JP2023146900A - Work machine - Google Patents

Abstract

To improve work efficiency by preventing contact prevention control from being executed when a slope is detected.SOLUTION: A work machine comprises: a traveling body; a revolving body rotatably attached to the traveling body; a work device attached to the revolving body; an object detection device attached to the revolving body and detecting objects around the revolving body; and a control device that executes contact prevention control for preventing contact with the object detected by the object detection device. The control device determines whether the object detected by the object detection device has a single plane, and when it is determined that the object detected by the object detection device has a single plane, does not perform the contact prevention control.SELECTED DRAWING: Figure 5

Description

TECHNICAL FIELD The present invention relates to working machines.

2. Description of the Related Art Work machines are known that, when an object around a vehicle body is detected, limit the operation of an actuator or output a warning as a contact prevention control to avoid contact with the object. Patent Document 1 discloses a working machine that limits driving of an actuator by an operating device when an object such as an obstacle is detected in a predetermined detection area by a sensor.

Japanese Patent Application Publication No. 2020-183612

However, in a work machine that executes contact prevention control when detecting an object such as an obstacle, when the work machine is near the foot of a slope, the slope around the work machine may be incorrectly detected as an obstacle. As a result, unnecessary contact prevention control is executed, which may reduce work efficiency.

An object of the present invention is to improve work efficiency by preventing contact prevention control from being executed when a slope is detected.

A working machine according to one aspect of the present invention includes a traveling body, a rotating body rotatably attached to the traveling body, a working device attached to the rotating body, and a working device attached to the rotating body and surrounding the rotating body. an object detection device that detects an object; and a control device that executes contact prevention control to prevent contact with the object detected by the object detection device. The control device determines whether the object detected by the object detection device is a single plane, and if it is determined that the object detected by the object detection device is a single plane, The contact prevention control is not executed.

According to the present invention, work efficiency can be improved by preventing contact prevention control from being executed when a slope is detected.

FIG. 1 is a side view of a hydraulic excavator shown as an example of a working machine according to a first embodiment. FIG. 2 is a diagram showing a detection area of an object detection device included in a hydraulic excavator. FIG. 3 is a diagram showing the system configuration of the hydraulic excavator. FIG. 4 is a functional block diagram regarding contact prevention control by the vehicle body controller. FIG. 5 is a flowchart showing the details of the contact prevention control executed by the vehicle body controller. FIG. 6 is a flowchart showing the contents of the basic contact prevention control shown in FIG. FIG. 7 is a schematic plan view showing a state in which a worker is detected by the object detection device. FIG. 8 is a schematic plan view showing a hydraulic excavator traveling near buildings and slopes. FIG. 9 is a flowchart showing details of contact prevention control executed by the vehicle body controller of the hydraulic excavator according to the second embodiment. FIG. 10 is a flowchart showing the details of the contact prevention control during plane detection in FIG. 9. FIG. 11 is a flowchart showing the details of the flat surface detection prevention control executed by the vehicle body controller of the hydraulic excavator according to the third embodiment. FIG. 12 is a schematic plan view showing the traveling operation of the hydraulic excavator according to the third embodiment. FIG. 13 is a flowchart showing the details of the contact prevention control executed by the vehicle body controller of the hydraulic excavator according to the fourth embodiment. FIG. 14 is a diagram illustrating a detection area of an object detection device included in a hydraulic excavator according to a fourth embodiment.

A working machine according to an embodiment of the present invention will be described with reference to the drawings.

<First embodiment>
A working machine according to a first embodiment of the present invention will be described with reference to FIGS. 1 to 8. FIG. 1 is a side view of a hydraulic excavator 1 shown as an example of a working machine according to a first embodiment of the present invention. As shown in FIG. 1, the hydraulic excavator 1 includes a vehicle body 30 and a working device 3 attached to the vehicle body 30. The work device 3 is a device for performing work such as excavating earth and sand. The vehicle body 30 includes a crawler-type traveling body 4 and a revolving body 2 rotatably attached to the traveling body 4. The revolving body 2 is connected to the traveling body 4 via a revolving device 5.

The traveling body 4 is provided with a pair of left and right hydraulic motors (hereinafter referred to as traveling motors) 12 for traveling. The left and right crawlers are rotated independently by the left and right travel motors 12. Thereby, the traveling body 4 travels forward or backward.

The revolving body 2 is provided with a driver's cab 17 in which an operating device for performing various operations of the hydraulic excavator 1, a driver's seat for an operator, and the like are arranged. Further, the revolving body 2 is equipped with an engine 23 (see FIG. 3), a hydraulic pump, a hydraulic motor for swinging (hereinafter referred to as a swing motor) 13, and the like. The turning device 5 is driven by a turning motor 13 and turns the turning body 2 to the right or left with respect to the traveling body 4.

The working device 3 is an articulated working device attached to the revolving body 2, and includes a plurality of hydraulic cylinders and a plurality of hydraulic cylinders (boom cylinder 9, arm cylinder 10, and bucket cylinder 11) driven by a plurality of hydraulic cylinders. It has members to be driven (boom 6, arm 7, and bucket 8). Boom 6, arm 7 and bucket 8 are connected in series. The base end of the boom 6 is rotatably connected to the front part of the rotating structure 2 via a boom pin. The arm 7 has its base end rotatably connected to the distal end of the boom 6 via an arm pin. Bucket 8 is rotatably connected to the tip of arm 7 via a bucket pin.

The boom 6 is rotationally driven by the expansion and contraction movement of the boom cylinder 9. The arm 7 is rotationally driven by the expansion and contraction movement of the arm cylinder 10. The bucket 8 is rotationally driven by the expansion and contraction movement of the bucket cylinder 11. The boom cylinder 9 has one end connected to the boom 6 and the other end connected to the frame of the revolving structure 2. The arm cylinder 10 has one end connected to the arm 7 and the other end connected to the boom 6. The bucket cylinder 11 has one end connected to the bucket 8 via a bucket link and the other end connected to the arm 7.

FIG. 2 is a diagram showing the detection area 72 of the object detection device 71 included in the hydraulic excavator 1. The hydraulic excavator 1 according to the present embodiment includes a plurality of object detection devices 71 that are attached to the revolving structure 2 and detect objects around the revolving structure 2, and a mechanism for preventing contact between objects detected by the object detection devices 71. and a vehicle body controller 14 that executes contact prevention control.

In this embodiment, an object (obstacle) existing in the range of movement of the vehicle body 30 is detected in a short period of time after the hydraulic excavator 1 starts turning and traveling, and the contact between the hydraulic excavator 1 and the object is detected. Four object detection devices 71 (71a, 71b, 71c, 71d) are arranged at predetermined positions of the revolving body 2 so as to prevent this.

The object detection device 71a detects an object within a detection area 72a on the rear left side of the rotating body 2. The object detection device 71b detects an object within a detection area 72b on the right rear side of the rotating body 2. The object detection device 71c detects an object within the detection area 72c on the left side of the rotating body 2. The object detection device 71d detects an object within the detection area 72d on the right side of the rotating body 2.

The object detection device 71 includes a detection unit and a detection controller connected to the detection unit and the vehicle body controller 14 described later. The detection unit is a unit in which a 3D sensor as an object detection sensor for detecting objects (obstacles) and a photographing device for photographing the surroundings of the vehicle body 30 are integrated. The detection controller determines whether an object exists within a predetermined detection area 72 based on information output from the 3D sensor of the detection unit, and outputs the determination result to the vehicle body controller 14.

The 3D sensor is, for example, an infrared sensor using a time-of-flight (TOF) method. The detection area 72 of the 3D sensor is a range in which objects can be detected in the vertical and horizontal directions. The lowest end of each detection area 72 is set at a certain height or higher so that the traveling body 4 of the hydraulic excavator 1 itself is not detected as an obstacle. The detection area 72 of each object detection device 71 is set by a detection controller.

