JP7375260B2 - working machine - Google Patents

Description

The present invention relates to a working machine used for road construction, construction work, civil engineering work, dredging work, etc.

As a working machine used for road work, construction work, civil engineering work, dredging work, etc., a rotating body is rotatably attached to the top of a traveling body that runs by a power system, and an articulated front working device is attached to the rotating body. It is known that the front working device is mounted so as to be swingable in the vertical direction, and each front member constituting the front working device is driven by a cylinder. One example is a so-called hydraulic excavator, which has a front working device consisting of a boom, arm, bucket, etc.

For this type of hydraulic excavator, for example, an operation restriction area (also referred to as an entry-prohibited area) for the front working device is set in a coordinate system based on the hydraulic excavator body (vehicle body coordinate system), and the front working device is placed in the operation restriction area. Some systems display the distance between the front work equipment and the restricted operation area on a monitor, etc., to alert or warn the operator. Furthermore, there is a system that limits the operation of the front working device according to the distance between the front working device and the restricted operation area so that the front working device does not invade the restricted operation area.

Patent Document 1 discloses a lower vehicle body area (operation restriction area) which is an area below a traveling body (track) that is set to prevent the ground on which a hydraulic excavator is placed from collapsing, and prohibits entry of the bucket tip. , discloses a technology that displays on a monitor the boundary line between the range that a front work device can reach (workable range). More specifically, when the rotating body (vehicle body) is horizontal, the boundary line between the lower body area and the workable range is set in the vertical direction in the global coordinate system, and when the rotating body is tilted forward, is set so that the boundary line is maintained in the vertical direction in the global coordinate system, and if the rotating body is tilted backwards, the angle between the ground surface on which the rotating body is placed and the boundary line is 90 degrees. A controller that corrects the boundary line as described above is disclosed.

Japanese Patent Application Publication No. 2012-172427

Incidentally, in order to fully utilize its working capacity, a hydraulic excavator may be operated so that a part of the traveling body is lifted up while the front working device is in contact with the ground. For example, when excavating hard ground, if you want to maximize the downward excavation force of the front working equipment, the rear part of the traveling body (counterweight side) will contact the ground and the front part of the traveling body (front working equipment side) will float up. Operate the front working device (operate it so that it is in the so-called jack-up state). On the other hand, when it is desired to maximize the upward lifting force of the front working device, for example when lifting a heavy load, the front working device is operated so that the front part of the traveling body contacts the ground and the rear part of the traveling body lifts up. Focusing on the posture of the running body in both cases, in the former case, the running body rotates around the grounding point (rotation center) at the rear of the running body, and in the latter case, the running body rotates around the grounding point (rotation center) at the rear of the running body. is in a position where it rotates around the grounding point (rotation center) at the front of the vehicle. In other words, the center of rotation of the vehicle differs depending on whether the front or rear part of the vehicle is lifted up. In order to correct the display of the restricted operation area in response to such changes in the posture of the vehicle, it is necessary to perform not only rotational movement but also rotational movement in the coordinate transformation between the vehicle body coordinate system and the gravity coordinate system when correcting the display position of the restricted operation area. Parallel movement (that is, movement of the center of rotation) must also be considered.

Regarding this point, the technology of Patent Document 1 assumes that both the front and rear parts of the vehicle are in contact with the ground (in other words, it does not assume that the vehicle will lift up), and the lower part of the vehicle body is When correcting the boundary line of the workable range, it is possible to correct the boundary line by simply rotating the front end of the crawler track as a reference. Therefore, if the front or rear part of the traveling body lifts up as described above, it cannot be dealt with, and the operation restricted area cannot be accurately maintained.

The present invention has been made in view of the above problems, and its purpose is to provide a working machine that can accurately maintain the restricted operation area even when the front or rear part of the traveling body lifts up.

The present application includes a plurality of means for solving the above problems, and to give one example, a traveling body, a rotating body rotatably attached to the upper part of the traveling body, and a plurality of means attached to the rotating body, A working device consisting of a front member, a first attitude sensor that detects the attitude of the rotating structure, and a vehicle body set on the rotating structure to determine the position of the boundary line of the operation restriction area where entry of the working device is prohibited. In a working machine including a controller stored on a coordinate system, when it is determined that lifting of the traveling body has occurred based on at least an output of the first orientation sensor, the controller is configured to adjust the first orientation to the first orientation. The lifting angle of the traveling body is calculated based on the output of the sensor, the rotation center when the traveling body lifts is calculated based on the lifting angle, and the vehicle body coordinates are calculated based on the lifting angle and the rotation center. The position of the boundary line in the system is corrected by rotating it .

According to the present invention, even if the front or rear part of the traveling body lifts up, the restricted operation area can be accurately maintained, and the operator's workability can be maintained satisfactorily.

1 is a side view of a hydraulic excavator that is a working machine to which an embodiment of the present invention is applied. 1 is a configuration diagram of a control system according to an embodiment of the present invention. 1 is a diagram showing a configuration (functional block diagram) of a main controller according to an embodiment of the present invention. FIG. FIG. 2 is a diagram showing a state in which a hydraulic excavator (traveling body) is in surface contact with a horizontal ground. FIG. 2 is a diagram showing a state in which the revolving body of the hydraulic excavator is tilted backward (a state in which the front of the traveling body is floating). FIG. 2 is a diagram showing a state in which the revolving body of the hydraulic excavator is tilted forward (a state in which the rear of the traveling body is floating). FIG. 3 is a diagram showing an example of a screen on a monitor showing a positional relationship between a boundary line of an operation restriction area and a hydraulic excavator. 4 is a flowchart showing an example of the flow of calculations performed by each section shown in the main controller in FIG. 3. FIG. FIG. 1 is a top view of a hydraulic excavator 1 according to the present embodiment. FIG. 9 is a side view of the hydraulic excavator when the front working device side of the traveling body is lifted up in the case of A and B in FIG. 9; FIG. 10 is a diagram categorizing which case A or B in FIG. 9 applies based on the relative angle φ. It is a flowchart of the process performed by the main controller based on 2nd Embodiment.

Embodiments of the present invention will be described below with reference to the drawings.

<Target device>
As shown in FIG. 1, a hydraulic excavator (work machine) 1 according to a first embodiment of the present invention includes a traveling body 4, a rotating body 3 attached to the upper part thereof, and a plurality of front members 20, 21, 22. and an articulated front working device 2 which is configured by connecting the two and is rotatably attached to the revolving body 3.

The rotating body 3 is attached to the traveling body 4 so as to be able to turn in the left and right directions, and is driven to swing by a swing hydraulic motor (not shown).

The front working device 2 includes a boom 20 whose base end is rotatably connected to the revolving structure 3, an arm 21 whose base end is rotatably connected to the tip side of the boom 20, and a base end of the arm 21. A bucket 22 rotatably connected to the tip side, a boom cylinder 20A connected to the boom 20 at the tip side and connected to the revolving structure 3 at the base end, and a boom cylinder 20A connected to the arm 21 at the tip side and the boom 20 at the base end. an arm cylinder 21A connected to the bucket 22, a first link member 22B whose distal end side is rotatably connected to the bucket 22, and a second link whose distal end side is rotatably connected to the proximal end side of the first link member 22B. The bucket cylinder 22A is provided between a member 22C, a connecting portion of two link members 22B and 22C, and an arm 21. These hydraulic cylinders 20A, 21A, and 22A are each configured to be rotatable in the vertical direction around their connecting portions.

