JP2020041279A - Work machine - Google Patents

Abstract

To provide a work machine capable of efficiently re-receiving a laser beam emitted from a laser projector with a laser receiver.SOLUTION: The present invention has a lower traveling body 2, an upper revolving body 3 pivotably provided above the lower traveling body 2, a work device 4 attached to the upper revolving body 3 so as to be vertically rotatable, and an earth removal plate 5 attached to the lower traveling body 2. The present invention further has a laser receiver 10 provided in the work device 4 and capable of receiving a laser beam emitted by a laser projector 50, a rotation device 7 capable of rotating the work device 4, determination means for determining whether the laser receiver 10 is receiving a laser beam, identification means for identifying a light receiving position in the laser receiver 10 when the determination means determines that the laser receiver 10 is receiving a laser beam, and rotation control means for controlling the rotation device 7 to rotate the work device 4 based on the light receiving position immediately before when the determination means determines that the laser receiver 10 does not receive the laser beam.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a working machine provided with a working device and an earth removal plate.

  Patent Literature 1 discloses a ground working apparatus that levels a ground with a leveling blade while receiving a laser emitted from a laser projector with a laser receiver. The laser receiver is mounted on the top surface of the leveling blade via a support. In such a configuration, when it becomes impossible to receive the laser, the leveling blade is automatically raised and re-received by the laser receiver, and if the light cannot be received again, the work is stopped. .

JP-A-10-204914

  However, in Patent Literature 1, even when the laser comes off below the laser receiver, only the leveling blade can be raised, and in such a case, work is stopped without receiving light again, and work efficiency is poor.

  An object of the present invention is to provide a working machine capable of efficiently re-receiving a laser emitted from a laser projector with a laser receiver.

  The present invention relates to a lower traveling body, an upper revolving body rotatably provided above the lower traveling body, a working device attached to the upper revolving body so as to be rotatable vertically, and the lower traveling body A work removal device attached to the work device, a laser receiver provided in the work device, capable of receiving a laser emitted by the laser projector, and a turn capable of rotating the work device. Moving device, a discriminating means for discriminating whether or not the laser receiver is receiving the laser, and when the discriminating means determines that the laser receiver is receiving the laser, the laser Specifying means for specifying a light receiving position in a light receiver, and the determining means, when it is determined that the laser light receiver is not receiving the laser, based on the light receiving position immediately before, the working device A rotation control means for controlling the rotating device so as to movement, characterized by further comprising a.

  According to the present invention, when it is determined that the laser receiver does not receive the laser, the working device is rotated based on the light receiving position of the laser receiver immediately before. For example, if the light receiving position of the laser light receiver immediately before the laser light receiver stops receiving the laser is the upper end of the laser light receiver, the working device is rotated upward. On the other hand, if the light receiving position of the laser light receiver immediately before the laser light receiver stops receiving the laser is the lower end of the laser light receiver, the working device is rotated downward. Thus, the laser emitted from the laser projector can be efficiently re-received by the laser receiver. Also, a laser receiver is provided in the working device. Therefore, the laser receiver can be moved in the vertical direction by rotating the working device in the vertical direction without moving the earth removal plate. Therefore, it is possible to prevent the operation of moving the laser receiver in the vertical direction from being limited by the state of the earth discharging plate. When the laser receiver is mounted on the upper surface of the earth removal plate, it is necessary to supply power to the laser receiver from the upper revolving unit with the power generation unit via the lower traveling unit. Since the revolving structure can be turned, it is not easy to transfer power from the upper revolving structure to the lower traveling structure. On the other hand, by providing the laser receiver in the working device, it is possible to easily supply electric power to the laser receiver via the working device from the upper revolving unit having the power generation unit.

It is a side view of a work machine. It is a circuit diagram of a work machine. It is a figure showing the work state of a work machine. It is a flowchart of work control.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

(Work machine configuration)
The working machine according to the present embodiment is, for example, a hydraulic shovel. As shown in FIG. 1, which is a side view of the work machine 1, the work machine 1 includes a lower traveling body 2, an upper revolving superstructure 3, a working device 4, and a soil discharge plate 5.

