EP4394131A1 - Arbeitsmaschine - Google Patents

Arbeitsmaschine Download PDF

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Publication number
EP4394131A1
EP4394131A1 EP22875863.7A EP22875863A EP4394131A1 EP 4394131 A1 EP4394131 A1 EP 4394131A1 EP 22875863 A EP22875863 A EP 22875863A EP 4394131 A1 EP4394131 A1 EP 4394131A1
Authority
EP
European Patent Office
Prior art keywords
motion
excavation
bucket
work
point
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP22875863.7A
Other languages
English (en)
French (fr)
Inventor
Masaki Akiyama
Mikiya SAKO
Daisuke Noda
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kobelco Construction Machinery Co Ltd
Original Assignee
Kobelco Construction Machinery Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP2022091808A external-priority patent/JP2023053887A/ja
Application filed by Kobelco Construction Machinery Co Ltd filed Critical Kobelco Construction Machinery Co Ltd
Publication of EP4394131A1 publication Critical patent/EP4394131A1/de
Pending legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/24—Safety devices, e.g. for preventing overload
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/2033—Limiting the movement of frames or implements, e.g. to avoid collision between implements and the cabin
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E02F9/261—Surveying the work-site to be treated
    • E02F9/262—Surveying the work-site to be treated with follow-up actions to control the work tool, e.g. controller

Definitions

  • Patent Literature 1 discloses a construction machine capable of being automatically operated.
  • the construction machine is capable of automatically performing a motion that is taught by teaching (teaching operation), judging whether or not the position related to the motion taught by the teaching is within an allowable area in advance of the execution of the motion, and prompting re-teaching when the position is not within the allowable area.
  • a work machine including a lower traveling body, an upper turning body, a work device, and a controller.
  • the upper turning body is mounted on the lower traveling body capably of turning.
  • the work device is attached to the upper turning body capably of performing a work motion.
  • the controller controls driving of the upper turning body and the work device so as to make the upper turning body and the work device perform a designated motion that is designated in advance.
  • the controller is configured to revise the designated motion, when a restriction target part of the work device will be protruded beyond an allowable area that is preset or there is a possibility that the restriction target part is protruded beyond the allowable area when the upper turning body and the work device performs the designated motion, so as to keep the restriction target part from being protruded beyond the allowable area.
  • FIG. 1 is a side view of a work machine 1 according to an embodiment of the present invention.
  • the work machine 1 is a hydraulic excavator, provided with a machine body 25 including a lower traveling body 21 and an upper turning body 22, an attachment 30, and a work driving device 40.
  • the lower traveling body 21 includes a pair of crawlers, which are actuated to thereby enable the lower traveling body 21 to travel on the ground.
  • the upper turning body 22 is mounted on the lower traveling body 21 through a turning device 24 capably of turning.
  • the turning device 24 is a turning driving device for turning the upper turning body 22.
  • the upper turning body 22 includes a cab (operation room) 23 located at the front of the upper turning body 22.
  • the bucket 33 has a shape capable of excavating, leveling, scooping and the like on an excavation object including soil and sand.
  • the excavation object is not limited to soil and sand but allowed to be also a stone or a waste (industrial waste, etc.).
  • the work machine according to the present invention is not limited to an excavation machine, so that the work object is not limited to an excavation object.
  • the tip attachment that forms the tip of the work device according to the present invention is not limited to the bucket 33 but allowed to be also a grapple or a lifting magnet that makes a gripping motion.
  • the work driving device 40 hydraulically actuates the attachment 30 to make the attachment 30 perform the work motion.
  • the work driving device 40 includes a plurality of extendable hydraulic cylinders, which include a boom cylinder 41, an arm cylinder 42, and a bucket cylinder 43.
  • the boom cylinder 41 rotationally moves the boom 31 with respect to the upper turning body 22.
  • the boom cylinder 41 has a proximal end rotatably coupled to the upper turning body 22 and a distal end rotatably coupled to the boom 31.
  • the arm cylinder 42 rotationally moves the arm 32 with respect to the boom 31.