The boom cylinder 20A, the arm cylinder 21A, and the bucket cylinder 22A have a structure that allows them to expand and contract, respectively, by supplying and discharging hydraulic oil discharged from a hydraulic pump 36b (see FIG. 2). , arm 21, and bucket 22 can be rotated (operated). The bucket 22 can be arbitrarily replaced with an attachment (not shown) such as a grapple, breaker, ripper, or magnet.

The boom cylinder 20A includes a pressure sensor (boom bottom pressure sensor) 20BP that detects pressure on the bottom side of the boom cylinder 20A, and a pressure sensor (boom rod pressure sensor) 20RP that detects pressure on the rod side of the boom cylinder 20A. installed. These two pressure sensors 20BP and 20RP can function as a load detection device for the boom cylinder 20A.

An inertial measurement unit sensor (hereinafter referred to as IMU sensor) (boom) 20S is attached to the boom 20 for detecting the attitude of the boom 20, and an IMU sensor for detecting the attitude of the arm 21 is attached to the arm 21. (Arm) 21S is attached. An IMU sensor (bucket) 22S for detecting the attitude of the bucket 22 is attached to the second link member 22C. The IMU sensor (boom) 20S, IMU sensor (arm) 21S, and IMU sensor (bucket) 22S each consist of an angular velocity sensor and an acceleration sensor, and are configured to measure the inclination angle, angular velocity, and acceleration of each front member 20, 21, and 22. Detection is possible. In this paper, these three IMU sensors 20S, 21S, and 22S that detect the postures of the three front members 20, 21, and 22, respectively, may be referred to as third posture sensors.

The revolving body 3 has a main frame 31. On the main frame 31, there is an IMU sensor (swivel body) 30S for detecting the inclination angle of the revolving body 3, a driver's cab 32 in which an operator rides, and a drive control unit for controlling the drive of a plurality of hydraulic actuators in the hydraulic excavator 1. A main controller (controller for drive control) 34, a power unit 36 having an engine 36a and a hydraulic pump 36b driven by the engine 36a, and a hydraulic actuator (for example, a hydraulic cylinder) from the hydraulic pump 36b in response to a signal from the main controller 34. A hydraulic control device 35 having a plurality of direction switching valves 35b that controls the flow rate and flow direction of hydraulic oil (hydraulic) supplied to the hydraulic excavators 20A, 21A, 22A) and a weight for balancing the hydraulic excavator 1 during work. A counterweight 37 located on the rear side of the rotating body 3 and a turning motor 38 for driving the rotating body 3 to swing in either the left or right direction are mounted.

The IMU sensor (rotating body) 30S is composed of an acceleration sensor and an angular velocity sensor, and can detect the inclination (inclination angle) of the rotating body 3 with respect to the horizontal plane, as well as the angular velocity and acceleration. In this paper, the IMU sensor 30S that detects the attitude of the rotating body 3 may be referred to as a first attitude sensor.

The operator's cab 32 includes an operation input device 33 for inputting operations by the operator, and a device for storing in the main controller 34 the position of the boundary line of the restricted operation area where entry of the front work device 2 is prohibited. It is equipped with an operation restriction area setting device 100 and a monitor (display device) 110 on which various information regarding the hydraulic excavator 1 is displayed, including the position of the boundary line of the operation restriction area. The boundary line of the restricted operation area can be set, for example, on a three-dimensional coordinate system (vehicle body coordinate system) set on the rotating body 3. That is, for example, a coordinate system can be set in which the coordinate axes are the height direction, front-rear direction, and left-right direction of the rotating body 3. In the example shown in FIG. 1, a tablet terminal (tablet computer) with a touch panel is used as a device that serves both as the operation restriction area setting device 100 and the monitor 110, and for this reason, one symbol has two codes 100 and 100. , 110 are attached. Note that, as the operation restriction area setting device 100, a controller including an input device (a computer including a memory and a processor) may be used instead of the tablet terminal.

The operation input device 33 includes two operation levers 33a (not shown) for instructing the rotation operation of the front working device 2 (boom 20, arm 21, bucket 22) and the rotation operation of the rotating structure 3 according to the operator's operation. (are combined into one) and two travel control levers 33c (combined into one in the figure) for instructing the travel operation of the left and right crawler tracks 45 related to the traveling body 4 according to the operator's operation. and a plurality of operation sensors 33b (one is shown) that detect the amount by which each of the operation levers 33a, 33c is pushed down (operation amount). The plurality of operation sensors 33b detect the amount by which the operator tilts each of the four operation levers 33a and 33c, thereby determining the operation that the operator requests of each of the front members 20, 21, 22, the rotating body 3, and the traveling body 4. The speed is converted into an electrical signal (operation signal) and output to the main controller 34. Note that the operation input device 33 (operation levers 33a, 33b) may be of a hydraulic pilot type that outputs hydraulic oil adjusted to a pressure according to the amount of operation as an operation signal. In that case, a pressure sensor is used as the operation sensor 33b, and a signal detected by the pressure sensor is output to the main controller 34 to detect the amount of operation.

The hydraulic control device 35 includes a plurality of electromagnetic control valves 35a that generate hydraulic oil (pilot pressure) at a pressure corresponding to an operation command value (command current) output from the main controller 34, and an output from the corresponding electromagnetic control valve 35a. It is comprised of a plurality of direction switching valves 35b that are driven by hydraulic oil (pilot pressure) and respectively control the flow rate and flow direction of the hydraulic oil supplied to the plurality of hydraulic actuators mounted on the hydraulic excavator 1. The operation command value output from the controller 34 is generated based on operator operations input to the operating levers 33a and 33b, but if area restriction control, which will be described later, is functioning, the operator operations are generated according to the conditions. Operation command values (including stop command values) for hydraulic actuators that do not exist can also be generated. When the main controller 34 outputs an operation command value to the electromagnetic control valve 35a, the corresponding direction switching valve 35b operates, and the hydraulic actuator (for example, hydraulic cylinder 20A, 21A, 22A) corresponding to the direction switching valve 35b operates. ) works. Hydraulic actuators may also include those that drive attachments and equipment not included above.

The prime mover 36 includes an engine (prime mover) 36a and at least one hydraulic pump 36b driven by the engine 36a, and includes hydraulic cylinders 20A, 21A, 22A, two traveling motors 41, and a turning motor. The pressure oil (hydraulic oil) necessary to drive the 38 and 38 is supplied. The driving device 36 is not limited to this configuration, and other power sources such as an electric pump may be used.

The swing angle sensor 40S is a sensor (second attitude sensor) that detects the relative angle φ between the rotating body 3 and the traveling body 4, and is mounted on the hydraulic excavator 1 so as to be able to detect the relative angle φ. Preferably, a potentiometer can be used as the turning angle sensor 40S.

The traveling body 4 includes a truck frame 40, left and right crawlers 45 attached to the truck frame 40, and left and right traveling motors 41 that drive the left and right crawlers 45, respectively, so as to orbit the truck frame 40. There is. The operator can travel the hydraulic excavator 1 by adjusting the rotational speeds of the left and right travel hydraulic motors (hydraulic actuators) 41 by appropriately operating the two travel control levers 33c. The running body 4 is not limited to the one provided with the crawler belt 45, but may be provided with running wheels or legs (outriggers).

