is identified. An object N3 is detected in the third area R3 and a position P3 is identified. Objects N4 and N5 are detected in the fourth area R4 and a position P4 and P5 are identified.

[0076] Next, in step S5, if multiple objects are detected in each of the multiple areas obtained by dividing the detection area R, the controller 4 identifies the position of the object closest to the hydraulic excavator 1 in each area. Since two objects N4 and N5 have been detected in the fourth area R4, the position P5 of the object N5 closer to the hydraulic excavator 1 is adopted.

[0077] Next, in step S6, the controller 4 moves the wall portion of the initial virtual wall corresponding to each area to the position of the object identified in each area, thereby setting the virtual wall W. In a specific example, the controller 4 moves the first initial wall portion W1' of the initial virtual wall W' to position P1, moves the second initial wall portion W2' of the initial virtual wall W' to position P2, moves the third initial wall portion W3' of the initial virtual wall W' to position P3, and moves the fourth initial wall portion W4' of the initial virtual wall W' to position P5. Then, the controller 4 creates the virtual wall W by connecting the first wall portion W1 to the third wall portion W3, connecting the third wall portion W3 to the second wall portion W2, connecting the second wall portion W2 to the fourth wall portion W4, and connecting the fourth wall portion W4 to the first wall portion W1.

[0078] Next, in step S7, the controller 4 causes the display 53 to display a display for selecting whether or not to set each wall portion of the created virtual wall W. Looking at this display, the operator uses the input device 52 to select whether or not to set each wall portion of the virtual wall W. For example, the operator can select to set only the fourth wall portion W4, as shown in FIG.

[0079] Next, in step S8, the controller 4 displays on the display 53 the hydraulic excavator 1 and the surrounding image, as well as the virtual wall W formed by the wall portion selected in step S7. This allows a virtual wall W to be set based on the detected object.

[0080] (Proximity monitoring operation) Next, a description will be given of the control operation of the hydraulic excavator 1 of this embodiment, namely, monitoring of the approach of the work machine 15 to the virtual wall W. FIG.

[0081] First, in step S11, the controller 4 receives first attitude data and second attitude data including the pitch angle θ1, the boom angle θ2, the arm angle θ3, and the bucket angle θ4.

[0082] Next, in step S12, the controller 4 calculates the outermost position P of the work implement 15 from the dimensional data stored in the storage device 42 and the received pitch angle θ1, boom angle θ2, arm angle θ3, and bucket angle θ4.

[0083] Next, in step S13, the controller 4 determines whether the calculated outermost position P has entered within a range of a predetermined distance from the virtual wall W.

[0084] If it is determined in step S13 that the outermost position P has not entered the predetermined range, the control returns to step S11, and the controller 4 receives the first attitude data and the second attitude data.

[0085] If it is determined in step S13 that the outermost position P has entered the predetermined range, then in step S14 the controller 4 stops the operation of the work implement 15. Specifically, the controller 4 controls at least one of the pump control device 34 and the control valve 35 to reduce and stop the supply of hydraulic oil to the hydraulic cylinders 24-26 and the swing motor 27. This causes the operation of the work implement 15 and the swing of the swing body 12 to slow down and stop. In addition, the controller 4 displays a warning on the display 53.

[0086] This makes it possible to prevent the user from approaching the detected object during work.

[0087] (Features) (1) The hydraulic excavator 1 of this embodiment includes a work machine body 2, object detection sensors 3a to 3c, a swing angle sensor 61, and a controller 4 (an example of a control unit). The work machine body 2 has a running body 11 and a revolving body 12. The revolving body 12 is disposed above the running body 11 and is rotatable relative to the running body 11. The object detection sensors 3a to 3c are disposed on the revolving body 12. The swing angle sensor 61 detects the swing angle of the revolving body 12. The controller 4 rotates the revolving body 12 to detect objects around the work machine body 2 with the object detection sensors 3a to 3c, and when an object is detected, identifies the position of the object relative to the work machine body 2 based on the distance to the object detected by the object detection sensors 3a to 3c and the swing angle at which the object was detected, and sets a virtual wall W based on the identified position.

[0088] In this way, the revolving unit 12 is rotated to detect objects around the work machine main body 2, so the number of object detection sensors that need to be placed can be reduced, resulting in cost savings. Furthermore, because objects around the work machine main body 2 are detected by rotating the revolving unit 12, there is no need to place object detection sensors in positions where there is a risk of erroneous detection by the work implement 15, and erroneous detection by the work implement 15 can be suppressed.