The detection controller of the object detection device 71 determines whether one or more objects (person, vehicle, etc.) exist within the detection area 72 based on the signal from the detection unit, and transmits the determination result to the vehicle body controller. Output to 14. Detecting an object by the object detection device 71 means that the detection controller of the object detection device 71 determines that an object exists. Further, the expression "no object is detected by the object detection device 71" means that the detection controller of the object detection device 71 determines that no object exists.

Further, the detection controller of the object detection device 71 outputs data of an image photographed by the photographing device to the vehicle body controller 14. The photographing device is, for example, a wide-angle video camera equipped with an imaging element such as a CCD or CMOS having excellent durability and weather resistance, and a wide-angle lens.

FIG. 3 is a diagram showing the system configuration of the hydraulic excavator 1. The hydraulic excavator 1 includes a vehicle body controller 14 which is a control device that controls the operation of each part of the hydraulic excavator 1, an engine control dial 15 for manually changing the upper limit value of the engine rotation speed, an engine 23 as a prime mover, and an engine 23 as a prime mover. The engine controller 24 is a control device for controlling the engine 23. The engine controller 24 grasps the state of the engine 23 from sensor signals output from temperature sensors, pickup sensors, etc. built into the engine 23, and controls the rotational speed and torque of the engine 23 by controlling valves and the like. .

The vehicle body controller 14 is connected to the engine controller 24, the detection controller of each object detection device 71, and the like through an in-vehicle network called CAN (Controller Area Network), and mutually transmits and receives information (data).

The vehicle body controller 14 and the engine controller 24 cooperate to control the rotational speed of the engine 23.

In engine rotational speed control, the vehicle body controller 14 controls a signal (voltage) output according to the operating position of the engine control dial 15, the operating state of the operating devices 31, 32, 33 of each actuator (9 to 12), which will be described later, A target engine rotational speed is calculated based on the load condition of the main pump 21, the temperature condition of the engine 23, etc., which will be described later, and the target engine rotational speed is output to the engine controller 24.

The engine controller 24 calculates the actual engine rotation speed from the signal from the pickup sensor. The engine controller 24 controls the engine 23 so that the actual engine rotation speed becomes the engine target rotation speed. The engine controller 24 outputs the calculated actual engine rotation speed to the vehicle body controller 14.

The hydraulic excavator 1 includes a main pump 21 that is a variable displacement hydraulic pump and a pilot pump 22 that is a fixed displacement hydraulic pump. The main pump 21 and the pilot pump 22 are driven by an engine 23, suck hydraulic oil from an oil tank 25, and discharge the hydraulic oil to a discharge pipe. A lock valve 26 is provided in a pilot line that is a discharge pipe of the pilot pump 22 . A pump regulator 27 is connected between the lock valve 26 and the pilot pump 22 in the pilot line.

The lock valve 26 is an electromagnetic switching valve that can shut off the pilot line of the pilot pump 22. The lock valve 26 is switched between a circuit blocking position and a circuit communicating position by a solenoid driven by the vehicle body controller 14. Lock valve 26 is operated by an operator. A lock lever device 18 is installed in the driver's cab 17. When the locking lever device 18 is in the locking position, the locking valve 26 is switched to the circuit breaking position. In this state, the hydraulic oil discharged from the pilot pump 22 does not flow downstream of the lock valve 26. When the lock lever device 18 is in the unlocked position, the lock valve 26 is switched to the circuit communication position. In this state, the hydraulic oil discharged from the pilot pump 22 flows downstream of the lock valve 26. Details of the lock lever device 18 will be described later.

The pump regulator 27 has a pump flow rate control valve that is an electromagnetic proportional valve that reduces the discharge pressure (pilot primary pressure) of the pilot pump 22 and outputs the reduced pressure. The pump regulator 27 reduces the pilot primary pressure in response to a control signal (current) from the vehicle body controller 14 and outputs a secondary pressure. The pump regulator 27 has a built-in tilting (displacement volume) control mechanism for the main pump 21, and adjusts the displacement of the main pump 21 according to the pump flow rate control pressure, which is the output (secondary pressure) of the pump flow rate control valve. Control the volume (i.e. discharge flow rate).

The main pump 21 is a drive source for driving hydraulic actuators such as the boom cylinder 9, the arm cylinder 10, the bucket cylinder 11, the travel motor 12, and the swing motor 13. Although only one main pump 21 is shown in FIG. 3, there may be a plurality of main pumps 21.

The hydraulic excavator 1 includes a boom operating device that operates a boom cylinder 9, an arm operating device that operates an arm cylinder 10, and a bucket operating device that operates a bucket cylinder 11. Note that FIG. 3 shows a front operating device 31 that represents one of a boom operating device, an arm operating device, and a bucket operating device. Further, in FIG. 3, a hydraulic cylinder S representing one of the boom cylinder 9, the arm cylinder 10, and the bucket cylinder 11 is shown.

The hydraulic excavator 1 includes a right travel operating device that operates a travel motor (traveling actuator) 12 of the right crawler of the traveling body 4 and a left travel operating device that operates the travel motor (traveling actuator) 12 of the left crawler of the traveling body 4. , and a swing operation device 33 that operates the swing motor (swing actuator) 13. In addition, in FIG. 3, one of the right travel operation device and the left travel operation device is shown as the travel operation device 32 as a representative. Further, in FIG. 3, one of the right crawler travel motor 12 and the left crawler travel motor 12 is shown as a representative.

The front operating device 31 includes an operating lever 31c that is tilted and operated by an operator, and a pair of hydraulic pilot type pressure reducing valves 31a and 31b. The travel operating device 32 includes an operating lever 32c that is tilted and operated by an operator, and a pair of hydraulic pilot type pressure reducing valves 32a and 32b. The swing operating device 33 includes an operating lever 33c that is tilted and operated by an operator, and a pair of hydraulic pilot type pressure reducing valves 33a and 33b.

The pressure reducing valves 31a, 31b, 32a, 32b, 33a, 33b of the operating devices 31, 32, 33 are provided downstream of the lock valve 26 in the pilot line. When the lock valve 26 is switched to the circuit communication position, the pressure reducing valves 31a, 31b, 32a, 32b, 33a, 33b use the discharge pressure of the pilot pump 22 as the source pressure, and the operation amount of the operating levers 31c, 32c, 33c. and generates pilot pressure (also referred to as operating pressure) according to the operating direction.

The pilot pressure generated by the pressure reducing valves 31a, 31b, 32a, 32b, 33a, 33b is guided to the control valve 40. The control valve 40 has flow control valves 41, 42, 43 for controlling the flow rate of hydraulic oil supplied from the main pump 21 to the hydraulic actuators (S, 12, 13).

The pilot pressure generated by the pressure reducing valves 31a, 31b, 32a, 32b, 33a, 33b is used as a command (signal) to operate the hydraulic actuators (S, 12, 13).

When the operating levers 31c, 32c, 33c of the operating devices 31, 32, 33 are operated, the operating pressure (signal) corresponding to the operating direction and amount is received by the flow rate control valves 41, 42, 43 of the control valve 40. The flow rate control valves 41, 42, 43 operate by being guided to the sections 41a, 41b, 42a, 42b, 43a, 43b. Thereby, the hydraulic oil discharged from the main pump 21 is supplied to the hydraulic actuators (S, 12, 13) corresponding to the flow control valves 41, 42, 43 through the flow control valves 41, 42, 43, and the hydraulic oil is Actuators (S, 12, 13) are driven. Although not shown in FIG. 3, hydraulic actuators related to the blade and attachments can also be driven in a similar manner.

The hydraulic excavator 1 includes operating pressure sensors 34a, 34b, 35a, 35b, 36a, and 36b that detect operating pressures (operating amounts) of operating devices 31, 32, and 33. In this embodiment, the operating pressure sensors 34a, 34b, 35a, 35b, 36a, 36b are the pressure reducing valves 31a, 31b, 32a, 32b, 33a, 33b of the operating devices 31, 32, 33, the flow rate control valves 41, 42, This is a pressure sensor provided in a pilot line connecting the 43 pressure receiving parts 41a, 41b, 42a, 42b, 43a, and 43b.