<System configuration>
FIG. 2 is a system configuration diagram of the hydraulic control system installed in the hydraulic excavator 1 of this embodiment. Note that the description of the parts that have already been explained above may be omitted as appropriate.

As shown in this figure, the main controller 34 includes an operation restriction area setting device 100, a monitor 110, a plurality of operation sensors 33b, an IMU sensor 30S (first posture sensor), a plurality of IMU sensors 20S, 21S, 22S (third attitude sensor), a turning angle sensor 40S (second attitude sensor), a plurality of pressure sensors 20BP, 20RP (load detection device), and a plurality of electromagnetic control valves 35a. It is configured to be able to communicate with these.

The operation restriction area setting device 100 outputs position data of the boundary of the operation restriction area set by the operator to the main controller 34. The boundary of the restricted operation area can be set, for example, in the vehicle body coordinate system set for the rotating body 3. The positional data of the boundary of the operation restriction area may be input directly by the operator via the operation restriction area setting device 100, or may be input using design data created in advance on a geographic coordinate system, field coordinate system, etc. The coordinates may be inputted via the restricted area setting device 100 with appropriate coordinate transformation. As shown in FIG. 4, the operation restriction area 59 can be set at any position with respect to the hydraulic excavator 1. Moreover, the shape of the limited operation area 59 may be a polygon or a curve.

Note that the restricted operation area setting device 100 only needs to have a storage function of the position data of the boundary of the previously set restricted operation area 59, and can be replaced with a storage device such as a semiconductor memory, for example. Therefore, it can be omitted if the position data of the boundary of the operation restriction area 59 is stored, for example, in a storage device within the main controller 34 or a storage device mounted on the hydraulic excavator.

The monitor 110 monitors the position of the boundary of the restricted operation area 59, the posture of the hydraulic excavator 1 (including the postures of the front working device 2 and the bucket 22), the distance and positional relationship between the boundary of the restricted operation area 59 and the bucket 22, etc. This is a display device that can provide information to the operator.

The main controller 34 is a controller that manages various controls regarding the hydraulic excavator 1. There are two characteristic controls that can be executed by the main controller 34 of this embodiment.

First, the main controller 34 controls the operation of the front working device 2 beyond the intersection line 60 (referred to as the boundary line 60) between the operating plane of the front working device 2 and the boundary of the limited operation area 59 (see FIG. 4). The target speed vector of the front working device 2 is calculated so as not to invade the area 59 (for example, the target speed vector is calculated to become smaller as the distance between the front working device 2 and the boundary line 60 becomes smaller, and when the distance is zero) In this case, zero is calculated as the target speed vector), and the hydraulic pressure of at least one of the plurality of hydraulic cylinders 20A, 21A, 22A is adjusted so that the front working device 2 operates according to the calculated target speed vector. Area restriction control can be executed by calculating and outputting an operation command value to control the cylinder. In other words, according to this area restriction control, for example, even if the operator inputs an arm cloud operation when the front work device 2 is located near the operation restriction area 59, the front work device 2 continues outside the operation restriction area 59. Since the front working device 2 is semi-automatically controlled so that the front working device 2 is located at can be reliably prevented from entering the restricted operation area 59.

Second, the main controller 34 calculates the lifting angle θ (details will be described later) of the traveling body 4 based on the output of the IMU sensor 30S of the rotating body 3, and calculates when the traveling body 4 lifts up based on the lifting angle θ. The center of rotation Cr (details will be described later) is calculated, and the position data of the boundary line in the vehicle body coordinate system can be corrected based on the calculated lifting angle θ and the center of rotation Cr. Thereby, even if the traveling body 4 lifts up when the position of the boundary line 60 is set on the vehicle body coordinate system, it is possible to prevent the area restriction control from being executed in accordance with the wrong boundary line.

Note that the operating plane of the front working device 2 is a plane in which each front member 20, 21, 22 operates, that is, a plane perpendicular to all three front members 20, 21, 22, and such a plane is Among them, for example, a plane passing through the widthwise center of the front working device 2 (the axial center of the boom pin serving as the rotation axis on the base end side of the boom 20) can be selected.

<Operation input device>
In general, in a hydraulic excavator, the operating speed of each hydraulic actuator 20A, 21A, 22A, 38, 41 is set to be faster as the amount by which the operating levers 33a, 33c are tilted (tilted amount) becomes larger. By changing the amount by which the levers 33a, 33c are tilted, the operating speed of each hydraulic actuator 20A, 21A, 22A, 38, 41 is changed to operate the hydraulic excavator 1.

The operation sensor 33b is electrically connected to the operation amount (tilting amount) of the operation lever 33a for the boom 20, arm 21, bucket 22 (boom cylinder 20A, arm cylinder 21A, bucket cylinder 22A) and rotating body 3 (swing motor 38). The operating speed of the boom cylinder 20A, arm cylinder 21A, bucket cylinder 22A, and revolving structure 3 requested by the operator can be detected based on the detection signal of the operation sensor 33b. . Further, the operation sensor 33b includes a sensor that electrically detects the operation amount (tilting amount) of the operation lever 33c with respect to the travel motor 41, and based on the detection signal of the operation sensor 33b, the operator requests The operating speed of the traveling body 4 can be detected. The operation sensor is not limited to one that directly detects the amount by which the operation levers 33a, 33c are tilted, but may also be of a type that detects the pressure of hydraulic oil (operation pilot pressure) output by the operation of the operation levers 33a, 33c. It's okay.

<Attitude sensor>
The IMU sensor (swivel body) 30S, IMU sensor (boom) 20S, IMU sensor (arm) 21S, and IMU sensor (bucket) 22S can function as an angular velocity sensor, an acceleration sensor, and a tilt angle sensor, respectively. These IMU sensors can obtain angular velocity, acceleration data, and tilt angle data at each installation position. The boom 20, the arm 21, the bucket 22, the boom cylinder 20A, the arm cylinder 21A, the bucket cylinder 22A, the first link member 22B, the second link member 22C, and the rotating body 3 are each attached so as to be rotatable (swivel). Therefore, the postures and positions of the boom 20, arm 21, bucket 22, and revolving body 3 in the vehicle body coordinate system can be calculated from the dimensions and mechanical linkage of each part. Note that the posture and position detection method shown here is just an example, and it is possible to directly measure the relative angles of each part of the front working device 2, or to detect the strokes of the boom cylinder 20A, arm cylinder 21A, and bucket cylinder 22A. The posture and position of each part of the hydraulic excavator 1 may be calculated.
<Load detection device>
The pressure sensors 20BP and 20RP, which are load detection devices, may be attached directly to the boom cylinder 20A as described above, or may be attached on the oil path from the hydraulic control device 35 to the boom cylinder 20A. In addition, the load detection device is not limited to the pressure sensors 20BP and 20RP, but may also be a load cell that directly detects the torque acting on the connection between the boom 20 and the rotating structure 3, or a load cell that detects the strain of the front working device 2 and detects the load. An estimation method (strain gauge) may also be used.

<Main controller>
FIG. 3 is a configuration diagram of the main controller 34. The main controller 34 includes, for example, a CPU (Central Processing Unit) (not shown), a storage device such as a ROM (Read Only Memory) or an HDD (Hard Disc Drive) that stores various programs for executing processing by the CPU, and a CPU (Central Processing Unit). It is configured using hardware including a RAM (Random Access Memory) that serves as a work area when executing a program. By executing the program stored in the storage device in this way, the posture calculation unit 710, the operation restriction area calculation unit 720, the operation restriction area correction unit 730, the uplift determination unit 910, the uplift angle calculation unit 920, and the uplift center calculation unit 930, which functions as the operation command section 310. Next, details of the processing performed by each section will be explained.