  • the arm cylinder 42 has a proximal end rotatably coupled to the boom 31 and a distal end rotatably coupled to the arm 32.
  • the bucket cylinder 43 rotationally moves the bucket 33 with respect to the arm 32.
  • the bucket cylinder 43 has a proximal end rotatably coupled to the arm 32 and a distal end rotatably coupled to a link member 34.
  • the link member 34 is rotatably coupled to the bucket 33 to interconnect the bucket cylinder 43 and the bucket 33.
  • the work machine 1 further includes a turning angle sensor 52, which is a turning angle detector, and a working posture detector 60.
  • the turning angle sensor 52 detects the turning angle of the upper turning body 22 with respect to the lower traveling body 21.
  • the turning angle sensor 52 is, for example, an encoder, a resolver, or a gyro sensor.
  • the turning angle of the upper turning body 22 is 0° when the frontward direction of the upper turning body 22 coincides with the frontward direction of the lower traveling body 21.
  • the working posture detector 60 detects a working posture that is the posture of the attachment 30, which is the work device.
  • the working posture detector 60 in the present embodiment, includes a boom inclination sensor 61, an arm inclination sensor 62, and a bucket inclination sensor 63.
  • the boom inclination sensor 61 is attached to the boom 31 to detect a posture of the boom 31.
  • the boom inclination sensor 61 acquires an inclination angle of the boom 31 to a horizontal line.
  • the boom inclination sensor 61 is, for example, an inclination (acceleration) sensor.
  • the posture detector 60 may include, instead of the boom inclination sensor 61, a rotation angle sensor for detecting a rotation angle of the boom 31 about a boom foot pin or a stroke sensor for detecting a stroke of the boom cylinder 41.
  • the arm inclination sensor 62 is attached to the arm 32 to detect the posture of the arm 32.
  • the arm inclination sensor 62 acquires the inclination angle of the arm 32 to a horizontal line.
  • the arm inclination sensor 62 is, for example, an inclination (acceleration) sensor.
  • the working posture detector 60 may include, instead of the arm inclination sensor 62, a rotation angle sensor for detecting the rotation angle of the arm 32 about an arm connection pin or a stroke sensor for detecting the stroke of the arm cylinder 42.
  • the bucket inclination sensor 63 is attached to the link member 34 to detect a posture of the bucket 33.
  • the bucket inclination sensor 63 acquires an inclination angle of the bucket 33 to a horizontal line.
  • the bucket inclination sensor is, for example, an inclination (acceleration) sensor.
  • the working posture detector 60 may include, instead of the bucket inclination sensor 63, a rotation angle sensor for detecting a rotation angle of the bucket 33 about a bucket connection pin or a stroke sensor for detecting a stroke of the bucket cylinder 43.
  • the work machine 1 further includes a GNS (Global Navigation Satellite System) sensor 26.
  • the GNS sensor 26 is a GPS sensor or the like, provided in the upper turning body 22 to detect the coordinates of the position of the upper turning body 22 at the work site.
  • the GNS sensor 26 may be provided in the lower traveling body 21 or the attachment 30.
  • the GNS sensor 26 is a positioning sensor to acquire the coordinates of the position of the work machine 1 (the upper turning body 22) in the global coordinate system.
  • the position detection device is not limited to the GNS sensor 26 but allowed to be also a region sensor such as a total station.
  • the work machine 1 further includes a LiDAR (Light Detection and Ranging or Laser Imaging Detection and Ranging) 27.
  • the LiDAR 27 is provided on the upper turning body 22; however, it may be provided on the attachment 30 (for example, the boom 31).
  • the LiDAR 27 is an acquisition device that acquires an ambient condition at a work site. Specifically, the LiDAR 27 acquires point group data indicating the distance from the position where the LiDAR 27 is placed to an object (dump car or obstacle) at the work site.
  • the acquisition device is not limited to the LiDAR 27 but allowed to be also a stereo camera or a TOF (Time Of Flight) sensor.
  • the work machine 1 is capable of communication with the portable terminal 3 shown in FIGS. 1 and 2 .