The operating pressure sensors 34a, 34b, 35a, 35b, 36a, and 36b detect the operating pressure (operating amount) generated by the operator's operation of the operating levers 31c, 32c, and 33c, and output the detection results to the vehicle controller 14. The work operating pressure sensors 34a, 34b detect operating pressures (also referred to as front operating pressures) acting on the pressure receiving parts 41a, 41b of the flow rate control valve 41.

Note that when the front operating device 31 is a boom operating device, the work operating pressure sensors 34a and 34b are boom operating pressure sensors that detect the operating pressure of the boom 6. Furthermore, when the front operating device 31 is an arm operating device, the work operating pressure sensors 34a and 34b are arm operating pressure sensors that detect the operating pressure of the arm 7. When the front operating device 31 is a bucket operating device, the work operating pressure sensors 34a and 34b are bucket operating pressure sensors that detect the operating pressure of the bucket 8. In this way, the work operation pressure sensors 34a and 34b detect the operation pressure (operation amount) for operating the work device 3.

Traveling operation pressure sensors 35a, 35b detect operating pressures (also referred to as traveling operation pressures) acting on pressure receiving portions 42a, 42b of flow control valve 42. That is, the travel operation pressure sensors 35a and 35b detect the operation pressure (operation amount) for causing the traveling body 4 to operate (travel). The swing operation pressure sensors 36a, 36b detect operating pressures (also referred to as swing operation pressures) acting on the pressure receiving parts 43a, 43b of the flow control valve 43. That is, the swing operation pressure sensors 36a and 36b detect the operation pressure (operation amount) for operating (swinging) the swing structure 2.

Signals from the work operation pressure sensors 34a, 34b (ie, boom operation pressure sensor, arm operation pressure sensor, bucket operation pressure sensor), travel operation pressure sensors 35a, 35b, and swing operation pressure sensors 36a, 36b are input to the vehicle body controller 14. . The vehicle body controller 14 grasps the operating status of the hydraulic excavator 1 based on signals from the operating pressure sensors 34a, 34b, 35a, 35b, 36a, and 36b.

The vehicle controller 14 includes a processing device 141 such as a CPU (Central Processing Unit), an MPU (Micro Processing Unit), or a DSP (Digital Signal Processor), a nonvolatile memory 142 such as a ROM (Read Only Memory), a flash memory, or a hard disk drive; The computer includes a volatile memory 143 called RAM (Random Access Memory), an input/output interface 144, and other peripheral circuits. Note that the vehicle body controller 14 may be composed of one computer or may be composed of a plurality of computers.

The nonvolatile memory 142 stores programs that can execute various operations. That is, the nonvolatile memory 142 is a storage medium that can read a program that implements the functions of this embodiment. The processing device 141 expands the program stored in the nonvolatile memory 142 into the volatile memory 143 and performs arithmetic processing. The processing device 141 performs predetermined arithmetic processing on data acquired from the input/output interface 144, nonvolatile memory 142, and volatile memory 143 according to a program.

The vehicle body controller 14 includes operating pressure sensors 34a, 34b, 35a, 35b, 36a, 36b, an engine controller 24, a detection controller for an object detection device 71, a pump regulator 27, a lock lever device 18, a lock valve 26, and a pilot pressure control valve 52a. , 52b, 53a, 53b, a display device 91a, an internal warning buzzer 91b, a light emitting device 92a, an external warning buzzer 92b, and the engine control dial 15, respectively.

The input section of the input/output interface 144 is connected to various devices (engine controller 24, engine control dial 15, lock lever device 18, operation pressure sensors 34a, 34b, 35a, 35b, 36a, 36b, detection controller of object detection device 71, etc.). The processing unit 141 converts the input signal into a signal that can be operated on. Further, the output section of the input/output interface 144 generates an output signal according to the calculation result of the processing device 141, and sends the signal to various devices (engine controller 24, lock valve 26, detection controller of object detection device 71). , pilot pressure control valves 52a, 52b, 53a, 53b, internal alarm device 91, external alarm device 92, etc., which will be described later.

The lock lever device 18 has a lock release position where the hydraulic actuators (S, 12, 13) can be operated by the operating devices 31, 32, 33, and a lock release position where the hydraulic actuators (S, 12, 13) can be operated by the operating devices 31, 32, 33. , 13) can be switched to a lock position that disables operation.

The lock lever device 18 includes a lock lever 18a that is selectively operated between a lock position and an unlock position, and an operation position sensor 18b that outputs a signal according to the operation position of the lock lever 18a.

The vehicle body controller 14 detects the operating position of the lock lever 18a based on the signal output from the operating position sensor 18b, and controls the lock valve 26 according to the operating position of the lock lever device 18. The vehicle body controller 14 switches the lock valve 26 to the circuit cutoff position when the lock lever 18a is operated to the lock position. The vehicle body controller 14 switches the lock valve 26 to the circuit communication position when the lock lever 18a is operated to the unlock position.

When the lock valve 26 is in the circuit cutoff position, the pilot primary pressure supplied from the pilot pump 22 to the operating devices 31, 32, 33 is blocked by the lock valve 26, and the hydraulic actuators (S, 12, 13) becomes inoperable. When the lock valve 26 is in the circuit communication position, pilot primary pressure is supplied from the pilot pump 22 to the operating devices 31, 32, and 33. Therefore, the pilot pressure (operating pressure) generated by the operating devices 31, 32, 33 according to the operating amount is guided to the flow control valves 41, 42, 43, so that the hydraulic actuator (S , 12, 13) become possible.

When a determination result indicating that one or more objects (obstacles such as a person or a vehicle) are present in the detection area 72 is input from the detection controller of the object detection device 71, the vehicle body controller 14 performs object detection. It is determined that the condition is When the vehicle body controller 14 receives determination results indicating that no object exists within the detection area 72 (72a to 72d) from the detection controllers of all the object detection devices 71, the vehicle body controller 14 determines that an object is not detected.

If the vehicle body controller 14 determines that the object is detected, it executes contact prevention control to prevent the hydraulic excavator 1 from coming into contact with the object detected by the object detection device 71. The contact prevention control includes operation restriction control that limits the operation of the hydraulic actuator of the hydraulic excavator 1 and alarm control that issues a warning to the operator of the hydraulic excavator 1 and workers around the hydraulic excavator 1.

The operation limit control includes rotation speed limit control that indirectly limits the operation of the hydraulic actuators (S, 12, 13) by limiting the rotation speed of the engine 23, and pilot pressure control valves 52a, 52b, 53a, 53b. actuator limitation control that directly limits the operation of the hydraulic actuators (S, 12, 13) by limiting the operating pressure.

In the rotational speed limit control, the vehicle body controller 14 outputs a power reduction command (≈engine rotational speed reduction command) to the engine controller 24 to reduce the rotational speed of the engine 23.

In the actuator restriction control, the vehicle body controller 14 drives the pilot pressure control valves 52a, 52b, 53a, and 53b to reduce or cut off the pilot pressure (operating pressure) from the operating devices 32 and 33 to the control valve 40. The operation of the hydraulic actuators (12, 13) is decelerated or stopped.

The actuator restriction control includes travel operation pressure restriction control that limits the operation of the travel motor 12 by limiting the travel operation pressure with the travel pilot pressure control valves 52a and 52b, and swing operation pressure control that restricts the operation of the travel motor 12 with the travel pilot pressure control valves 53a and 53b. There is a swing operation pressure limitation control that limits the operation of the swing motor 13 by limiting the pressure.