<Posture calculation unit 710>
The attitude calculation unit 710 detects acceleration signals and angular velocity signals obtained from the IMU sensor (boom) 20S, IMU sensor (arm) 21S, IMU sensor (bucket) 22S, and IMU sensor (swivel body) 30S, and 21, the bucket 22, and the attitude (inclination angle) of the rotating body 3. By adding the dimensions of each front member 20, 21, 22 to the calculation result of this posture, the position of the front working device 2 can also be calculated. The position of the front working device 2 in the vehicle body coordinate system can be calculated from the postures of the boom 20, arm 21, and bucket 22 that can be calculated from the three IMU sensors 20S, 21S, and 22S (third posture sensor).

<Operation restriction area calculation unit 720>
The restricted operation area calculating section 720 calculates the position of the boundary line 60 of the restricted operational area 59 in the vehicle body coordinate system based on the position data of the restricted operational area 59 input from the restricted operational area setting device 100. The position of the boundary line 60 calculated here is the position of the boundary line 60 when the rotating body 3 is in a horizontal state, and hereinafter this may be referred to as the "initial position".

<Lifting determination unit 910>
The floating determination unit 910 determines whether a portion of the traveling object 4 is in a raised state. 4 shows a state in which the traveling body 4 is in surface contact with the horizontal ground, FIG. 5 shows a state in which the rotating body 3 is tilted backward (the front part of the traveling body 4 is floating), and FIG. indicates a state in which the rotating body 3 is tilted forward (a state in which the rear of the traveling body 4 is floating).

Note that when the traveling body 4 is lifted up, the boundary line 60 of the operation restriction area 59 is corrected, and when the traveling body 4 is not lifted up, the boundary line 60 of the operation restriction area 59 is corrected. is not corrected (that is, the position of the boundary line 60 is maintained at its initial position). That is, the presence or absence of lifting of the traveling body 4 corresponds to the presence or absence of correction of the boundary line 60 of the operation restriction area 59.

A method for determining whether the traveling body 4 is lifted up will be explained. When the hydraulic excavator 1 receives a large reaction force from the ground via the front working device 2 while the working machine 1 has stopped traveling by the traveling body 4, the traveling body 4 may lift up.

Therefore, the lifting determination unit 910 of this embodiment monitors the presence or absence of an operation input to the traveling operation lever 33c (that is, the presence or absence of traveling) using the output of the operation sensor 33b, and determines whether or not the traveling object 4 is lifted using the IMU sensor (turning body) Monitor with the output of 30S. Then, when the output of the IMU sensor (rotating body) 30S changes in a state where there is no operation on the traveling operation lever 33c (that is, a non-traveling state), the floating determination unit 910 determines that the traveling body 4 is floating. On the other hand, if there is a steering operation on the traveling control lever 33c, or if the output of the IMU sensor (swivel body) 30S is constant, it is determined that the traveling body 4 is not lifted up.

As another method for determining the above, the load on the front working device 2 is detected, and if the inclination angle of the traveling body 4 changes while the reaction force necessary for the traveling body 4 to float is obtained, the load on the front working device 2 is detected. may be determined to be rising. For example, the uplift determination unit 910 calculates the thrust force F1 of the boom cylinder 20A from the outputs of two pressure sensors (rod side, bottom side) 20BP, 20RP regarding the boom cylinder 20A. By comparing the calculated thrust force F1 of the boom cylinder 20A with the thrust force F2 of the boom cylinder 20A necessary to support the front working device 2, it is determined whether or not the reaction force necessary for the traveling body 4 to float is obtained. and determine whether there is any lifting. Specifically, (1) When the thrust force F1 of the boom cylinder 20A is different from the thrust force F2 required to support the front working device 2, and when the output of the IMU sensor (swivel body) 30 changes, the traveling body 4 is determined to be floating. On the other hand, (2) when the thrust force F1 of the boom cylinder 20A matches the thrust force F2 required to support the front working device 2, or when the output of the IMU sensor (swivel body) 30S is constant (more specifically can be regarded as constant), it is determined that the traveling body 4 is not floating (the traveling body 4 is in surface contact with the ground).

By using this method, it is also possible to determine whether the rotating body 3 is tilting forward or backward due to the lifting of the traveling body 4. If F1<F2 holds true in the case of (1) above, it indicates that the rotating body 3 is leaning backwards, and the traveling body 4 contacts the ground on the rear side of the rotating body 3 (on the counterweight 37 side). It can be determined that the traveling body 4 is floating around the line (see FIG. 5). Conversely, if F1>F2 holds true, it indicates that the rotating body 3 is leaning forward, and the traveling body 4 moves around the contact line where it contacts the ground on the front side of the rotating body 3 (front working device 2 side). It can be determined that the body 4 is floating (see FIG. 6).

The "thrust force F2 of the boom cylinder 20A necessary to support the front working device 2" used in the above comparison is based on the posture of each front member 20, 21, 22 calculated by the posture calculation section 710 and each This can be calculated based on the weights of the front members 20, 21, and 22, and can be calculated by general mechanical calculations.

<Lifting angle calculation unit 920>
The lifting angle calculation unit 920 calculates a change θ in the inclination angle of the rotating body 3 due to the lifting of the traveling body 4 based on the output of the IMU sensor (rotating body) 30S. Here, this angle θ is referred to as a lifting angle.

A method of calculating the lifting angle θ of the traveling body 4 will be explained. As shown in FIGS. 5 and 6, the front working device 2 side or the counterweight 37 side of the traveling body 4 rises depending on the working state. The lifting angle θ is defined as the angle between the ground surface with which the traveling body 4 is in contact and the bottom surface of the traveling body 4. In other words, by calculating the deviation between the inclination angle just before the traveling body 4 lifts up (the inclination angle of the ground that the traveling body 4 is in contact with) and the inclination angle after the traveling body 4 lifts up, the floating Angle θ can be calculated. In addition, in the hydraulic excavator 1, since the rotating body 3 and the traveling body 4 have a structure that rotates around a single axis, the inclination of the traveling body 4 can be determined by measuring the inclination angle of the rotating body 3 using the IMU sensor (rotating body) 30S. Angle can be estimated.

<Floating center calculation unit 930>
The floating center calculation unit 930 determines where on the traveling body 4 the floating occurs as a center based on the floating angle θ calculated by the floating angle calculating unit 920, and determines the center of rotation when the traveling body 4 lifts. Calculate Cr(Crb, Crf).

A method of calculating the center of rotation Cr of uplift will be explained using FIGS. 5 and 6. If the angle in the direction in which the rotating body 3 tilts forward as indicated by the arrow 55 in FIG. When tilting (when the front working device 2 side of the traveling body 4 lifts up), it becomes a positive value, and when the rotating body 3 tilts forward as shown in Fig. 6 (when the counterweight 37 side of the traveling body 4 lifts up), it becomes a positive value. becomes a negative value. Therefore, depending on the sign of the lifting angle, it can be determined which side of the traveling body 4 is lifted, the front working device 2 side or the counterweight 37 side.