  • the portable terminal 3 is a terminal to be carried and operated by an operator at a work site, for example, a tablet terminal.
  • the operator who operates the portable terminal 3 is, for example, a person who manages the work machine 1.
  • the portable terminal 3 may be a smartphone or the like.
  • FIG. 2 is a circuit diagram of the work machine 1 and the portable terminal 3.
  • the work machine 1 includes a control unit 11, a work-machine side communication device 12, and a storage device 13.
  • the portable terminal 3 includes a portable-terminal side control unit 15, a portable-terminal side communication device 16, and a display 17.
  • the turning angle information is information acquired by the turning angle sensor 52, that is, information on the turning angle (posture) of the upper turning body 22 with respect to the lower traveling body 21.
  • the working posture information is information related to the working posture of the attachment 30, including: information on the posture of the boom 31 acquired by the boom inclination sensor 61; information on the posture of the arm 32 acquired by the arm inclination sensor 62; and information about the posture of the bucket 33 acquired by the bucket inclination sensor 63.
  • the work-machine side communication device 12 is capable of communication with the portable-terminal side communication device 16 of the portable terminal 3.
  • FIGS. 3 and 4 are plan and side views, respectively, showing a trajectory of the tip of the attachment 30 (in this embodiment, the tip of the bucket 33) in the series of motions.
  • the tip of the bucket 33 turns with the upper turning body 22 from a point A to a point C via a point B shown in FIGS. 3 and 4 . Thereafter, the tip of the bucket 33 moves from the point C to a point E via a point D toward the upper turning body 22.
  • the trajectory of the tip of the bucket 33 designated by teaching is indicated by respective dotted lines.
  • the point B and the point D are set to respective positions both of which are separated from the turning center axis 20 of the upper turning body 22 leftward of the lower traveling body 21 (leftward in FIG. 4 ; in X direction) by a distance Lx (for example, 6000 mm).
  • the point C is set at a position separated from the turning center axis 20 of the upper turning body 22 in the X direction by a distance greater than the distance Lx, the larger distance being, for example, 7000 mm.
  • the control unit 11 also serves as a setting means for setting an allowable area for the motion of the attachment 30 in order to prevent the obstacle or the like and the attachment 30 from interference with each other.
  • the control unit 11 sets the allowable area based on information on the obstacle or the like at the work site.
  • FIGS. 3 and 4 the front boundary surface 73 of the allowable area is shown in a dot chain line.
  • the allowable area may be set either in a coordinate system based on the work machine 1, for example, a machine coordinate system with the turning center of the upper turning body 22 as the origin, or in a coordinate system based on a work site, for example, a global coordinate system.
  • the allowable area is set an area on the inner side of the position that is separated from the turning center axis 20 of the upper turning body 22 in the X direction (leftward of the lower traveling body 21) by the distance Lx (for example, 6000 mm), the inner side being the side closer to the turning center axis 20, that is, the right side of the front side boundary surface 73 indicated by the dot chain line in FIGS. 3 and 4 .
  • the point C is out of the allowable area.
  • the control unit 11 revises the designated motion, in the case where the restriction target part, namely, the tip of the bucket 33, will be protruded beyond the allowable area (in the example shown in FIG. 4 , projected frontward over the front boundary surface 73) when the attachment 30 performs the designated motion, namely, the series of motions, so as to keep the tip of the bucket 33 from being protruded beyond the allowable area (so as to confine the tip of the bucket 33 inside the front boundary surface 73).
  • the restriction target part to be inhibited from the deviation from the allowable area in the attachment 30, according to the present embodiment is the tip of the bucket 33
  • the restriction target part is not limited to the tip of the bucket 33 but allowed to be arbitrarily set.
  • the control unit 11 changes respective positions of the point B, the point C, and the point D to positions to each of which the distance in the X direction from the turning center axis 20 is smaller than the distance Lx (e.g., 5900 mm).
  • Such revision of the designated motion causes the trajectory 71 of the tip of the bucket 33 from the point B to the point D via the point C to be modified to a trajectory 72 as indicated by a solid line in FIGS. 3 and 4 , i.e., a trajectory extending along the front boundary surface 73 just on or the rear side (the right side in FIGS. 3 and 4 ) of the front boundary surface 73 indicated by a dot chain line.