  The lower traveling body 2 is a part on which the work machine 1 travels. The upper revolving unit 3 is rotatably provided above the lower traveling unit 2 via a revolving device. A cab (operating cab) 6 is provided at the front of the upper revolving unit 3.

  The working device 4 is attached to the upper swing body 3 so as to be rotatable up and down. The working device 4 includes a boom 31, an arm 32, and a bucket 33. The boom 31 is attached to the upper swing body 3 so as to be rotatable in a vertical direction. The arm 32 is attached to the boom 31 so as to be rotatable up and down. The bucket 33 is attached to the arm 32 so as to be rotatable up and down.

  The working device 4 is turned by the turning device 7. The rotation device 7 includes a boom rotation device 41, an arm rotation device 42, and a bucket rotation device 43. The boom rotation device 41 is a hydraulic cylinder (boom cylinder) that can rotate the boom 31, and is disposed between the upper swing body 3 and the boom 31. The arm rotation device 42 is a hydraulic cylinder (arm cylinder) that can rotate the arm 32, and is disposed between the boom 31 and the arm 32. The bucket rotation device 43 is a hydraulic cylinder (bucket cylinder) that can rotate the bucket 33, and is disposed between the arm 32 and the bucket 33.

  The earth discharging plate 5 is attached to the lower traveling body 2 so as to be rotatable in a vertical direction. The earth discharging plate 5 extrudes earth and sand in the traveling direction of the work machine 1 or cuts the ground. The posture of the earth discharging plate 5 is changed by a posture changing device 15 (see FIG. 2) which is an actuator. Specifically, the earth removal plate 5 is moved up and down by the posture changing device 15 and its inclination is variable.

  As shown in FIG. 2 which is a circuit diagram of the work machine 1, the work machine 1 includes an upper revolving body posture detection device 11, a work device posture detection device (posture detection device) 12, and a soil removal plate posture detection device. And 13.

  The upper swing body attitude detecting device 11 detects the attitude of the upper swing body 3 with respect to the lower traveling body 2. In the present embodiment, the upper revolving unit posture detecting device 11 is a relative angle detecting device that detects a relative angle of the upper revolving unit 3 with respect to the lower traveling unit 2.

  The working device posture detecting device 12 detects the posture of the working device 4. Specifically, the working device posture detection device 12 includes a boom angle detection sensor, an arm angle detection sensor, and a bucket angle detection sensor. The boom angle detection sensor detects the angle of the boom 31 with respect to the upper swing body 3 and is provided on the boom 31. The arm angle detection sensor detects the angle of the arm 32 with respect to the boom 31, and is provided on the arm 32. The bucket angle detection sensor detects the angle of the bucket 33 with respect to the arm 32, and is provided on the bucket 33.

  The earth removal plate posture detecting device 13 detects the posture of the earth removal plate 5. Specifically, the earth removal plate posture detecting device 13 detects the height position of the earth removal plate 5 and the inclination angle of the earth removal plate 5.

  The work machine 1 has a laser light receiver 10. The laser light receiver 10 can receive the laser emitted from the laser projector 50 (see FIG. 3). In the present embodiment, the laser receiver 10 is provided on one side surface of the arm 32 so as to extend in the longitudinal direction of the arm 32 (see FIG. 1). The laser receivers 10 may be provided on both side surfaces of the arm 32, respectively. Further, the laser receiver 10 may be provided at a location other than the arm 32 of the working device 4.

  In the present embodiment, the laser light receiver 10 has a vertically long rectangular shape, and can receive a laser at any position in the longitudinal direction.

  The work machine 1 has a controller 21 and a storage device 22, as shown in FIG.

  The controller 21 calculates the height position of the cutting edge of the earth discharging plate 5 with respect to the construction surface described later. Here, the blade edge of the earth discharging plate 5 is the lower end of the earth discharging plate 5.

  The storage device 22 stores information related to the dimensions of the work machine 1. More specifically, the storage device 22 includes at least the mechanical dimensions of the lower traveling unit 2, the mechanical dimensions of the upper swing body 3, the dimensions of the boom 31, the dimensions of the arm 32, the dimensions of the earth discharging plate 5, and the base end of the boom 31. Information such as the height from the section to the ground plane and the installation position of the laser receiver 10 with respect to the arm 32 are stored.