When the lifting angle θ is a positive value, the front working device 2 side of the traveling body 4 lifts up and the rotating body 3 tilts backward, as shown in FIG. Let the contact line where 4 contacts the ground be the rotation center Crb of the uplift. On the other hand, when the lifting angle θ is a negative value, the counterweight 37 side of the traveling body 4 lifts up and the rotating body 3 tilts forward, so that the front working device 2 side (front side) of the rotating body 3 The contact line where the traveling body 4 contacts the ground is defined as the rotation center Crf of uplift.

In this embodiment, as shown in FIGS. 4 to 6, the origin O of the vehicle body coordinate system is set at the intersection of the rotation axis of the boom 20 (the rotation axis of the boom pin) and the operating plane of the front working device 2. The coordinates (a, c) of the positions of the respective rotation centers Crb and Crf with respect to the origin O on the operating plane of the front working device 2 are determined by the relative angle φ between the rotating body 3 and the traveling body 4 detected by the turning angle sensor 40S. and the dimensions of the rotating body 3 and the traveling body 4 (which can be stored in advance in the controller 34).

<Operation restriction area correction unit 730>
The operation restriction area correction unit 730 corrects the position of the boundary line 60 of the operation restriction area 59 in the vehicle body coordinate system based on the positions of the rotation centers Crf and Crb when the traveling body 4 lifts up, and the lifting angle θ. However, when there is no lifting of the traveling body 4 (when the lifting angle θ=0), no correction is made and the position of the boundary line 60 is output as it is at its initial position. Further, the operation restricted area correction unit 730 uses position data of the boundary line 60 of the operation restricted area 59 in the vehicle body coordinate system, and position data of each front member 20, 21, 22 in the vehicle body coordinate system calculated by the attitude calculation unit 710. Based on this, the shortest distance d between the boundary line 60 of the restricted operation area 59 and the front working device 2 is calculated.

A method by which the operation restriction area correction unit 730 corrects the position of the boundary line 60 of the operation restriction area 59 in the vehicle body coordinate system will be described. Assuming that an arbitrary point constituting the operation restriction area 59 is P (X, Z), and a point rotated by an uplift angle θ around the rotation centers Crf, Crb (a, c) is Q (X', Z'), The following formula (2) holds true.

As already mentioned, θ, a, and c in the above equation (2) are constants that can be calculated. Therefore, for example, based on the function Z=f(X) indicating the position of the boundary line 60 at the initial position and the above equation (2), the function Z' indicating the position of the boundary line 60 after correction (corrected position) is calculated. =g(X') can be expressed as a function of X. Note that the transformation according to equation (2) rotates the initial position (X, Z) of the boundary line 60 by -θ around the rotation centers Crf, Crf, and rotates it by the coordinates (a, c) of the rotation centers Crf, Crf. It moves in parallel.

<Operation command unit 310>
The operation command unit 310 controls the electromagnetic control for the boom cylinder 20A, arm cylinder 21A, and bucket cylinder 22A based on the shortest distance d between the boundary line 60 of the restricted operation area 59 and the front working device 2, and the output of the operation sensor 33b. An operation command value necessary for driving the control valve 35a is calculated. The shortest distance d is calculated based on the position (initial position or corrected position) of the boundary line 60 output from the operation restriction area correction unit 730. That is, when the traveling body 4 is floating, the calculation is based on the corrected position of the boundary line 60, and when the lower surface of the traveling body 4 is in surface contact with the ground, the calculation is based on the initial position of the boundary line 60. be done.

The operation command unit 310 controls the shortest distance d between the boundary line 60 of the operation restriction area 59 and the front working device 2 to a predetermined value while the hydraulic excavator 1 is in operation (or while the area restriction control is enabled). (threshold). When the shortest distance d becomes smaller than the predetermined value, the operation command unit 310 controls the boom cylinder 20A, arm cylinder 21A, and bucket to stop the front working device 2, regardless of the output from the operation sensor 33b. The target operating speed of cylinder 22A is set to zero. Then, the operation command unit 310 generates an operation command value necessary for driving each electromagnetic control valve 35a according to the target operation speed, and outputs the generated operation command value to the corresponding electromagnetic control valve 35a, thereby responding to the corresponding electromagnetic control valve 35a. The direction switching valve (control valve) 35b is driven. Thereby, when the front working device 2 approaches the boundary line 60, the front working device 2 is stopped, and the front working device 2 is prevented from entering the operation restricted area 59.

Note that when the shortest distance d is equal to or greater than a predetermined value, the target speeds of the boom cylinder 20A, arm cylinder 21A, and bucket cylinder 22A are calculated according to the output of the operation sensor 33b, and the front working device 2 is operated in accordance with the operator's operation. Operate.

<Monitor 110>
FIG. 7 shows an example of a screen on the monitor 110 showing the positional relationship between the boundary line 60 of the restricted operation area 59 and the hydraulic excavator (working machine) 1. If the traveling body 4 is not lifted up, an image is displayed in which the bottom surface of the traveling body 4 is fully in contact with the ground as shown in (a) on the left side of the figure, and the boundary line 60 of the operation restriction area 59 and the front are displayed. The value of the shortest distance d of the work device 2 is displayed. In the example of FIG. 7, the shortest distances da (+0.5 m) and db (+1.2 m) between the vertical boundary line 60a located in front of the hydraulic excavator 1 and the horizontal boundary line 60b located below the hydraulic excavator 1 are are displayed respectively. If the traveling body 4 is floating, an image of the traveling body 4 floating as shown in (b) on the right side of the figure is displayed, and the boundary line 60 (60a, 60a, 60b) and the shortest distance d (da, db) between the front working device 2 and the front working device 2 are displayed.

By correcting the boundary line 60 according to the lifting angle θ described above, the position of the boundary line 60 on the screen of the monitor 110 is maintained even if the traveling body 4 lifts up.

Note that in the example of FIG. 7, the two shortest distances are displayed according to the shape of the boundary line 60, but only the distance between the front working device 2 and the closest boundary line 60 may be displayed. In addition, the positional relationship between the boundary line 60 of the restricted operation area 59 and the hydraulic excavator 1 may be displayed by changing colors or shapes. For example, in the example of FIG. 7, an image of the hydraulic excavator 1 is displayed, but instead of displaying this image, a message or an alarm may be used to notify that the traveling body 4 is lifting.

<Main controller control procedure>
FIG. 8 is a flowchart of processing executed by the main controller 34, illustrating an example of the flow of calculations performed by each section shown in the main controller 34 in FIG. In the following, each process (steps S110 to S210) may be explained using each unit in the main controller 34 shown in FIG. 3 as the subject, but the main controller 34 is the hardware that executes each process. Further, a detailed explanation of the processing of each part may be described in the explanation section of each part. Note that the relative angle φ between the traveling body 4 and the rotating body 3 is zero degree.

First, in step S110, the attitude calculation unit 710 refers to the data detected by the attitude sensors 30S, 20S, 21S, 22S, and 40S, and calculates the attitude of the boom 20, arm 21, bucket 22, traveling body 4, and rotating body 3. Calculate.

In step S120, the operation restriction area calculation unit 720 calculates the position (initial position) of the boundary line 60 of the operation restriction area 59 in the vehicle body coordinate system based on the position data of the operation restriction area 59 input from the operation restriction area setting device 100. ) is calculated.

In step S130, the floating determination unit 910 determines whether the traveling body 4 is in a floating state based on the presence or absence of an operation input to the traveling operation lever 33c and the output of the IMU sensor (swivel body) 30S. If it is determined that the traveling body 4 is in a floating state, the process advances to step S140, and if it is determined that the traveling body 4 is not floating, the process advances to step S200.