The traveling pilot pressure control valves 52a, 52b are electromagnetic proportional pressure reducing valves provided in the pilot line between the pressure reducing valves 32a, 32b of the traveling operating device 32 and the pressure receiving parts 42a, 42b of the flow rate control valve 42. The travel pilot pressure control valves 52a, 52b generate a corrected travel operating pressure by further reducing the operating pressure generated by the pressure reducing valves 32a, 32b of the travel operating device 32 in response to a control signal from the vehicle body controller 14. The traveling pilot pressure control valves 52a, 52b are in the fully open position when not controlled (during demagnetization), and the traveling operating pressure generated by the pressure reducing valves 32a, 32b is directly guided to the pressure receiving parts 42a, 42b of the flow rate control valve 42. . In the traveling operation pressure limitation control, the vehicle body controller 14 increases the current output to the traveling pilot pressure control valves 52a and 52b. This limits the travel operation pressure and restricts the travel operation.

The swing pilot pressure control valves 53a, 53b are electromagnetic proportional pressure reducing valves provided in the pilot line between the pressure reducing valves 33a, 33b of the swing operating device 33 and the pressure receiving parts 43a, 43b of the flow rate control valve 43. The swing pilot pressure control valves 53a, 53b generate a corrected swing operating pressure by further reducing the operating pressure generated by the pressure reducing valves 33a, 33b of the swing operating device 33 in response to a control signal from the vehicle body controller 14. The swing pilot pressure control valves 53a, 53b are in the fully open position when not controlled (during demagnetization), and the swing operation pressure generated by the pressure reducing valves 33a, 33b is directly guided to the pressure receiving parts 42a, 42b of the flow rate control valve 42. . In the turning operation pressure limitation control, the vehicle body controller 14 increases the current output to the turning pilot pressure control valves 53a and 53b. This limits the turning operation pressure and limits the turning operation.

The alarm control includes internal alarm control that issues an alarm to the operator, and external alarm control that issues an alarm to workers and the like around the hydraulic excavator 1. In internal alarm control, the vehicle body controller 14 drives the internal alarm device 91 to issue an alarm to the operator. In external alarm control, the vehicle body controller 14 drives the external alarm device 92 to issue an alarm to workers around the hydraulic excavator 1 .

The internal alarm device 91 is a device that issues a warning to the operator of the hydraulic excavator 1 when the object detection device 71 detects an object such as a worker around the hydraulic excavator 1 .

For example, the internal alarm device 91 includes a display device 91a and an internal warning buzzer 91b provided in the operator's cab 17 of the hydraulic excavator 1. The display device 91a is, for example, a liquid crystal display, an organic EL display, or the like, and displays an image photographed by the photographing device of the object detection device 71 on the display screen. In addition, the display device 91a displays a warning screen on the display screen that includes images such as messages and icons indicating that an object has been detected around the hydraulic excavator 1 by the object detection device 71 and the details of the operation restriction control. do. The internal warning buzzer 91b warns the operator of the hydraulic excavator 1 by emitting a warning sound. The internal warning buzzer 91b emits a warning sound according to the content of the operation restriction control.

The external alarm device 92 is a device that issues a warning to workers around the hydraulic excavator 1 when an object such as a worker around the hydraulic excavator 1 is detected by the object detection device 71.

For example, the external warning device 92 includes a light emitting device 92a and an external warning buzzer 92b attached to the outer surface of the revolving body 2 of the hydraulic excavator 1. The light emitting device 92a warns workers around the hydraulic excavator 1 by emitting a warning light. The light emitting device 92a includes, for example, a plurality of light emitting diodes (LEDs). The light emitting device 92a emits a warning light according to the content of the operation restriction control. The external warning buzzer 92b issues a warning sound to warn workers around the hydraulic excavator 1. The external warning buzzer 92b emits a warning sound according to the content of the operation restriction control.

The functions of the vehicle body controller 14 will be described in detail with reference to FIG. 4. FIG. 4 is a functional block diagram regarding contact prevention control by the vehicle body controller 14. As shown in FIG. 4, the vehicle body controller 14 includes a detection determination section 81, an operation state determination section 82, an image determination section 83, a contact prevention control section 84, a solenoid valve control section 85, an engine rotation control section 86, and a buzzer control section 87. , a display control section 88, and a light emission control section 89.

The detection determination unit 81 determines whether or not an object detection state is present based on the signal from the object detection device 71. The detection determination unit 81 determines that the object detection state is present when a signal indicating that an object is detected in at least one of the detection areas 72a to 72d of the plurality of object detection devices 71 is input. If a signal indicating that no object is detected in all of the detection areas 72a to 72d of the plurality of object detection devices 71 is input, the detection determination unit 81 determines that the object is not in the object detection state (that is, in the object non-detection state). It is determined that there is a

The operating state determination unit 82 determines whether or not the turning operating state, the driving operating state, and the front operating state are based on the detection results of the operating pressure sensors 34a, 34b, 35a, 35b, 36a, and 36b. Determine whether it exists or not.

The operating state determination unit 82 determines that the front operating state is present when the operating amount (front operating pressure) detected by the work operating pressure sensors 34a and 34b is equal to or greater than a predetermined front operating amount threshold. The operating state determination unit 82 determines that the front operating state is not present when the operating amount (front operating pressure) detected by the work operating pressure sensors 34a and 34b is less than the front operating amount threshold.

The operation state determination unit 82 determines that the vehicle is in the travel operation state when the operation amount (travel operation pressure) detected by the travel operation pressure sensors 35a and 35b is equal to or greater than a predetermined travel operation amount threshold. The operation state determination unit 82 determines that the vehicle is not in the travel operation state when the operation amount (travel operation pressure) detected by the travel operation pressure sensors 35a, 35b is less than the travel operation amount threshold.

The operating state determination unit 82 determines that the operating state is a swing operating state when the operating amount (swing operating pressure) detected by the swing operating pressure sensors 36a and 36b is equal to or greater than a predetermined swing operating amount threshold. The operating state determination unit 82 determines that the operating state is not a swing operating state when the operating amount (swing operating pressure) detected by the swing operating pressure sensors 36a, 36b is less than the above-mentioned swing operating amount threshold.

Further, when determining that the front operation state is not in the front operation state, the running operation state is not in the driving operation state, and the turning operation state is not in the turning operation state, the operation state determination unit 82 determines that the vehicle body is in the non-operation state.

The image determination unit 83 determines whether the image photographed by the photographing device of the object detection device 71 that has detected the object is a single plane image. Various methods can be used to determine whether an image photographed by a photographing device is a single plane image.

For example, if the photographing device of the object detection device 71 is a stereo camera (a pair of cameras), the images taken by each of the pair of cameras are used to determine whether the image of the detected object is a single plane image or not. can be determined. If one image of a pair of cameras is a reference image and the other image of a pair of cameras is a reference image, and the coordinates on the standard image are defined as mb and the coordinates on the reference image as mr, then the coordinates mb, mr are related by a two-dimensional 3×3 projective transformation matrix H.

It is known that when a suitable projective transformation is applied to a reference image, an image that matches the reference image can be obtained for a flat portion. Therefore, if the detected object is a plane, the image obtained by projectively transforming the reference image matches the reference image. On the other hand, if the detected object is not a plane, the image does not match the reference image when the reference image is projectively transformed. Therefore, the image determination unit 83 can determine whether the detected object is a single plane based on whether the image projectively transformed into the reference image matches the reference image.

The contact prevention control section 84 functions as an operation restriction control section and an alarm control section. The contact prevention control unit 84 outputs a turning restriction command, a travel restriction command, and a speed restriction command as operation restriction commands based on the determination results of the detection determination unit 81, the operation state determination unit 82, and the image determination unit 83. Further, the contact prevention control unit 84 outputs a buzzer command, a warning display command, and a light emission command as warning commands based on the determination results of the detection determination unit 81, the operation state determination unit 82, and the image determination unit 83.

The contact prevention control unit 84 outputs a turning restriction release command, a traveling restriction release command, and a speed restriction release command as operation restriction release commands based on the determination result of the detection determination unit 81. Further, the contact prevention control unit 84 outputs a buzzer cancellation command, a warning display cancellation command, and a light emission cancellation command as warning cancellation commands based on the determination result of the detection determination unit 81.