  As shown in FIG. 3, which is a diagram showing a working state of the work machine 1, the work machine 1 performs a work of shaving the ground using the earth discharging plate 5. At this time, the work is performed while the laser light emitted from the laser projector 50 is received by the laser light receiver 10, thereby improving the accuracy of the finished surface.

  The laser projector 50 is provided upright on the ground and emits laser beams in all directions at 360 degrees. The laser emitted from the laser projector 50 has a gradient of α%. This gradient is the same as the gradient of the target construction surface. Assuming that the position on the ground where the laser projector 50 is installed is a reference point, the depth position of the construction surface at the reference point is a position lower by a predetermined length than the height of the laser emission unit of the laser projector 50. Therefore, at any position of the laser emitted from the laser projector 50, a position lower by a predetermined length from the height of the position becomes a construction surface.

  As shown in FIG. 3, a laser is received by a laser receiver 10 provided on the arm 32. The controller 21 (see FIG. 2) controls the position of the laser receiving position, the position of the upper revolving unit 3 with respect to the lower traveling unit 2, the position of the working device 4, and the earth removal plate when the laser receiver 10 receives the laser. The height position of the cutting edge of the earth discharging plate 5 with respect to the construction surface is calculated based on the posture of the blade 5.

  The information on the dimensions of the work machine 1 stored in the storage device 22 (see FIG. 2) is used, and the laser receiving position when the laser receiver 10 receives the laser and the upper revolving unit 3 with respect to the lower traveling unit 2 are used. , The posture of the working device 4, and the posture of the earth removal plate 5, the height position of the blade edge of the earth removal plate 5 with respect to the laser receiving position is obtained. In addition, the height position of the construction surface at the laser receiving position is obtained. Therefore, the height position of the cutting edge of the earth discharging plate 5 with respect to the construction surface can be calculated.

  Further, as shown in FIG. 2, the work machine 1 has a notification device 14. The notification device 14 can notify information to an operator in the cab 6. In the present embodiment, the notification device 14 is a display or a speaker provided in the cab 6. The controller 21 causes the notifying device 14 to notify the height position of the blade edge of the earth removal plate 5 with respect to the construction surface, which is calculated by the controller 21. Specifically, information such as how many centimeters the blade edge of the earth removal plate 5 is with respect to the construction surface is displayed on a display or output from a speaker by voice. Thereby, the worker can change the posture of the earth removal plate 5 so as to cut the ground up to the construction surface according to the notification contents.

  In addition, based on the height position of the cutting edge of the earth removal plate 5 with respect to the construction surface calculated by the controller 21, the controller 21 controls the above-described posture changing device 15 so that the earth removal plate 5 cuts the ground to the height of the construction surface. May be controlled. Thereby, the posture of the earth discharging plate 5 can be automatically changed so as to cut the ground to the height of the construction surface.

(Laser re-detection)
Here, as shown in FIG. 2, information on the laser light receiving position is input from the laser light receiver 10 to the controller 21. Based on this, the controller (determination means) 21 determines whether or not the laser light receiver 10 is receiving a laser. The controller (specifying means) 21 specifies the light receiving position in the laser light receiver 10 when the controller 21 determines that the laser light receiver 10 is receiving the laser.

  Here, with reference to FIG. 3, consider a case where the laser light receiver 10 changes from a state of receiving laser light to a state of not receiving laser light. In such a case, the light receiving position of the laser gradually shifts upward, and when the laser light is finally received at the upper end of the laser light receiver 10, the laser light is no longer received. It is conceivable that the laser light is gradually received and the laser light is not received at the lower end of the laser light receiver 10 at the end.

  Therefore, when the controller (rotation control means) 21 determines that the laser light receiver 10 is not receiving laser light, the controller (rotation control means) 21 rotates the working device 4 based on the light reception position immediately before. The rotation device 7 is controlled.

  Specifically, if the light receiving position of the laser light receiver 10 immediately before the laser light receiver 10 stops receiving the laser is the upper end of the laser light receiver 10, the working device 4 is rotated upward. Thereby, the laser shifted upward can be efficiently received again by the laser receiver 10.