In step S140, the lifting angle calculation unit 920 calculates the change in the inclination angle (lifting angle) θ of the rotating body 3 due to the lifting of the traveling body 4 based on the output of the IMU sensor (swinging body) 30S, and then proceeds to step S160. move on.

In step S160, the floating center calculation unit 930 determines in which direction the traveling body 4 is floating based on the floating angle θ calculated in step S140. If the floating angle θ is negative, the rotating body 3 is leaning forward and the counterweight 37 side of the traveling body 4 is floating (that is, the state shown in FIG. 6), so the process advances to step S170. On the other hand, if the floating angle is positive, the rotating body 3 is tilted backward and the front working device 2 side of the traveling body 4 is floating (that is, the state shown in FIG. 5), so the process advances to step S180.

In step S170, since the hydraulic excavator 1 is in the posture shown in FIG. The rotation center Crf is set on the side (that is, on the front side of the traveling body 4).

In step S180, since the hydraulic excavator 1 is in the posture shown in FIG. The rotation center Crb is set at the rear side of the traveling body 4.

In step S190, the operation restriction area correction unit 730 adjusts the operation restriction area 59 in the vehicle body coordinate system based on the positions of the rotation centers Crf and Crb set in step S170 or S180 and the lifting angle θ calculated in step S140. The position of the boundary line 60 is corrected to a corrected position. When the lifting angle θ is zero (when the traveling body 4 does not lift), the initial position is maintained as the position of the boundary line 60.

In step S200, the boundary line 60 is displayed on the screen of the monitor 110 at the position corrected in step S190.

In step S210, the operation restriction area correction unit 730 calculates the position data of the boundary line 60 of the operation restriction area 59 in the vehicle body coordinate system calculated in step S190 (initial position if no lifting occurs; The shortest distance d between the boundary line 60 of the operation restriction area 59 and the front working device 2 is calculated based on the corrected position) and the posture data of each front member 20, 21, 22 calculated in step S110. It is output to the command unit 310.

If the shortest distance d calculated by the operation restriction area correction unit 730 is smaller than a predetermined value (threshold value), the operation command unit 310 sets the target operation speeds of the boom cylinder 20A, arm cylinder 21A, and bucket cylinder 22A to zero. and generates and outputs an operation command value necessary for driving each electromagnetic control valve 35a according to the target operation speed. As a result, when the front working device 2 approaches the boundary line 60, the front working device 2 is stopped. On the other hand, if the shortest distance d is equal to or greater than the predetermined value, the operation command unit 310 calculates the target speeds of the boom cylinder 20A, arm cylinder 21A, and bucket cylinder 22A according to the output of the operation sensor 33b, and as a result, the operation The front working device 2 operates accordingly.

<Effect>
First, the problem of the present application will be explained again. For example, when the boundary line 60 as shown in FIG. 4 is set on the vehicle body coordinate system, when the traveling body 4 lifts up such that the rotating body 3 tilts backward as shown in FIG. The boundary line 60 on the vehicle body coordinate system is also rotated and becomes different from the actual boundary line 60. Therefore, a method can be considered in which the boundary line 60 is rotated around the origin of the vehicle body coordinate system by an amount that cancels out the lifting angle θ, and the rotated boundary line 60 is used as a new boundary line 60. However, as shown in FIG. 5, the actual lifting of the traveling body 4 occurs around a point Crb located at the rear of the traveling body 4. In other words, it is not enough to simply rotate the boundary line 60 around the origin of the vehicle body coordinate system; it is necessary to add parallel movement to the boundary line 60 in accordance with the deviation between the origin of the vehicle body coordinate system and the actual rotation center Crb. . Note that the area designated by the reference numeral 69 in FIGS. 5 and 6 is an operation restriction area 69 corrected by adding only rotation about the origin of the vehicle body coordinate system.

Therefore, in the hydraulic excavator 1 of this embodiment configured as described above, the main controller 34 calculates the lifting angle θ of the traveling body 4 based on the output of the IMU sensor (swinging body) 30S, and adjusts the lifting angle θ to Based on this, the center of rotation Cr (Crf, Crb) when the traveling body 4 lifts up is calculated, and the position of the boundary line 60 in the vehicle body coordinate system is corrected based on the lifting angle θ and the center of rotation Cr. As a result, the position of the boundary line 60 of the operation restriction area 59 in the vehicle body coordinate system is corrected according to the lifting angle θ of the traveling body 4 and the position of the rotation center Cr, so that, for example, the hydraulic actuator can be controlled based on the position of the boundary line 60. (Area restriction control) malfunctions can be prevented.

In addition, as shown in Figs. 5 and 6, when the relative angle between the rotating body 3 and the traveling body 4 is 0 degrees (the forward direction of the traveling body 4 and the direction in which the front working device 2 extends (the x-axis of the vehicle body coordinate system) direction), the rotation center Cr of the traveling body 4 is the contact line Crf (Fig. 6) with the ground located on the front working device 2 side and the contact line with the ground located on the counterweight 37 side. Either line Crb (FIG. 5). Therefore, in this embodiment, it is decided which of these two contact lines Crf and Crb will be the center of rotation based on the sign of the lifting angle θ. Specifically, when the uplift angle θ is negative, the rotating body 3 tilts forward and the contact line Crb becomes the rotation center, and when it is positive, the rotating body 3 tilts backward and the contact line Crb becomes the rotation center. . As a result, it is possible to accurately determine whether the rotation center of the traveling body 4 is on the front working device 2 side or on the counterweight 37 side, so that the boundary line 60 can be corrected accurately.

Furthermore, in this embodiment, in addition to determining whether or not lifting of the traveling object 4 has occurred, the operating state of the traveling object 4 and the IMU sensor (turning The determination is made based on the state of the output of the body) 30S. Specifically, A) when the output of the IMU sensor (swivel body) 30S changes while the traveling body 4 is stopped, it is determined that lifting has occurred and the position of the boundary line 60 is corrected, and B) the position of the boundary line 60 is corrected. is running or when the output of the IMU sensor (swivel body) 30S is constant, it is determined that no lifting has occurred and the initial position is maintained without correcting the position of the boundary line 60. did. As a result, it is possible to accurately determine whether or not the traveling body 4 has lifted up, thereby improving the accuracy of correcting the boundary line 60.

Furthermore, as mentioned above, whether or not the traveling body 4 has lifted can be determined by using the outputs of the two pressure sensors 20BP and 20RP that respectively detect the rod side pressure and bottom side pressure of the boom cylinder 20A. It is possible to judge. That is, the main controller 34 calculates the thrust force F1 of the boom cylinder 20A based on the outputs of the two pressure sensors 20BP and 20RP, and A) calculates the calculated thrust force F1 and the thrust force F2 necessary to support the front working device 2. B) When the calculated thrust force F1 matches the thrust force F2, or , when the output of the IMU sensor (swivel body) 30S is constant, it may be determined that no lifting has occurred, and the initial position may be maintained without correcting the position of the boundary line 60. This method also improves the accuracy of correcting the boundary line 60. However, this method is superior to the previously described method in that it can determine which of the two contact lines Crf and Crb will be the center of rotation when the traveling body 4 is lifted up. In other words, if F1<F2 holds true when uplift occurs, it can be determined that the rotating body 3 tilts backward and the contact line Crb becomes the center of rotation (see Fig. 5), and conversely, if F1>F2 holds true, , it can be determined that the rotating body 3 is tilted forward and the contact line Crf becomes the center of rotation (see FIG. 6).