[0089] (2) In the hydraulic excavator 1 of this embodiment, the revolving body 12 has a work implement 15. The object detection sensors 3a to 3b are arranged on the revolving body 12 so that their detection directions do not overlap with those of the work implement 15. This makes it possible to prevent the work machine 15 from erroneously detecting an object.

[0090] (3) In the hydraulic excavator 1 of this embodiment, the revolving body 12 has a work implement 15. The controller 4 executes a motion restriction that restricts the motion of the work implement 15 approaching the virtual wall W.

[0091] This prevents the work machine 15 from entering outside the virtual wall W, and prevents the work machine 15 from coming into contact with an object.

[0092] (4) In the hydraulic excavator 1 of this embodiment, the operational restriction includes stopping the work implement 15.

[0093] This allows the work machine 15 to be stopped before it enters the outside of the virtual wall W.

[0094] (5) In the hydraulic excavator 1 of this embodiment, the operational restriction includes stopping the rotation of the rotating body 12.

[0095] This allows the rotation of the rotating body 12 to be stopped before the work machine 15 enters the outside of the virtual wall W.

[0096] (6) In the hydraulic excavator 1 of this embodiment, the controller 4 executes an operation restriction that restricts the operation of the revolving body 12 approaching the virtual wall W.

[0097] This prevents the revolving unit 12 from entering the outside of the virtual wall W, and prevents the revolving unit 12 from coming into contact with an object.

[0098] (7) In the hydraulic excavator 1 of this embodiment, the operational restriction includes stopping the rotation of the rotating body 12.

[0099] This allows the rotating body 12 to stop rotating before entering the outside of the virtual wall W.

[0100] (8) The hydraulic excavator 1 of this embodiment further includes a posture detection unit 60 that detects the postures of the work implement 15 and the traveling body 11. The controller 4 detects the outermost position P of the work implement 15, and when the outermost position P enters within a predetermined range from the virtual wall W, it imposes an operation restriction.

[0101] In this way, the outermost part of the work implement 15 can be prevented from entering the virtual wall W, and the work implement 15 can be prevented from coming into contact with an object.

[0102] (9) In the hydraulic excavator 1 of this embodiment, the controller 4 divides the area around the work machine body 2 into four areas, a first area R1 to a fourth area R4 (an example of a plurality of areas). The virtual wall W has a first wall portion W1 to a fourth wall portion W4 (an example of a plurality of walls) corresponding to the first area R1 to the fourth area R4. The first wall portion W1 to the fourth wall portion W4 corresponding to the first area R1 to the fourth area R4 are set based on the position of an object identified in each of the first area R1 to the fourth area R4.

[0103] This allows the virtual walls W to be set at appropriate positions in each area.

[0104] (10) In the hydraulic excavator 1 of this embodiment, the controller 4 does not set a wall portion corresponding to an area where no object is detected.

[0105] This makes it possible to prevent the virtual wall W from being placed in an area where no object is detected. For example, if no object is detected in front of the work machine body 2, it is possible to prevent a wall portion (for example, the first wall portion W1) from being set in front.

[0106] (11) The hydraulic excavator 1 of this embodiment further includes an input device 52 (an example of a selection unit) for selecting whether or not to set each of the first wall portion W1 to the fourth wall portion W4.

[0107] This makes it possible to avoid setting a virtual wall W in a location where the worker has determined that it is not necessary to set a virtual wall W. For example, as shown in FIG. 11, it is possible to set only the fourth wall portion W4.

[0108] (12) In the hydraulic excavator 1 of this embodiment, the controller 4 stores an initial virtual wall W' before setting that is arranged to surround the work machine body 2. The initial virtual wall W' has a plurality of first initial wall portions W1' to fourth initial wall portions W4'. The controller 4 sets the first wall portion W1' to fourth wall portion W4 by moving the first initial wall portion W1' to fourth initial wall portion W4' based on the position of the object.

[0109] This allows the virtual wall W to be set by appropriately moving the first initial wall portion W1' to the fourth initial wall portion W4' of the initial virtual wall W' stored by the controller 4 as a template in accordance with the detection of an object.

[0110] (13) The hydraulic excavator 1 of this embodiment further comprises a display 53 (an example of a display unit) that displays at least a part of the work machine main body 2 and at least a part of the virtual wall W.

[0111] This allows the worker to check the display 53 to confirm the position of the set virtual wall W.