  On the other hand, if the light receiving position of the laser light receiver 10 immediately before the laser light receiver 10 stops receiving the laser is the lower end of the laser light receiver 10, the working device 4 is rotated downward. Thereby, the laser shifted downward can be efficiently re-received by the laser receiver 10.

  Further, the controller (restriction means) 21 controls the rotating device 7 itself, and when the working device 4 is rotated so that the laser receiver 10 receives the laser light again, the working device 4 can be rotated. Limit the range.

  If the rotatable range of the working device 4 is unlimited, if the working device 4 continues to rotate without receiving the laser light again, the working device 4 may contact the ground or an obstacle above. There is fear. Therefore, by restricting the rotatable range of the working device 4, it is possible to suppress the working device 4 from contacting the ground or an obstacle. The height of the ground can be calculated from the light receiving position immediately before the laser light receiver 10 stops receiving the laser. Further, the height of the upper obstacle is previously input from the input device 17 shown in FIG.

  Further, the controller (restriction means) 21 changes the rotatable range of the working device 4 according to the detection result of the working device posture detecting device 12.

  For example, even if the postures of the boom 31 and the arm 32 are the same, when the bucket 33 is rotated so that the tip of the bucket 33 is raised, the posture in which the bucket 33 is rotated so that the tip of the bucket 33 is lowered. Since the lower end of the entire working device 4 is higher than in the case of the above, even if the turning amount of the working device 4 is such that the working device 4 comes into contact with the ground in the latter, the working device 4 is May not contact. Therefore, in the former case, the rotatable range in the downward direction is wider than in the latter case, and in the latter case, the rotatable range in the lower direction is narrower than in the former case. I do. As described above, by changing the rotatable range of the working device 4 in accordance with the postures of the boom 31, the arm 32, and the bucket 33, the laser receiver 10 is controlled while suppressing contact with the ground and obstacles. Thus, the laser light can be re-received more efficiently.

  The controller (posture changing means) 21 changes the posture of the working device 4 in a direction in which the distance between the working device 4 and an object (the ground, an obstacle) around the working device 4 is increased, and thereby the controller (posture changing means) itself. The workable range of the working device 4 to be restricted is widened.

  For example, even if the postures of the boom 31 and the arm 32 are the same, if the posture of the bucket 33 is turned so that the tip of the bucket 33 is higher, the posture of the bucket 33 is turned so that the tip of the bucket 33 is lower. Also, it becomes difficult for the working device 4 to contact the ground. Therefore, in the case of the latter posture, the bucket 33 is rotated so as to assume the former posture, so that the rotatable range of the working device 4 is widened. In this manner, by increasing the rotatable range of the working device 4, it is possible to more efficiently re-receive laser light with the laser receiver 10 while suppressing contact with the ground and obstacles.

  In FIG. 3, the case where the laser light receiver 10 changes from a state of receiving laser light to a state of not receiving laser light is considered as a case where a shield between the laser projector 50 and the laser light receiver 10 during traveling. It is conceivable that the laser beam is blocked by the blocking object due to the position of.

  In such a case, the light receiving position of the laser light receiver 10 immediately before the laser light receiver 10 stops receiving the laser is often not the upper and lower ends of the laser light receiver 10. Therefore, in such a case, it is often possible to receive the light again simply by moving away from the shielding object. In such a case, if the working device 4 is rotated, it may be difficult to receive the light again.

  Therefore, the controller 21 determines that the laser light receiver 10 is not receiving laser light by itself, and does not rotate the working device 4 when the light receiving position immediately before that is not the upper and lower ends of the laser light receiver 10. The rotation device 7 is controlled.

  If the light receiving position of the laser light receiver 10 immediately before the laser light receiver 10 stops receiving the laser is not at the upper and lower ends of the laser light receiver 10, the laser is blocked by the shield positioned between the laser projector 50 and the laser light receiver 10. It is considered blocked. In such a case, it is often the case that light can be re-received simply by leaving the shield as it is, so that the working device 4 is not rotated. As a result, laser light can be re-received by the laser light receiver 10 more efficiently.