When the swing restriction command is output from the contact prevention control unit 84, the electromagnetic valve control unit 85 outputs a cutoff signal (current) to the swing pilot pressure control valves 53a, 53b, and fully closes the swing pilot pressure control valves 53a, 53b. Switch to closed position. When the travel restriction command is output from the contact prevention control unit 84, the solenoid valve control unit 85 outputs a cutoff signal (current) to the travel pilot pressure control valves 52a, 52b, and fully closes the travel pilot pressure control valves 52a, 52b. Switch to closed position.

When the rotation restriction release command is output from the contact prevention control unit 84, the electromagnetic valve control unit 85 terminates the supply of current to the rotation pilot pressure control valves 53a, 53b, and fully opens the rotation pilot pressure control valves 53a, 53b. Switch to position. When the travel restriction release command is output from the contact prevention control unit 84, the solenoid valve control unit 85 stops supplying current to the travel pilot pressure control valves 52a, 52b, and fully opens the travel pilot pressure control valves 52a, 52b. Switch to position.

The engine rotation control unit 86 calculates a target engine rotation speed based on the operating states of the operating devices 31, 32, and 33, the load state of the main pump 21, and the temperature state of the engine 23, and calculates the target engine rotation speed by controlling the engine controller. Output to 24. The engine target rotation speed is set to a value that is greater than or equal to a predetermined lower limit value and less than or equal to an upper limit value.

The engine rotation control section 86 sets an upper limit value of the engine rotation speed according to the operating position of the engine control dial 15 when the speed limit command is not output from the contact prevention control section 84 . When the speed limit command is output from the contact prevention control section 84, the engine rotation control section 86 sets the upper limit value of the engine rotation speed to a predetermined speed limit. The speed limit is stored in nonvolatile memory 142.

The speed limit is a value greater than or equal to the minimum value of the engine rotation speed that can be set according to the operating position of the engine control dial 15, and the maximum value of the engine rotation speed that can be set according to the operating position of the engine control dial 15. is a constant value less than It is preferable that the speed limit is set to, for example, the minimum value of the engine rotational speed that can be set depending on the operation position of the engine control dial 15, or a predetermined value that is closer to the minimum value than the maximum value.

When the speed limit release command is output from the contact prevention control section 84, the engine rotation control section 86 sets an upper limit value of the engine rotation speed according to the operation position of the engine control dial 15 instead of the speed limit.

When a buzzer command is output from the contact prevention control unit 84, the buzzer control unit 87 causes an internal warning buzzer 91b and an external warning buzzer 92b to output a warning sound. The warning sound is, for example, a predetermined pattern of sound or a message voice. When the contact prevention control unit 84 outputs a buzzer release command, the buzzer control unit 87 stops outputting the warning sound by the internal warning buzzer 91b and the external warning buzzer 92b.

The display control unit 88 displays a warning screen on the display screen of the display device 91a when a warning display command is output from the contact prevention control unit 84. The warning screen includes images such as messages and icons indicating that an object has been detected around the hydraulic excavator 1 and the details of the operation restriction control. For example, the display device 91a displays an image of a message such as "Operations are being restricted because an object has been detected" on the display screen. When the warning display cancellation command is output from the contact prevention control unit 84, the display control unit 88 hides the warning screen displayed on the display screen of the display device 91a.

When a light emission command is output from the contact prevention control section 84, the light emission control section 89 causes the light emitting device 92a to output a warning light according to the content of the operation restriction control. The light emission control section 89 stops the output of the warning light by the light emitting device 92a when a light emission cancellation command is output from the contact prevention control section 84.

The details of the contact prevention control executed by the vehicle body controller 14 will be explained with reference to the flowcharts of FIGS. 5 and 6. FIG. 5 is a flowchart showing the details of the contact prevention control executed by the vehicle body controller 14, and FIG. 6 is a flowchart showing the details of the basic contact prevention control of FIG.

The process of the flowchart shown in FIG. 5 is started, for example, when the ignition switch is turned on (that is, the key is turned on), and is repeatedly executed after initial settings including a process for starting the object detection device 71 and the like are performed.

In step S100, the vehicle body controller 14 determines whether or not the vehicle is in an object detection state based on the information (determination result) output from the object detection device 71. If it is determined in step S100 that the object is detected, the process proceeds to step S110. If it is determined in step S100 that there is no object detection state, the process proceeds to step S150. Details of the process in step S150 will be described later.

In step S110, the vehicle body controller 14 determines that the object detected in step S100 (hereinafter also referred to as a detected object) is a single plane based on the information output from the object detection device 71 (the image photographed by the photographing device). Determine whether it exists or not.

If it is determined in step S110 that the detected object in the photographed image is not a single plane, the process proceeds to step S120, and basic contact prevention control is executed. In step S110, if it is determined that the detected object in the photographed image is a single plane, the process shown in the flowchart of FIG. 5 in this control cycle ends. That is, if it is determined that the detected object in the photographed image is a single plane, the processing in this control cycle ends without executing the basic contact prevention control (step S120).

The basic contact prevention control (step S120) will be described below with reference to FIG. As shown in FIG. 6, when the basic contact prevention control is started, the vehicle body controller 14 executes rotational speed limiting control in step S125. In the rotational speed limit control, the vehicle body controller 14 sets the upper limit value of the engine rotational speed to the limiting speed.

As a result, for example, when the upper limit value of the engine rotation speed is set to the maximum value by the engine control dial 15 and rotation speed limit control is executed, the upper limit value of the engine rotation speed changes from the maximum value to the limiting speed. Switch. If rotational speed limitation control is executed while the rotating structure 2 is turning, the turning speed of the rotating structure 2 is reduced. In other words, the turning operation of the rotating structure 2 is restricted. Furthermore, if the rotational speed limiting control is executed while the traveling body 4 is traveling, the traveling speed of the traveling body 4 is reduced. In other words, the traveling motion of the traveling body 4 is restricted.

Once the rotational speed limit control is executed, the process advances to step S128. In step S128, the vehicle body controller 14 executes the internal alarm control and external alarm control described above, and proceeds to step S130.

In step S130, the vehicle body controller 14 determines whether the vehicle is in a travel operation state or a travel non-operation state based on the detection results of the travel operation pressure sensors 35a and 35b. In step S130, if it is determined that the vehicle is in the non-traveling operation state, the process proceeds to step S135, and if it is determined that the vehicle is in the travel operation condition, the process proceeds to step S140.

In step S135, the vehicle body controller 14 executes travel start restriction control, and proceeds to step S140. In the travel start restriction control, the vehicle body controller 14 switches the travel pilot pressure control valves 52a, 52b from the fully open position to the fully closed position by energizing the solenoids of the travel pilot pressure control valves 52a, 52b. As a result, the pilot lines between the pressure reducing valves 32a, 32b of the traveling operation device 32 and the pressure receiving parts 42a, 42b of the flow rate control valve 42 are cut off by the traveling pilot pressure control valves 52a, 52b.

In step S140, the vehicle body controller 14 determines whether the vehicle is in a turning operation state or a turning non-operation state based on the detection results of the turning operation pressure sensors 36a and 36b. In step S140, if it is determined that the vehicle is not in a turning operation state, the process proceeds to step S145, and if it is determined that the vehicle is in a turning operation state, the process shown in the flowchart of FIG. 6 ends.

In step S145, the vehicle body controller 14 executes turning start restriction control, and ends the process shown in the flowchart of FIG. 6. In the turning start restriction control, the vehicle body controller 14 switches the turning pilot pressure control valves 53a, 53b from the fully open position to the fully closed position by energizing the solenoids of the turning pilot pressure control valves 53a, 53b. As a result, the pilot lines between the pressure reducing valves 33a, 33b of the swing operating device 33 and the pressure receiving parts 43a, 43b of the flow rate control valve 43 are cut off by the swing pilot pressure control valves 53a, 53b.

After the basic contact prevention control (S120) shown in FIG. 5 is executed, if it is determined in step S100 that there is no object detection state, the process proceeds to step S150. In step S150, the vehicle body controller 14 cancels the basic contact prevention control. Specifically, the vehicle body controller 14 cancels the currently executed control among the rotational speed limitation control (S125), the running start limitation control (S135), and the turning start limitation control (S145).