  • the tip of the bucket 33 is thus restrained from deviating to the outside of the front boundary surface 73. This eliminates the time and effort of an operator for re-designating the designated motion by teaching or the like in order to keep the tip of the bucket 33 from being protruded beyond the allowable area, thereby reducing the burden on the operator.
  • the control unit 11 may revise the designated motion, also in the case where a specific part other than the tip of the bucket 33 in the attachment 30 will be protruded beyond the allowable area during at least a part of the designated motion, to keep the specific part from being protruded beyond the allowable area.
  • the restriction target part of the attachment 30 may be a part that is properly set in a region other than the tip of the bucket 33. For example, depending on the rotation angle of the bucket 33 with respect to the arm 32, there may be a case where the tip of the arm 32 is the furthest part from the upper turning body 22.
  • the allowable area is set based on a plurality of positions at which the tip of the bucket 33 as the restriction target part of the attachment 30 can be located.
  • Such setting is useful at a site where the allowable area is unable to be clearly defined or at a site where the environment around the work machine 1 varies.
  • the restriction target part of the attachment 30 is not limited to the tip of the bucket 33 but allowed to be also, for example, the tip of the arm 32.
  • the allowable area Ra is allowed to be easily set even at a site, for example, where a restriction area cannot be clearly defined. Besides, even at a site where the environment around the work machine 1 varies, the allowable area Ra is allowed to be flexibly set.
  • the revision of the designated motion involves the full stroke extension of the boom cylinder 41, the boom 31 cannot be rotationally moved upward any more.
  • the control unit 11 is configured to serve as a stop control means for stopping the motion of the upper turning body 22 and the attachment 30. This can restrain the upper turning body 22 and the attachment 30 from performing unreasonable motion.
  • the allowable area When being set in a coordinate system based on the work machine 1 (machine coordinate system), the allowable area is shifted along with the movement of the work machine 1 in the traveling direction of the lower traveling body 21.
  • the allowable area when the allowable area is set in a coordinate system based on the work site (for example, a global coordinate system), the relative position of the allowable area to the work machine 1 is changed with the movement of the work machine 1 in the traveling direction.
  • the control unit 11 updates the allowable area along with the movement of the work machine 1, based on the position of the upper turning body 22 detected by the GNS sensor 26, that is, the position in the coordinate system. For example, when the allowable area shown in FIG. 4 , that is, the allowable area from the turning center axis 20 to the position separated from the turning center axis 20 leftward of the lower traveling body 21 (in X direction) by a distance Lx (for example, 6000 mm) is set in the coordinate system based on the work site, the control unit 11 updates the allowable area, with the movement of the work machine 1 in the X direction by a predetermined distance (e.g., 1000 mm) as shown in FIG.
  • a predetermined distance e.g. 1000 mm
  • Such update of the allowable area along with the movement of the work machine 1 enables the relative positional relationship between the attachment 30 and the like and the allowable area to be properly judged regardless of the movement of the work machine 1 in the coordinate system based on the work site. This allows an operator to be free from resetting the allowable area after the movement of the work machine 1, thereby reducing the burden on the operator.
  • the portable-terminal side communication device 16 of the portable terminal 3 shown in FIG. 2 is capable of communication with the work-machine side communication device 12 of the work machine 1.
  • the portable-terminal side control unit 15 of the portable terminal 3 acquires trajectory information and allowable-area information from the work machine 1 through the portable-terminal side communication device 16.
  • the trajectory information includes information about the trajectory 71 that the tip of the bucket 33 traces along with the designated motion and information about the trajectory 72 of the tip of the bucket 33 that has been changed by the revision of the designated motion.
  • the allowable-area information includes information about the allowable area that is set as described above and information about the relative positions of the upper turning body 22 and the attachment 30 to the allowable area.
  • the display provided by the display 17 enables an operator to compare the trajectories 71, 72 before and after the revision to accurately grasp the revised motion of the upper turning body 22 and the attachment 30 and further perform, when the revised motion has a problem, changing the condition of the revision or resetting the designated motion.