  Here, as shown in FIG. 1, a laser light receiver 10 is provided in the working device 4. Therefore, the laser light receiver 10 can be moved in the up-down direction by rotating the working device 4 in the up-down direction without moving the earth discharging plate 5. Therefore, the operation of moving the laser light receiver 10 in the vertical direction can be suppressed from being limited by the state of the earth discharging plate 5.

  When the laser receiver 10 is mounted on the upper surface of the earth discharging plate 5, it is necessary to supply power from the upper revolving unit 3 having the power generation unit to the laser receiver 10 via the lower traveling unit 2. Since the upper swing body 3 can swing with respect to the body 2, it is not easy to transfer electric power from the upper swing body 3 to the lower traveling body 2. On the other hand, by providing the laser receiver 10 in the working device 4, it is possible to easily supply power to the laser receiver 10 via the working device 4 from the upper rotating body 3 having the power generation unit.

(Operation of work machine)
Next, the operation of the work machine 1 will be described with reference to FIG. 4 which is a flowchart of work control. Note that, in this flowchart, a case will be described in which, when the laser light receiver 10 stops receiving laser light, appropriate processing is performed so that laser light can be received again.

  First, the controller 21 of the work machine 1 determines whether or not the laser light receiver 10 is receiving a laser (Step S1). If it is determined in step S1 that the laser receiver 10 is receiving laser light (S1: YES), the controller 21 provides guidance on the position of the cutting edge of the earth removal plate 5 (step S2). That is, the position of the upper revolving unit 3 relative to the lower traveling unit 2, the position of the working device 4, and the position of the earth removal plate 5 when the laser receiver 10 receives the laser are used. Then, the height position of the cutting edge of the earth removal plate 5 with respect to the construction surface is calculated, and the information is notified to the worker in the cab 6 using the notification device 14. Then, the process returns to step S1.

  On the other hand, if it is determined in step S1 that the laser light receiver 10 does not receive the laser (S1: NO), the controller 21 determines whether the laser light receiver 10 is in the state immediately before the laser light receiver 10 stops receiving the laser. It is determined whether or not the light receiving position is at the upper and lower ends of the laser light receiver 10 (step S3).

  In step S3, when it is determined that the light receiving position of the laser light receiver 10 immediately before the laser light receiver 10 stops receiving the laser is the upper and lower ends of the laser light receiver 10 (S3: YES), the controller 21 The posture of the working device 4 is changed by the rotating device 7 so that the rotatable range of the working device 4 restricted by itself is widened (step S4). Then, the controller 21 rotates the working device 4 so that the laser light receiver 10 receives the laser light again (step S5). At this time, the controller 21 limits the rotatable range of the working device 4. The rotatable range of the working device 4 changes according to the posture of the working device 4.

  Thereafter, the controller 21 determines whether or not the laser light receiver 10 has re-received the laser (Step S6). If it is determined in step S6 that the laser light receiver 10 has not received the laser light again (S6: NO), the controller 21 returns to step S5, and further rotates the working device 4. On the other hand, if it is determined in step S6 that the laser light receiver 10 has re-received the laser (S6: YES), the controller 21 determines the light receiving position of the laser when the laser light receiver 10 has re-received the laser. The guidance of the position of the blade edge of the earth discharging plate 5 is performed using the guidance (step S7). Then, the process returns to step S1.

  In step S3, when it is determined that the light receiving position of the laser light receiver 10 immediately before the laser light receiver 10 stops receiving the laser is not the upper and lower ends of the laser light receiver 10 (S3: NO), the controller 21 performs the work. The rotation of the device 4 is prohibited (step S8). Specifically, the controller 21 controls the rotating device 7 so as not to rotate the working device 4.

  Thereafter, the controller 21 determines whether or not the laser light receiver 10 has re-received the laser (Step S9). If it is determined in step S9 that the laser light receiver 10 has not re-received the laser (S9: NO), the controller 21 returns to step S8 to prevent the working device 4 from rotating. On the other hand, when it is determined in step S9 that the laser light receiver 10 has re-received the laser (S9: YES), the controller 21 determines the light receiving position of the laser when the laser light receiver 10 re-receives the laser. The guidance of the position of the blade edge of the earth discharging plate 5 is performed using the guidance (step S7). Then, the process returns to step S1.