When the rotational speed limit control (S125) is canceled, the upper limit value of the rotational speed is set to a value corresponding to the operating position of the engine control dial 15. When the travel start restriction control (S135) is released, the solenoids of the travel pilot pressure control valves 52a, 52b are demagnetized, and the travel pilot pressure control valves 52a, 52b are switched from the fully closed position to the fully open position. When the swing start restriction control (S145) is released, the solenoids of the swing pilot pressure control valves 53a, 53b are demagnetized, and the swing pilot pressure control valves 53a, 53b are switched from the closed position to the fully open position.

In step S150, when the basic contact prevention control is canceled, the process shown in the flowchart of FIG. 5 in this control cycle ends.

The main operations of the hydraulic excavator 1 according to this embodiment will be explained. As shown in FIG. 2, when there are no workers, vehicles, or other objects around the hydraulic excavator 1, the travel pilot pressure control valves 52a, 52b and the swing pilot pressure control valves 53a, 53b are in a circuit communication state. Therefore, the hydraulic actuators (9 to 13) of the hydraulic excavator 1 operate according to the operator's operations.

FIG. 7 is a schematic plan view showing a state in which the worker 190 is detected by the object detection device 71. As shown in FIG. 7, when a worker 190 is present around the hydraulic excavator 1, basic contact prevention control (S120 in FIG. 5) is executed.

When the worker 190 is detected while the traveling body 4 is running, an alarm is issued to alert the operator and the worker 190 (S128 in FIG. 6). Furthermore, the rotational speed of the engine 23 is limited, so that the traveling body 4 is decelerated (S125 in FIG. 6). This prevents contact between the hydraulic excavator 1 and the worker 190.

In addition, in this embodiment, when the worker 190 is detected while the traveling body 4 is traveling, the traveling pilot pressure control valves 52a and 52b are maintained at the fully open position. If the traveling pilot pressure control valves 52a and 52b are switched to the fully closed position, the traveling body 4 will suddenly stop during the traveling operation. In this case, the operator may feel uncomfortable with the operability.

In contrast, in the present embodiment, if the worker 190 is detected while the traveling body 4 is traveling, the traveling pilot pressure control valves 52a and 52b are maintained at the fully open position, so that the traveling pilot pressure control valves 52a and 52b are maintained at the fully open position. Traveling does not stop (Yes in S130 in FIG. 6). As a result, it is possible to prevent the operator from feeling uncomfortable with the operability.

When the worker 190 is detected while the revolving structure 2 is rotating, an alarm is issued to alert the operator and the worker 190 (S128 in FIG. 6). Furthermore, the rotational speed of the engine 23 is limited, thereby decelerating the rotating structure 2 (S125 in FIG. 6). This prevents contact between the hydraulic excavator 1 and the worker.

In addition, in this embodiment, when the worker 190 is detected while the revolving structure 2 is revolving, the revolving pilot pressure control valves 53a and 53b are maintained at the fully open position. If the swing pilot pressure control valves 53a and 53b are switched to the fully closed position, the swing structure 2 will suddenly stop during the swing operation. In this case, the operator may feel uncomfortable with the operability.

On the other hand, in the present embodiment, if the worker 190 is detected while the rotating structure 2 is rotating, the swing pilot pressure control valves 53a and 53b are maintained at the fully open position, so that the The traveling body 4 does not stop (Yes in S140 in FIG. 6). As a result, it is possible to prevent the operator from feeling uncomfortable with the operability.

When the worker 190 is detected while the traveling body 4 is stopped, a warning is issued and traveling start restriction control is executed (No in S128→S130 in FIG. 6→S135). Thereby, when the operator performs a traveling operation, it is possible to prevent the hydraulic excavator 1 from traveling. As a result, contact between the hydraulic excavator 1 and the worker 190 is prevented.

If the worker 190 is detected while the rotating structure 2 is stopped, an alarm is issued and turning start restriction control is executed (S128 in FIG. 6...No in S140→S145). Thereby, when the operator performs a turning operation, it is possible to prevent the hydraulic excavator 1 from turning. As a result, contact between the hydraulic excavator 1 and the worker 190 is prevented.

In this way, in the hydraulic excavator 1 according to the present embodiment, contact between the hydraulic excavator 1 and the worker 190 is prevented by executing the basic contact prevention control (S120 in FIG. 5). Note that when the worker 190 moves from inside the detection area 72 to outside the detection area 72, the basic contact prevention control is canceled (S150 in FIG. 5).

Here, when the hydraulic excavator 1 travels near a slope or a vertical surface (external wall) of a building, the slope or vertical surface (external wall) of a building is detected as an obstacle, and the operation of the hydraulic excavator 1 may be restricted. If an alarm is output, work efficiency at the work site will decrease.

For example, if the movement of the traveling body 4 of the hydraulic excavator 1 is restricted, the time required to move the hydraulic excavator 1 to the destination increases, and the work efficiency at the work site decreases. Further, when an alarm is output, the operator takes time to check the surroundings, which reduces work efficiency at the work site.

The vehicle body controller 14 according to the present embodiment determines whether the detected object in the photographed image is a single plane or not, and if it is determined that the detected object is a single plane, the detected object is a slope or a building. It is assumed that the plane is a vertical plane, and basic contact prevention control is not executed (Yes in S110 of FIG. 5).

FIG. 8 is a schematic plan view showing the hydraulic excavator 1 traveling near buildings and slopes. As shown in FIG. 8, when the hydraulic excavator 1 runs close to a surface rising from the running surface (hereinafter referred to as rising surface 191), such as a slope or the vertical surface of a building, the slope or building is detected as an obstacle. Then, it is determined whether the detected object in the image photographed by the photographing device is a single plane.

In this embodiment, even if the rising surface 191 is detected by the object detection device 71 while the traveling body 4 is traveling, it is assumed that the rising surface 191 in the photographed image is a single plane. When it is determined, basic contact prevention control is not executed. For this reason, the traveling body 4 can travel near the rising surface 191 without any restrictions on movement. Thereby, work efficiency at the work site can be improved.

According to the embodiment described above, the following effects are achieved.

(1) A hydraulic excavator (working machine) 1 includes a traveling body 4, a rotating body 2 rotatably attached to the traveling body 4, a working device 3 attached to the rotating body 2, and a rotating body 2 attached to the rotating body 2. An object detection device 71 that detects objects around the rotating body 2 and a vehicle body controller (control) that executes contact prevention control (basic contact prevention control S120) to prevent contact with the object detected by the object detection device 71. device) 14. The vehicle controller (control device) 14 determines whether the object detected by the object detection device 71 is a single plane, and determines that the object detected by the object detection device 71 is a single plane. In this case, contact prevention control (basic contact prevention control S120) is not executed.

According to this configuration, when an object such as a worker or a vehicle is detected, contact between the hydraulic excavator 1 and the object can be prevented by basic contact prevention control S120. Furthermore, when working near a rising surface 191 such as a slope or a vertical surface of a building, if the rising surface 191 is detected, the basic contact prevention control S120 is prevented from being executed. Efficiency can be improved.

(2) The hydraulic excavator 1 includes a travel operation device 32 that operates the travel motor (traveling actuator) 12 that causes the traveling body 4 to travel, and a swing operation device 33 that operates the swing motor (swing actuator) 13 that causes the swing structure 2 to rotate. and. The basic contact prevention control S120 includes operation restriction control that limits the operation of both the travel motor 12 and the swing motor 13.

According to this configuration, when an object such as a worker or a vehicle is detected, the movement of the traveling body 4 and the rotating body 2 is restricted by the basic contact prevention control S120. Contact between the hydraulic excavator 1 and an object due to the operation can be prevented. Furthermore, when operating the traveling body 4 and the rotating body 2 near a rising surface 191 such as a slope or the vertical plane of a building, the movement of the traveling body 4 and the rotating body 2 is not restricted, so that the work can be carried out easily. Efficiency can be improved.