  • the allowable area is set on the basis of a plurality of positions at which the tip of the bucket 33, which is the restriction target part of the attachment 30, can be located, whereas the control unit 11, which is the setting means according to the second embodiment, sets an allowable area based on the information about the ambient condition that is input from the management device 4 shown in FIG. 2 .
  • the management device 4 manages an ambient condition at a work site, for example, being a management server.
  • the management device 4 manages information related to a position of an obstacle, a passage or the like at a work site.
  • the work-machine side communication device 12 of the work machine 101 shown in FIG. 2 is capable of communication with the management device 4.
  • the control unit 11 acquires the ambient condition at the work site managed by the management device 4 from the management device 4.
  • the use of the information managed by the management device 4, for example, allows an operator of the work machine 101 to be free from an operation to set an allowable area, thus allowing the allowable area to be easily set.
  • control unit 11 which is the setting means of the work machine 101 according to the second embodiment, sets the allowable area based on the ambient condition at the work site acquired by the LiDAR 27 shown in FIG. 2 .
  • the control unit 11 further, in at least a part of the excavation motion, sets the ground angle ⁇ of the bucket 33 in the revised excavation motion on the basis of respective ground angles ⁇ a, ⁇ b of the bucket 33 at the start point A and the terminal point B of the unrevised excavation motion, and respective path lengths of the trajectories 71, 72 of the tip of the bucket 33 in the unrevised and revised excavation motions.
  • the target in the present embodiment is all of the excavation motion, i.e., all of the region between the start point X and the terminal point Y; however, the target may be a part of the excavation motion, i.e., a part of the region between the start point X and the terminal point Y.
  • the ground angle ⁇ z of the bucket 33 at any position between the start point X and the terminal point Y on the trajectory 72 may be calculated by use of the following equation (2) in place of the equation (1).
  • ⁇ z ⁇ x + ⁇ y ⁇ ⁇ x ⁇ Dac / Dab ⁇ Dxy
  • the work machine capable of automatic operation within an allowable area without increase in the burden on an operator.
  • the work machine includes a lower traveling body, an upper turning body, a work device, and a controller.
  • the upper turning body is mounted on the lower traveling body capably of turning.
  • the work device is attached to the upper turning body capably of performing a work motion.
  • the controller controls driving of the upper turning body and the work device so as to make the upper turning body and the work device perform a designated motion that is designated in advance.
  • the controller is configured to revise the designated motion, when a restriction target part of the work device will be protruded beyond an allowable area that is preset during the designated motion, so as to keep the restriction target part from being protruded beyond the allowable area.
  • the controller may be configured to set the transit point on a straight line passing through a downstream target point.
  • the downstream target point is a target point on the downstream side in the designated motion that is unrevised, selected from the two target points, and the straight line is a straight line inclined to a horizontal plane at an angle formed between the horizontal plane and a direction of the motion of the work device when the restriction target part passes through the downstream target point by the designated motion that is unrevised. Setting the transit point on such a straight line allows the work device to suitably perform work by the designated motion at the downstream target point.
  • the controller is preferably configured to set the ground angle of the bucket at which the bucket is extracted from the excavation object in the revised excavation motion to an angle equal to a ground angle of the bucket at which the bucket is extracted from the excavation object in the unrevised excavation motion.
  • the controller is configured to set a ground angle of the bucket in at least a part of the revised excavation motion based on respective ground angles of the bucket at a start point and a terminal point of the unrevised excavation motion and respective path lengths of the trajectories of the tip of the bucket in the unrevised excavation motion and the revised excavation motion.
  • setting the ground angle of the bucket allows the ground angle of the bucket after the revision to be also appropriate if the ground angle of the bucket before the revision is appropriate, thereby restraining the change in the trajectory of the tip of the bucket due to the revision of the excavation motion from increasing the excavation resistance to allow good excavation to be performed.