(effect)
As described above, according to the work machine 1 according to the present embodiment, when it is determined that the laser light receiver 10 does not receive laser light, based on the light receiving position of the laser light receiver 10 immediately before that. , The working device 4 is rotated. For example, if the light receiving position of the laser light receiver 10 immediately before the laser light receiver 10 stops receiving the laser is the upper end of the laser light receiver 10, the working device 4 is rotated upward. On the other hand, if the light receiving position of the laser light receiver 10 immediately before the laser light receiver 10 stops receiving the laser is the lower end of the laser light receiver 10, the working device 4 is rotated downward. Thereby, the laser emitted from the laser projector 50 can be efficiently received again by the laser receiver 10.

  Further, a laser light receiver 10 is provided in the working device 4. Therefore, the laser light receiver 10 can be moved in the up-down direction by rotating the working device 4 in the up-down direction without moving the earth discharging plate 5. Therefore, the operation of moving the laser light receiver 10 in the vertical direction can be suppressed from being limited by the state of the earth discharging plate 5.

  When the laser receiver 10 is mounted on the upper surface of the earth discharging plate 5, it is necessary to supply power from the upper revolving unit 3 having the power generation unit to the laser receiver 10 via the lower traveling unit 2. Since the upper swing body 3 can swing with respect to the body 2, it is not easy to transfer electric power from the upper swing body 3 to the lower traveling body 2. On the other hand, by providing the laser receiver 10 in the working device 4, it is possible to easily supply power to the laser receiver 10 via the working device 4 from the upper rotating body 3 having the power generation unit.

  Further, when the working device 4 is rotated so that the laser light receiver 10 receives the laser beam again, the rotatable range of the working device 4 is limited. If the rotatable range of the working device 4 is unlimited, if the working device 4 continues to rotate without receiving the laser light again, the working device 4 may contact the ground or an obstacle above. There is fear. Therefore, by restricting the rotatable range of the working device 4, it is possible to suppress the working device 4 from contacting the ground or an obstacle.

  Further, the rotatable range of the working device 4 changes according to the postures of the boom 31, the arm 32, and the bucket 33. For example, even if the postures of the boom 31 and the arm 32 are the same, when the bucket 33 is rotated so that the tip of the bucket 33 is raised, the posture in which the bucket 33 is rotated so that the tip of the bucket 33 is lowered. Since the lower end of the entire working device 4 is higher than in the case of the above, even if the turning amount of the working device 4 is such that the working device 4 comes into contact with the ground in the latter, the working device 4 is May not contact. Therefore, in the former case, the rotatable range in the downward direction is wider than in the latter case, and in the latter case, the rotatable range in the lower direction is narrower than in the former case. I do. As described above, by changing the rotatable range of the working device 4 according to the postures of the boom 31, the arm 32, and the bucket 33, it is possible to appropriately suppress the contact with the ground and obstacles while receiving the laser light. The laser can be re-received more efficiently by the device 10.

  Further, by changing the attitude of the working device 4 in a direction in which the distance between the object around the working device 4 and the working device 4 becomes longer, the rotatable range of the working device 4 is widened. For example, even if the postures of the boom 31 and the arm 32 are the same, if the posture of the bucket 33 is turned so that the tip of the bucket 33 is higher, the posture of the bucket 33 is turned so that the tip of the bucket 33 is lower. Also, it becomes difficult for the working device 4 to contact the ground. Therefore, in the case of the latter posture, the bucket 33 is rotated so as to assume the former posture, so that the rotatable range of the working device 4 is widened. In this way, by increasing the rotatable range of the working device 4, it is possible to more efficiently re-receive laser light with the laser light receiver 10 while appropriately suppressing contact with the ground or an obstacle.