<Second embodiment>
Next, a second embodiment of the present invention will be described. In the first embodiment, the relative angle φ between the rotating body 3 and the traveling body 4 was zero degrees, but in this embodiment, the case where the relative angle φ is other than zero is also considered, and the floating center calculation unit 930 calculates the relative angle φ. The feature is that the center of rotation Cr is changed accordingly. Note that the hardware configuration of this embodiment is the same as that of the first embodiment already described, so the explanation will be omitted.

<Floating center calculation unit 930>
FIG. 9 is a top view of the hydraulic excavator 1 according to the present embodiment, and FIG. 10 is a side view of the hydraulic excavator 1 when the front working device 2 side of the traveling body 4 is lifted in the cases A and B of FIG. 9, respectively. show.

As shown in A and B of FIG. 9, the length of the running body 4 is different in the front-rear direction (the traveling direction of the traveling body 4) and the left-right direction (the direction perpendicular to the traveling direction). The length is longer in the front-back direction than in the left-right direction. Therefore, the position of the rotation center Cr with respect to the origin O of the vehicle body coordinate system may vary depending on the relative angle φ between the rotating body 3 and the traveling body 4. For example, even if it is common that the front working device 2 side of the traveling body 4 is raised as shown in FIGS. The positions (a, c) and (a', c') are different. Therefore, it is preferable to correct the position of the rotation center Cr of the floating body according to the relative angle φ between the rotating body 3 and the traveling body 4.

In the case of FIG. 9A, there is a contact line Crf where the pair of left and right crawlers 45 that make up the traveling body 4 contact the ground in front of the traveling body 4 (in the forward direction), and a contact line Crf where the tracks 45 contact the ground behind the traveling body 4 (in the backward direction). Either one of the two contact lines Crf and Crb between the contact line Crb and the ground contact line Crb may be the center of rotation. Both of the contact lines Cf and Crb are straight lines extending in the left-right direction of the traveling body 4 (perpendicular to the traveling direction).

In the case of FIG. 9B, the contact line Crl where the left crawler 45L of the pair of left and right crawlers 45 constituting the traveling body 4 contacts the ground at the edge extending in the front-rear direction (progressing direction), and the contact line Crl where the right crawler 45R contacts the ground Either one of the two contact lines Crr and Crr, which contacts the ground with an edge extending in the front-rear direction, may be the center of rotation. The contact lines Crr and Crr are both straight lines extending in the left-right direction of the traveling body 4 (perpendicular to the traveling direction).

Which case A or B in FIG. 9 applies is determined based on the relative angle φ between the rotating body 3 and the traveling body 4 detected by the turning angle sensor 40S. FIG. 11 is a diagram in which cases A and B in FIG. 9 are classified based on the relative angle φ. Point Cs in the figure indicates the center of rotation of the rotating structure 3. As shown in FIG. 11, the relative angle φ between the rotating body 3 and the traveling body 4 is set to 0 degrees when the forward direction of the traveling body 4 and the direction in which the front working device 2 extends (the x-axis direction of the vehicle body coordinate system) match. When the rotating body 3 turns to the right, the sign of the relative angle φ is positive, and when it turns to the left, the sign is negative.

In this embodiment, a threshold value is provided for the relative angle φ, and the position of the rotation center Cr of the traveling body 4 is classified based on the relationship between the threshold value and the relative angle φ detected by the turning angle sensor 40S. The thresholds for the relative angle φ are +45 degrees (-315 degrees), +135 degrees (-225 degrees), +225 degrees (-135 degrees), and +315 degrees (-45 degrees), and two adjacent thresholds differ by 90 degrees. . The circle centered on the turning center Cs shown in FIG. 11 is divided into four areas A1, B1, A2, and B2 by these threshold values.

Area A1 (first area) has a range in which the relative angle φ is from 0 degrees (-360 degrees) to +45 degrees (-315 degrees), and a range in which the relative angle φ is from +315 degrees (-45 degrees) to +360 degrees (0 degrees). degree). In region B1 (second region), the relative angle φ ranges from +45 degrees (-315 degrees) to +135 degrees (-225 degrees). In region A2 (third region), the relative angle φ ranges from +135 degrees (-225 degrees) to +225 degrees (-135 degrees). In region B2 (fourth region), the relative angle φ ranges from +225 degrees (-135 degrees) to +315 degrees (-45 degrees).

When the relative angle φ is in either area A1 or area A2, the lifting center calculation unit 930 calculates one of the two contact lines Crf and Crb as the center of rotation. However, in region A1, when the rotating body 3 tilts forward, the contact line Crf becomes the center of rotation, and when the rotating body 3 leans backward, the contact line Crb becomes the center of rotation. On the other hand, in region A2, when the rotating body 3 tilts forward, the contact line Crb becomes the rotation center, and when the rotating body 3 tilts backward, the contact line Crf becomes the rotation center.

When the relative angle φ is in either region B1 or region B2, the lifting center calculating section 930 calculates one of the two contact lines Crl and Crr as the center of rotation. However, in region B1, when the rotating body 3 tilts forward, the contact line Crr becomes the rotation center, and when the rotating body 3 tilts backward, the contact line Crr becomes the rotation center. On the other hand, in region B2, when the rotating body 3 tilts forward, the contact line Crr becomes the center of rotation, and when the rotating body 3 leans backward, the contact line Crr becomes the center of rotation.

<Main controller control procedure>
FIG. 12 is a flowchart of processing executed by the main controller 34 according to this embodiment. Processes that are the same as those in FIG. 8 are given the same reference numerals and explanations are omitted, and processes that are different from those in FIG. 8 will be described below.

In step S150, the floating center calculation unit 930 determines whether the traveling body 4 is in the longitudinal direction based on the relative angle φ of the traveling body 4 with respect to the rotating body 3. That is, it is determined whether the relative angle φ is included in either area A1 or area A2. If the relative angle φ is included in either area A1 or area A2, the process advances to step S160. On the contrary, if the relative angle φ is included in either region B1 or region B2 (that is, if the traveling body 4 is not in the front-back direction (in the left-right direction)), the process proceeds to step 161.

In step S160, the floating center calculation unit 930 determines in which direction the traveling body 4 is floating based on the floating angle θ calculated in step S140. If the floating angle θ is negative, the rotating body 3 is leaning forward and the counterweight 37 side of the traveling body 4 is floating, so the process advances to step S170. On the other hand, if the floating angle is positive, the revolving body 3 is tilted backward and the front working device 2 side of the traveling body 4 is floating, so the process advances to step S180.

In step S170, since the rotating body 3 is tilted forward, the uplift center calculation unit 930 calculates the lifting center calculation unit 930 in the traveling direction of the traveling body 4 (also referred to as the longitudinal direction or the longitudinal direction) and on the side of the front working device 2 (that is, the traveling body Set the center of rotation at the front side of 4). As a result, the rotation center Crf is set when the relative angle φ is included in the area A1, and the rotation center Crb is set when the relative angle φ is included in the area A2.