<Second embodiment>
A hydraulic excavator 1 according to a second embodiment of the present invention will be described with reference to FIGS. 9 and 10. In addition, the same reference numerals are attached to the structure which is the same as the structure explained in 1st Embodiment, or corresponds, and differences are mainly explained.

FIG. 9 is a diagram similar to FIG. 5, and is a flowchart showing the details of the contact prevention control executed by the vehicle body controller 14 of the hydraulic excavator 1 according to the second embodiment. In the flowchart of FIG. 9, if an affirmative determination is made in step S110 of the flowchart of FIG. 5, contact prevention control during plane detection (step S160) is executed. FIG. 10 is a flowchart showing the details of the contact prevention control during plane detection (step S160) in FIG. 9.

As shown in FIG. 9, the vehicle body controller 14 according to the second embodiment, when it is determined in step S110 that the detected object is a single plane, proceeds to step S160 and executes contact prevention control when detecting a plane. .

As shown in FIG. 10, when the plane detection prevention control is started, in step S173, the vehicle body controller 14 executes the same process as step S140 in FIG. 6 (turning operation state determination process). In step S173, if it is determined that the vehicle is not in a turning operation state, the process advances to step S180, and if it is determined that the vehicle is in a turning operation state, the process advances to step S185.

In step S180, the vehicle body controller 14 executes the same process (turning start restriction control) as in step S145 of FIG. 6, and ends the process shown in the flowchart of FIG. In step S185, the vehicle body controller 14 executes the same process (rotational speed limit control) as step S125 in FIG. 6, and ends the process shown in the flowchart in FIG.

As described above, similarly to the first embodiment, the vehicle body controller 14 according to the second embodiment detects an object by the object detection device 71, and when it is determined that the detected object is not a single plane, the vehicle body controller 14 controls the traveling motor 12. (Yes in S100 in FIG. 9→No in S110→S120). Further, when an object is detected by the object detection device 71 and the detected object is determined to be a single plane, the vehicle body controller (control device) 14 does not restrict the operation of the travel motor 12 (S100 in FIG. 9). Yes → S110 → Yes → S160).

According to this configuration, when the hydraulic excavator 1 travels near a rising surface 191 such as a slope or a vertical surface of a building, the operation of the traveling body 4 is not restricted as in the first embodiment. Therefore, work efficiency can be improved.

Furthermore, when an object is detected by the object detection device 71, the vehicle body controller 14 according to the second embodiment operates the swing motor (swing actuator) 13 regardless of whether the detected object is a single plane or not. The operation is restricted (S125, S140, S145 in FIG. 6, S173, S180, S185 in FIG. 10).

According to this configuration, since the turning operation near the rising surface 191 is restricted, contact between the hydraulic excavator 1 and the rising surface 191 can be prevented.

<Third embodiment>
A hydraulic excavator 1 according to a third embodiment of the present invention will be described with reference to FIGS. 11 and 12. Note that the same reference numerals are given to structures that are the same as or correspond to those described in the second embodiment, and differences will be mainly explained. FIG. 11 is a flowchart showing the details of the contact prevention control during plane detection executed by the vehicle body controller 14 of the hydraulic excavator 1 according to the third embodiment. In the flowchart of FIG. 11, steps S163, S166, and S169 are executed before step S173 of the flowchart of FIG.

As shown in FIG. 9, the vehicle body controller 14 according to the third embodiment, when it is determined in step S110 that the detected object is a single plane, proceeds to step S160 and executes contact prevention control when detecting a plane. .

As shown in FIG. 11, when the plane detection prevention control is executed, in step S163, the vehicle body controller 14 determines whether the basic contact prevention control (S120) is being executed. If it is determined in step S163 that the basic contact prevention control is being executed, the process proceeds to step S166, and if it is determined that the basic contact prevention control is not being executed, the process proceeds to step S173.

In step S166, the vehicle body controller 14 executes the same process as step S130 in FIG. 6 (driving operation state determination process). In step S166, if it is determined that the vehicle is in a non-traveling operation state, the process proceeds to step S169, and if it is determined that the vehicle is in a travel operation condition, the process proceeds to step S173.

In step S169, the vehicle body controller 14 executes the same process as step S150 in FIG. 9 (contact prevention control release process), and proceeds to step S173. The processing from step S173 onwards is the same as that in the second embodiment, so a description thereof will be omitted.

Referring to FIG. 12, the operation of the hydraulic excavator 1 according to the third embodiment when traveling near a structure 193 such as an embankment or a building will be described. FIG. 12 is a schematic plan view showing the traveling operation of the hydraulic excavator 1 according to the third embodiment. The structure 193 shown in FIG. 12 has a first rising surface 191a along a first direction and a second rising surface 191b along a second direction orthogonal to the first direction.

As shown in FIG. 12, when the hydraulic excavator 1 moves near the structure 193, the object detection device 71d detects the first rising surface 191a and the second rising surface 191b (Yes in S100 of FIG. 9). . Since the image photographed by the photographing device of the object detection device 71d includes the first rising surface 191a and the second rising surface 191b, the vehicle body controller 14 determines that the detected object is not a single plane ( No in S110 of FIG. 9→S120).

Therefore, the vehicle body controller 14 limits the operation of the travel motor 12 by limiting the rotational speed of the engine 23 (S125 in FIG. 6). As a result, the hydraulic excavator 1 travels on the side of the structure 193 with its traveling speed being restricted.

Thereafter, when the image photographed by the photographing device of the object detection device 71d includes only the first rising surface 191a, the vehicle body controller 14 determines that the detected object is a single plane (see FIG. 9). Yes in S110→S160). However, since the traveling operation is already restricted, the hydraulic excavator 1 travels with the traveling operation restricted (Yes in S163 of FIG. 11 → Yes in S166).

The operator can cancel the restriction on the traveling operation by once returning the operating lever 32c of the traveling operation device 32 to the neutral position (No in S166 in FIG. 11 → S169). After the restriction on the travel operation is lifted, the operator operates the control lever 32c of the travel operation device 32 again. Thereby, the hydraulic excavator 1 can be run along the first rising surface 191a in a state where the running operation is not restricted. As described above, according to the present embodiment, by canceling the restriction on the traveling operation, it is possible to improve work efficiency compared to the case where the hydraulic excavator 1 continues to travel with the traveling operation restricted. can.

As described above, in the vehicle body controller 14 according to the third embodiment, when the operation restriction control (S120 in FIG. 9) that limits the operation of the travel motor 12 is executed, the travel operation device 32 is in the non-operating state. If it is determined, the operation restriction control is canceled (Yes in S163 in FIG. 11 → No in S166 → S169).

According to this configuration, the operation restriction control can be canceled by placing the traveling operation device 32 in a non-operating state, so that work efficiency can be improved.

<Fourth embodiment>
A hydraulic excavator 1 according to a fourth embodiment of the present invention will be described with reference to FIGS. 13 and 14. Note that the same reference numerals are given to structures that are the same as or correspond to those described in the second embodiment, and differences will be mainly explained. FIG. 13 is a flowchart showing details of contact prevention control executed by the vehicle body controller 14 of the hydraulic excavator 1 according to the fourth embodiment. In the flowchart of FIG. 13, steps S146 and S147 are executed before step S160 of the flowchart of FIG.

As shown in FIG. 13, when the vehicle body controller 14 according to the fourth embodiment determines that the detected object is a single plane in step S110, the process proceeds to step S146. In step S146, the vehicle body controller 14 reduces the detection area 72 of the object detection device 71 via the detection controller of the object detection device 71.

FIG. 14 is a diagram showing the detection areas 72, 272 of the object detection device 71 included in the hydraulic excavator 1 according to the fourth embodiment. As shown in FIG. 14, the detection controller of the plurality of object detection devices 71 reduces the detection areas 72 (72a, 72b, 72c, 72d) of the plurality of detection units, and converts the reduced detection area into a reduced detection area 272 ( 272a, 272b, 272c, 272d). As shown in FIG. 13, when the reduction detection area 272 is set in step S146, the process advances to step S147.