[0112] (14) In the hydraulic excavator 1 of this embodiment, the controller 4 divides the periphery of the work machine body 2 into four areas: a first area R1 (an example of the first area), a second area R2 (an example of the second area), a third area R3 (an example of the third area), and a fourth area R4 (an example of the fourth area) based on the center of rotation 12g of the rotating unit 12. The first area R1 is an area on one side of the traveling unit 11 in the Y direction (an example of the front-rear direction) along the first reference line L1, and the second area R2 is an area on the other side of the traveling unit 11 in the direction along the first reference line L1. The third area R3 is an area on one side of the traveling unit 11 in the X direction (an example of the width direction) along the second reference line L2, and the fourth area R4 is an area on the other side of the traveling unit 11 in the direction along the second reference line L2. The virtual wall W is rectangular and has a first wall portion W1 arranged along a second reference line L2 on one side of the running body 11 in the Y direction, a second wall portion W2 arranged along the second reference line L2 on the other side of the running body 11 in the Y direction, a third wall portion W3 arranged along the first reference line L1 on one side of the running body 11 in the X direction, and a fourth wall portion W4 arranged along the first reference line L1 on the other side of the running body 11 in the X direction. The controller 4 sets the first wall portion W1 based on the position of an object identified in the first area R1, sets the second wall portion W2 based on the position of an object identified in the second area R2, sets the third wall portion W3 based on the position of an object identified in the third area R3, and sets the fourth wall portion W4 based on the position of an object identified in the fourth area R4.

[0113] This allows wall portions to be set corresponding to the four areas, first area R1 to fourth area R4, which are obtained by dividing the rotating body 12 with respect to the rotation center 12g.

[0114] (15) The control method for the hydraulic excavator 1 according to this embodiment includes step S3 (an example of a detection step), steps S4 and S5 (an example of a position identification step), and step S7 (an example of a setting step). In step S3, the revolving unit 12 disposed above the traveling unit 11 is rotated to detect objects around the work machine body 2, including the traveling unit 11 and the revolving unit 12. In steps S4 and S5, the position of the object relative to the work machine body 2 is identified based on the distance to the object and the rotation angle at which the object was detected. In step S7, a virtual wall W is set based on the identified position.

[0115] In this way, the revolving unit 12 is rotated to detect objects around the work machine main body 2, so the number of object detection sensors that need to be placed can be reduced, resulting in cost savings. Furthermore, because objects around the work machine main body 2 are detected by rotating the revolving unit 12, there is no need to place object detection sensors in positions where there is a risk of erroneous detection by the work implement 15, and erroneous detection by the work implement 15 can be suppressed.

[0116] (Other embodiments) 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 gist of the invention.

[0117] (A) In the above embodiment, the initial virtual wall W' is stored in the storage device 42, but the initial virtual wall W' does not have to be stored. The position of the object detected in each of the first area R1 to the fourth area R4 may be identified, and the first wall W1 to the fourth wall W4 may be set based on the identified position. In the first area R1 and the second area R2, the first wall W1 and the second wall W2 may be created perpendicular to the first reference line L1, and in the third area R3 and the fourth area R4, the third wall W3 and the fourth wall W4 may be created perpendicular to the second reference line L2, and the first wall W1 to the fourth wall W4 may be connected together to create the virtual wall W.

[0118] (B) In the above embodiment, the detection area R is divided into four areas, but this is not limited to four. Furthermore, the detection area R does not have to be divided at equal intervals. Furthermore, the initial wall portion and the wall portion do not have to be limited to four, but it is preferable that the number of the initial wall portion and the wall portion correspond to the number of divisions of the detection area R.

[0119] (C) In the above embodiment, three object detection sensors are provided, but the number is not limited to three and may be four or more, or two or less. In order to prevent erroneous detection of an object due to the operation of work implement 15, it is preferable that the object detection sensors are provided in positions where their detection direction does not overlap with work implement 15.

[0120] (D) In the above embodiment, the boom angle sensor 63a is an IMU, but this is not a limitation and it may be a sensor that detects the stroke length of the boom cylinder 24. The arm angle sensor 63b is an IMU, but this is not a limitation and it may be a sensor that detects the stroke length of the arm cylinder 25. Furthermore, the bucket angle sensor 63c is a sensor that detects the stroke of the bucket cylinder 26, but this is not a limitation and it may be an IMU. In short, the boom angle sensor 63a, the arm angle sensor 63b, and the bucket angle sensor 63c may be sensors that can detect their respective angles.