  • the controller is preferably configured to set a ground angle of the bucket in at least a part of the revised excavation motion based on respective ground angles of the bucket at a start point and a terminal point of the unrevised excavation motion and a horizontal distance between the start point and the terminal point in each of the unrevised excavation motion and the revised excavation motion.
  • setting the ground angle of the bucket also allows the ground angle of the bucket after the revision to be appropriate if the ground angle of the bucket before the revision is appropriate, thereby restraining the change in the trajectory of the tip of the bucket due to the revision of the excavation motion from increasing the excavation resistance to allow good excavation to be performed.
  • the controller is configured to set the ground angle of the bucket at the lowest point of the trajectory of the tip of the bucket to an angle equal to or less than a ground angle at which the bottom surface of the bucket is horizontal. This reduces the excavation resistance at the lowest point to allow good excavation to be performed.
  • the controller is configured to make a notification device notify the revision of the designated motion.
  • the notification can inform a worker managing the work machine of the revision of the designated motion.
  • the controller is configured to stop respective motions of the upper turning body and the work device when judging it difficult to make the upper turning body and the work device perform the revised designated motion.
  • the situation where it is difficult to make the upper turning body and the work device perform the revised designated motion is, for example, a situation where the revised designated motion exceeds the motion range of the upper turning body or the work device. Stopping the motion of the upper turning body and the work device in such a situation can restrain the upper turning body and the work device from performing unreasonable motion.
  • the work machine further includes a position detection device that detects a coordinate of a position of at least one of the lower traveling body, the upper turning body and the work device in a coordinate system of the work site, and the controller is configured to set the allowable area in the coordinate system of the work site and to update the allowable area based on a change in the coordinate of the position detected by the position detection device.
  • a position detection device that detects a coordinate of a position of at least one of the lower traveling body, the upper turning body and the work device in a coordinate system of the work site
  • the controller is configured to set the allowable area in the coordinate system of the work site and to update the allowable area based on a change in the coordinate of the position detected by the position detection device.
  • Such an update allows the positional relationship between the restriction target part and the allowable area to be properly judged without requiring an operator to reset the allowable area with the movement of the work machine in spite of the change in the relative positional relationship of the allowable area to the position of the work machine in the coordinate system of
  • the controller is configured to make a motion information display device display information about the designated motion and information about a result of the revision.
  • a motion information display device display information about the designated motion and information about a result of the revision. This allows an operator looking at the display provided by the motion information display device to grasp the revised motion of the upper turning body and the work device by referring to both of the information about the designated motion and the information about the result of the revision, thereby enabling, for example, changing the revision condition or resetting the designated motion when there is a problem in the movement after the revision, to be performed.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Operation Control Of Excavators (AREA)
EP22875863.7A 2021-10-01 2022-09-15 Arbeitsmaschine Pending EP4394131A1 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2021162858 2021-10-01
JP2022091808A JP2023053887A (ja) 2021-10-01 2022-06-06 作業機械
PCT/JP2022/034600 WO2023053992A1 (ja) 2021-10-01 2022-09-15 作業機械

Publications (1)

Publication Number Publication Date
EP4394131A1 true EP4394131A1 (de) 2024-07-03

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EP22875863.7A Pending EP4394131A1 (de) 2021-10-01 2022-09-15 Arbeitsmaschine

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EP (1) EP4394131A1 (de)
WO (1) WO2023053992A1 (de)

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JP3787039B2 (ja) 1999-04-12 2006-06-21 日立建機株式会社 自動運転建設機械
US10060097B2 (en) * 2016-01-04 2018-08-28 Caterpillar Inc. Excavation system having inter-machine monitoring and control
EP3779070A4 (de) * 2018-03-26 2021-11-17 Sumitomo (S.H.I.) Construction Machinery Co., Ltd. Bagger
JP7114302B2 (ja) * 2018-03-31 2022-08-08 住友建機株式会社 ショベル及びショベルの管理装置
JP7412918B2 (ja) * 2019-08-01 2024-01-15 住友重機械工業株式会社 ショベル
JP7401370B2 (ja) * 2020-03-24 2023-12-19 日立建機株式会社 作業機械

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