In step S147, the vehicle body controller 14 determines whether a single plane is detected within the reduction detection area 272. In step S147, if it is determined that a single plane is detected within the reduced detection area 272, the process proceeds to step S160, and if it is determined that a single plane is not detected, the process proceeds to step S150. move on.

In step S160 of FIG. 13, the vehicle body controller 14 may execute the contact prevention control when detecting a plane (see FIG. 10) described in the second embodiment, or may execute the contact prevention control when detecting a plane as described in the third embodiment. Contact prevention control (see FIG. 11) may also be executed.

As described above, the vehicle body controller 14 according to the fourth embodiment reduces the detection area 72 of the object detection device 71 when it is determined that the object detected by the object detection device 71 is a single plane. A detection area 272 is set. When a rising surface 191 such as a slope or a vertical surface of a building is detected, the detection area 72 of the object detection device 71 is narrowed, so that the frequency with which the operation of the hydraulic excavator 1 is restricted can be suppressed. As a result, it is possible to further improve work efficiency.

The following modifications are also within the scope of the present invention, and the configurations shown in the modifications may be combined with the configurations described in the above-described embodiments, the configurations described in the different embodiments described above may be combined, or the following different embodiments may be used. It is also possible to combine the configurations described in the modified examples.

<Modification 1>
In the first embodiment, an example has been described in which the basic contact prevention control S120 includes operation restriction control that restricts the operations of both the travel motor 12 and the swing motor 13, but the present invention is not limited to this. The basic contact prevention control S120 may include operation restriction control that restricts the operation of at least one of the travel motor 12 and the swing motor 13. Further, the basic contact prevention control S120 may include operation restriction control that restricts the operation of at least one of the plurality of work actuators (boom cylinder 9, arm cylinder 10, and bucket cylinder 11).

<Modification 2>
In the above embodiment, an example has been described in which the traveling motor 12 is decelerated by lowering the upper limit value of the rotational speed of the engine 23, but the present invention is not limited to this. For example, in step S125 in FIG. 6, the vehicle body controller 14 drives the pilot pressure control valves 52a and 52b to reduce the pilot pressure (travel operation pressure) output from the travel operation device 32 to the control valve 40. , the traveling motor 12 may be decelerated.

Similarly, in the embodiment described above, an example has been described in which the swing motor 13 is decelerated by lowering the upper limit of the rotational speed of the engine 23, but the present invention is not limited to this. For example, in step S125 in FIG. 6, the vehicle body controller 14 drives the pilot pressure control valves 53a and 53b to reduce the pilot pressure (swing operation pressure) output from the swing operation device 33 to the control valve 40. The swing motor 13 may be decelerated.

<Modification 3>
In the above embodiment, an example in which the contact prevention control includes operation restriction control and alarm control has been described, but the present invention is not limited thereto. The contact prevention control may include at least one of operation restriction control and alarm control.

<Modification 4>
In the above embodiment, an example in which the alarm control includes internal alarm control and external alarm control has been described, but the present invention is not limited to this. The alarm control may include at least one of internal alarm control and external alarm control. Further, as the internal alarm control, one of the display of a warning screen by the display device 91a and the output of a warning sound by the internal warning buzzer 91b may be omitted. As the external alarm control, one of the output of the warning light by the light emitting device 92a and the output of the warning sound by the external warning buzzer 92b may be omitted.

<Modification 5>
In the above embodiment, an example has been described in which four detection units of the object detection device 71 are attached to the revolving body 2, but the present invention is not limited to this. At least one detection unit of the object detection device 71 may be attached.

<Modification 6>
In the above embodiment, a detection unit in which a 3D sensor and a photographing device are integrated has been described, but the present invention is not limited thereto. The 3D sensor and the imaging device that constitute the detection unit of the object detection device 71 may be separately attached to the revolving body 2.

<Modification 7>
In the embodiment described above, an example in which the object detection device 71 includes a detection controller has been described, but the present invention is not limited to this. The function of the detection controller may be provided in the vehicle body controller 14. In this case, the 3D sensor (object detection sensor) and camera (photographing device) of the object detection device 71 are directly connected to the vehicle body controller 14.

<Modification 8>
In the above embodiment, an example in which the working machine is a crawler type hydraulic excavator 1 has been described, but the present invention is not limited thereto. The working machine may be a wheeled hydraulic excavator, a crawler crane, or the like.

Although the embodiments of the present invention have been described above, the above embodiments merely show a part of the application examples of the present invention, and are not intended to limit the technical scope of the present invention to the specific configurations of the above embodiments. do not have.

DESCRIPTION OF SYMBOLS 1...Hydraulic excavator (work machine), 2...Swivel body, 3...Work device, 4...Traveling body, 6...Boom, 7...Arm, 8...Bucket, 12...Travel motor (travel actuator), 13...Swivel motor ( Swing actuator), 14...Vehicle body controller (control device), 15...Engine control dial, 21...Main pump, 22...Pilot pump, 23...Engine, 24...Engine controller, 30...Vehicle body, 32...Traveling operation device, 32a, 32b...Pressure reducing valve, 32c...Operation lever, 33...Swivel operation device, 33a, 33b...Pressure reduction valve, 33c...Operation lever, 35a, 35b...Traveling operation pressure sensor, 36a, 36b...Swivel operation pressure sensor, 40...Control valve , 41, 42, 43...Flow rate control valve, 52a, 52b...Travel pilot pressure control valve, 53a, 53b...Swivel pilot pressure control valve, 71...Object detection device, 72...Detection area, 81...Detection determination section, 82... Operation state determination section, 83... Image determination section, 84... Contact prevention control section, 85... Solenoid valve control section, 86... Engine rotation control section, 87... Buzzer control section, 88... Display control section, 89... Light emission control section, 91... Internal alarm device, 91a... Display device, 91b... Internal warning buzzer, 92... External alarm device, 92a... Light emitting device, 92b... External warning buzzer, 141... Processing device, 142... Non-volatile memory, 143... Volatile memory , 144...I/O interface, 272...Reduction detection area

Claims (6)

a traveling body, a rotating body rotatably attached to the traveling body, a working device attached to the rotating body, an object detection device attached to the rotating body and detecting objects around the rotating body; A working machine comprising: a control device that executes contact prevention control to prevent contact with an object detected by the object detection device;
The control device includes:
determining whether the object detected by the object detection device is a single plane;
A work machine characterized in that the contact prevention control is not executed when the object detected by the object detection device is determined to be a single plane. The working machine according to claim 1,
a travel operating device that operates a travel actuator that causes the traveling body to travel;
a rotation operation device that operates a rotation actuator that rotates the rotation body,
The working machine is characterized in that the contact prevention control includes operation restriction control that limits the operation of at least one of the travel actuator and the swing actuator. The working machine according to claim 1,
comprising a travel operation device that operates a travel actuator that causes the traveling body to travel;
The contact prevention control includes operation restriction control that limits the operation of the travel actuator,
The control device includes:
When an object is detected by the object detection device and it is determined that the detected object is not a single plane, restricting the operation of the traveling actuator;
A work machine characterized in that when an object is detected by the object detection device and it is determined that the detected object is a single plane, the operation of the travel actuator is not restricted. The working machine according to claim 3,
comprising a rotation operating device that operates a rotation actuator that rotates the rotating structure;
The work machine is characterized in that the control device limits the operation of the swing actuator when an object is detected by the object detection device, regardless of whether or not the detected object is a single plane. . The working machine according to claim 3,
The control device includes:
A work machine characterized in that, when the operation restriction control that limits the operation of the travel actuator is being executed, if it is determined that the travel operation device is in an inoperable state, the operation restriction control is canceled. . The working machine according to claim 1,
The control device includes:
A working machine characterized in that when it is determined that the object detected by the object detection device is a single plane, the detection area of the object detection device is reduced.

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