[0121] (E) In the above embodiment, the swing motor 27 is a hydraulic motor, but this is not limiting and it may be an electric motor. In this case, when the outermost position P of the work implement 15 approaches the virtual wall W, the hydraulic oil supplied to the hydraulic cylinders 24 to 26 is stopped and the electric motor is stopped in response to a command from the controller 4. [Industrial Applicability]

[0122] The present disclosure has the effect of being able to suppress false detection, and is useful for work machines and the like. [Explanation of symbols]

[0123] 1: hydraulic excavator, 2: work machine body, 3a: object detection sensor, 3b: object detection sensor, 3c: object detection sensor, 4: controller, 11: running body, 11a: running gear, 11b: running gear, 11c: track, 11d: track, 12: rotating body, 12a: left side part, 12b: right side part, 12c: rear side part, 12g: rotation center, 13: rotating frame, 14: cab, 15: work machine, 16: engine room, 21: boom, 22: arm, 23: bucket, 23a: cutting edge, 24: boom cylinder, 25: arm cylinder, 26: Bucket cylinder, 27: swing motor, 28: boom pin, 29: arm pin, 30: bucket pin, 31: engine, 32: hydraulic pump, 33: power transmission device, 34: pump control device, 35: control valve, 41: processor, 42: storage device, 51: operation device, 52: input device, 53: display, 60: attitude detection unit, 61: swing angle sensor, 62: traveling body attitude sensor, 63: work machine attitude detection unit, 63a: boom angle sensor, 63b: arm angle sensor, 63c: bucket angle sensor, 101: road cone, W: virtual wall

Claims

1. a work machine body having a running body and a rotating body arranged above the running body and capable of rotating relative to the running body; At least one object detection sensor disposed on the rotating body; a rotation angle sensor for detecting a rotation angle of the rotating body; a control unit that rotates the rotating body to detect objects around the work machine body with the object detection sensor, and when an object is detected, identifies the position of the object relative to the work machine body based on the distance to the object detected by the object detection sensor and the rotation angle at which the object was detected, and sets a virtual wall based on the identified position. Work machinery.

2. The rotating body has a work machine, The object detection sensor is disposed on the rotating body so that the detection direction does not overlap with the work machine.

2. The work machine according to claim 1.

3. The rotating body has a work machine, The control unit executes an operation restriction that restricts an operation of the work machine approaching the virtual wall.

2. The work machine according to claim 1.

4. The operation restriction includes stopping the work machine.

4. The work machine according to claim 3.

5. The operation restriction includes stopping the rotation of the rotating body.

4. The work machine according to claim 3.

6. The control unit executes an operation restriction that restricts an operation of the rotating body approaching the virtual wall.

2. The work machine according to claim 1.

7. The operation restriction includes stopping the rotation of the rotating body.

7. The work machine according to claim 6.

8. Further, a posture detection unit is provided which detects the postures of the working machine and the traveling body, the control unit detects an outermost position of the work machine, and executes the operation restriction when the outermost position falls within a predetermined range from the virtual wall.

4. The work machine according to claim 3.

9. The control unit divides the periphery of the work machine body into a plurality of regions, the virtual wall has a plurality of wall portions corresponding to the plurality of regions, The wall portion corresponding to each of the regions is set based on the position of the object identified in each of the regions. A work machine according to any one of claims 1 to 8.

10. the control unit does not set the wall portion corresponding to the region in which no object is detected.

10. The work machine according to claim 9.

11. A selection unit for selecting whether or not to set each of the plurality of wall portions is further provided.

10. The work machine according to claim 9.

12. the control unit stores an initial virtual wall before setting that is arranged so as to surround the work machine body, the initial virtual wall has a plurality of initial wall portions; the control unit sets the wall portion by moving the initial wall portion based on the position of the object.

10. The work machine according to claim 9.

13. a display unit that displays at least a part of the work machine body and at least a part of the virtual wall, A work machine according to any one of claims 1 to 12.

14. the control unit divides the periphery of the work machine body into four areas, namely, a first area, a second area, a third area, and a fourth area, based on the center of rotation of the rotating body; the first region is a region on one side in a front-rear direction of the traveling body, and the second region is a region on the other side in the front-rear direction, the third region is a region on one side in a width direction of the traveling body, and the fourth region is a region on the other side in the width direction, the virtual wall is rectangular and has a first wall portion arranged along the width direction on the one side of the running body, a second wall portion arranged along the width direction on the other side of the running body, a third wall portion arranged along the front-rear direction on the one side in the width direction of the running body, and a fourth wall portion arranged along the front-rear direction on the other side in the width direction of the running body, The control unit setting the first wall portion based on the position of the object identified in the first region, setting the second wall portion based on the position of the object identified in the second region, setting the third wall portion based on the position of the object identified in the third region, and setting the fourth wall portion based on the position of the object identified in the fourth region.

2. The work machine according to claim 1.

15. a detection step of rotating a rotating body disposed above the traveling body to detect objects around the working machine body including the traveling body and the rotating body; a position specifying step of specifying a position of the object relative to the work machine body based on a distance from the work machine body to the object and a turning angle at which the object is detected; and a setting step of setting a virtual wall based on the identified position. A method for controlling a work machine.

Images