  Further, it is determined that the laser light receiver 10 does not receive the laser, and if the light receiving position of the laser light receiver 10 is not at the upper and lower ends of the laser light receiver 10 immediately before that, the working device 4 is not rotated. For example, when a shield is positioned between the laser projector 50 and the laser receiver 10 during traveling, the light receiving position of the laser receiver 10 immediately before the laser receiver 10 stops receiving laser light is determined by the laser receiver 10. Even if it is not the upper and lower ends, the laser light receiver 10 will not receive the laser. In such a case, it is often possible to re-receive light simply by moving away from the shielding object. In such a case, if the working device 4 is rotated, it may be difficult to re-receive light. Therefore, in such a case, the working device 4 is not rotated. As a result, laser light can be re-received by the laser light receiver 10 more efficiently.

  As described above, the embodiments of the present invention have been described, but they are merely specific examples, and do not limit the present invention in particular. Specific configurations and the like can be appropriately changed in design. Further, the actions and effects described in the embodiments of the invention merely enumerate the most preferable actions and effects resulting from the present invention, and the actions and effects according to the present invention are described in the embodiments of the present invention. It is not limited to what was done.

DESCRIPTION OF SYMBOLS 1 Working machine 2 Lower traveling body 3 Upper revolving unit 4 Working device 5 Discharge plate 6 Cab 7 Rotating device 10 Laser receiver 11 Upper revolving unit posture detecting device 12 Working device posture detecting device (posture detecting device)
13 Unloading Plate Posture Detecting Device 14 Notification Device 15 Posture Changing Device 17 Input Device 21 Controller (Determination Unit, Identifying Unit, Rotation Control Unit, Limiting Unit, Posture Changing Unit)
22 Storage Device 31 Boom 32 Arm 33 Bucket 41 Boom Rotation Device 42 Arm Rotation Device 43 Bucket Rotation Device 50 Laser Floodlight

Claims (6)

An undercarriage,
An upper revolving structure that is rotatably provided above the lower traveling structure,
A working device attached to the upper swing body so as to be rotatable in a vertical direction,
An earth removal plate attached to the lower traveling body,
A working machine having
A laser light receiver provided in the working device and capable of receiving a laser emitted by the laser projector,
A rotating device capable of rotating the working device,
Determining means for determining whether the laser receiver is receiving the laser,
When the determining means determines that the laser light receiver is receiving the laser, specifying means for specifying a light receiving position in the laser light receiver,
When the determination means determines that the laser light receiver is not receiving the laser, the rotation device controls the rotation device to rotate the work device based on the light reception position immediately before the laser light receiver. Dynamic control means;
A working machine, further comprising:   The work machine according to claim 1, further comprising a restricting unit that restricts a rotatable range of the working device when the turning control unit controls the turning device. The working device is
A boom attached to the upper swing body so as to be rotatable in the vertical direction;
An arm attached to the boom so as to be rotatable in the vertical direction;
A bucket attached to the arm rotatably in the vertical direction,
Has,
The rotating device includes:
A boom rotation device capable of rotating the boom,
An arm rotating device capable of rotating the arm,
A bucket rotating device capable of rotating the bucket,
Has,
By changing the posture of the working device in a direction in which the distance between the object around the working device and the working device is increased by the rotating device, the working device that is restricted by the limiting unit can be rotated. 3. The work machine according to claim 2, further comprising a posture changing unit for expanding a range. The working device is
A boom attached to the upper swing body so as to be rotatable in the vertical direction;
An arm attached to the boom so as to be rotatable in the vertical direction;
A bucket attached to the arm rotatably in the vertical direction,
Has,
The boom, the arm, and a posture detecting device that detects a posture of the bucket,
The work machine according to claim 2, wherein the restricting unit changes a rotatable range of the work device according to a detection result of the posture detection device. The rotating device includes:
A boom rotation device capable of rotating the boom,
An arm rotating device capable of rotating the arm,
A bucket rotating device capable of rotating the bucket,
Has,
By changing the posture of the working device in a direction in which the distance between the object around the working device and the working device is increased by the rotating device, the working device that is restricted by the limiting unit can be rotated. 5. The work machine according to claim 4, further comprising a posture changing unit for expanding a range.   The rotation control means, the discriminating means discriminates that the laser light receiver is not receiving the laser, if the light receiving position immediately before it is not the upper and lower ends of the laser light receiver, the work device The working machine according to any one of claims 1 to 5, wherein the rotating device is controlled so as not to rotate.

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