In step S180, since the rotating body 3 is tilted backward, the uplift center calculation unit 930 calculates the floating center calculation unit 930 in the traveling direction of the traveling body 4 (also referred to as the longitudinal direction or longitudinal direction) and on the counterweight 37 side (that is, the traveling body 4 Set the center of rotation to the rear side of the As a result, the rotation center Crb is set when the relative angle φ is included in the area A1, and the rotation center Crf is set when the relative angle φ is included in the area A2.

In step S161, the floating center calculation unit 930 determines in which direction the traveling body 4 is floating based on the floating angle θ calculated in step S140. If the floating angle θ is negative, the rotating body 3 is leaning forward and the counterweight 37 side of the traveling body 4 is floating, so the process advances to step S171. On the other hand, if the floating angle is positive, the rotating body 3 is tilted backward and the front working device 2 side of the traveling body 4 is floating, so the process advances to step S181.

In step S171, since the rotating body 3 is tilted forward, the lifting center calculation unit 930 sets the center of rotation in the left-right direction of the traveling body 4 and on the front working device 2 side (that is, on the front side of the traveling body 4). As a result, the rotation center Crr is set when the relative angle φ is included in the area B1, and the rotation center Crr is set when the relative angle φ is included in the area B2.

In step S181, since the rotating body 3 is tilted backward, the floating center calculation unit 930 sets the center of rotation in the left-right direction of the traveling body 4 and on the counterweight 37 side (that is, on the rear side of the traveling body 4). As a result, the rotation center Crr is set when the relative angle φ is included in the region B1, and the rotation center Crr is set when the relative angle φ is included in the region B2.

<Effect>
According to the hydraulic excavator 1 configured as above, the center of rotation of the rotating body 4 can be calculated accurately even when the relative angle φ between the rotating body 3 and the traveling body 4 is other than zero, so that the boundary line 60 The correction accuracy can be improved.

Note that the present invention is not limited to the above-described embodiments, and includes various modifications without departing from the gist thereof. For example, the present invention is not limited to having all the configurations described in the above embodiments, but also includes configurations in which some of the configurations are deleted. Further, a part of the configuration according to one embodiment can be added to or replaced with the configuration according to another embodiment.

In addition, each configuration related to the controller 34 and the functions and execution processing of each configuration may be partially or completely realized by hardware (for example, the logic for executing each function is designed using an integrated circuit). It's okay. Further, the configuration related to the controller 34 described above may be a program (software) that is read and executed by an arithmetic processing unit (for example, a CPU) to realize each function related to the configuration of the controller 34. Information related to the program can be stored in, for example, a semiconductor memory (flash memory, SSD, etc.), a magnetic storage device (hard disk drive, etc.), a recording medium (magnetic disk, optical disk, etc.), and the like.

In addition, in the description of each embodiment above, the control lines and information lines are those that are understood to be necessary for the description of the embodiment, but not all control lines and information lines related to the product are necessarily included. It does not necessarily indicate that. In reality, almost all configurations can be considered to be interconnected.

1...Hydraulic excavator (work machine), 2...Front working device, 3...Swivel body, 4...Traveling body, 20...Boom, 20A...Boom cylinder, 20BP...Pressure sensor (boom bottom pressure sensor), 20RP...Pressure sensor ( boom rod pressure sensor), 20S...IMU sensor (third attitude sensor), 21...arm, 21A...arm cylinder, 21S...IMU sensor (third attitude sensor), 22...bucket, 22A...bucket cylinder, 22B...first Link member, 22C...Second link member, 22S...IMU sensor (third attitude sensor), 30S...IMU sensor (first attitude sensor), 31...Main frame, 32...Driver's cab, 33a...Operation lever, 33b...Operation Sensor, 33c... Travel control lever, 34... Main controller (control device), 35... Hydraulic control device, 35a... Electromagnetic control valve, 35b... Direction switching valve (control valve), 36a... Engine (prime mover), 36b... Hydraulic pump , 37... Counter weight, 38... Turning motor, 40... Truck frame, 40S... Turning angle sensor (second posture sensor), 41... Traveling motor, 45L... Crawler, 45R... Crawler, 59... Operation restriction area, 60 ...boundary line, 69...operation restriction area, 100...operation restriction area setting device, 110...monitor (display device), 310...movement command section, 710...posture calculation section, 720...operation restriction area calculation section, 730...operation restriction Area correction section, 910...determination section, 920...angle calculation section, 930...center calculation section

Claims (7)

A running body,
a revolving body rotatably attached to the upper part of the traveling body;
a working device attached to the revolving body and consisting of a plurality of front members;
a first attitude sensor that detects the attitude of the rotating body;
A working machine comprising: a controller that stores the position of a boundary line of an operation restricted area where entry of the working equipment is prohibited on a vehicle body coordinate system set in the rotating body;
When the controller determines that lifting of the traveling body has occurred based on at least the output of the first attitude sensor,
calculating a lifting angle of the traveling body based on the output of the first attitude sensor;
Calculating the center of rotation when the traveling body lifts up based on the lifting angle,
A working machine, wherein the position of the boundary line in the vehicle body coordinate system is corrected by rotating based on the lifting angle and the rotation center. In the working machine of claim 1,
The controller includes:
When the floating angle indicates a backward tilt of the rotating body, a contact line where the traveling body contacts the ground on the rear side of the rotating body is calculated as the center of rotation,
When the lifting angle indicates a forward inclination of the rotating body, the calculation is performed using a contact line where the traveling body contacts the ground on the front side of the rotating body as the center of rotation. In the working machine of claim 2,
further comprising a second attitude sensor that detects a relative angle between the rotating body and the traveling body,
The working machine is characterized in that the controller calculates the rotation center based on the relative angle. In the working machine of claim 3,
The controller includes:
When the relative angle is within the range of 0 degrees to 45 degrees, 135 degrees to 225 degrees, or 315 degrees to 360 degrees, the pair of crawler tracks constituting the traveling body may be in front or behind it. Calculate the contact line that contacts the ground as the center of rotation,
When the relative angle is in the range of 45 degrees to 135 degrees or in the range of 225 degrees to 315 degrees, one of the pair of crawler tracks contacts the ground with an edge extending in the front-rear direction. A working machine characterized in that calculations are performed using a contact line as the center of rotation. In the working machine of claim 1,
The controller includes:
when the output of the first attitude sensor changes while the traveling body is stopped, correcting the position of the boundary line in the vehicle body coordinate system;
A working machine, wherein the position of the boundary line in the vehicle body coordinate system is maintained when the traveling body is traveling or when the output of the first attitude sensor is constant. In the working machine of claim 1,
further comprising a plurality of pressure sensors that respectively detect rod side pressure and bottom side pressure of a boom cylinder that drives the boom, which is one of the plurality of front members,
The controller includes:
calculating the thrust of the boom cylinder based on the outputs of the plurality of pressure sensors;
When the thrust of the boom cylinder is different from the thrust required to support the working device, and when the output of the first attitude sensor changes, correcting the position of the boundary line in the vehicle body coordinate system,
When the thrust of the boom cylinder matches the thrust necessary to support the working device, or when the output of the first attitude sensor is constant, the position of the boundary line in the vehicle body coordinate system is maintained. A working machine featuring: In the working machine of claim 1,
further comprising a plurality of third attitude sensors each detecting the attitude of the plurality of front members,
The controller includes:
calculating the position of the working device in the vehicle body coordinate system based on the outputs of the plurality of third posture sensors;
calculating the distance between the working device and the boundary line based on the corrected position of the boundary line in the vehicle body coordinate system and the position of the working device;
A working machine, wherein the working machine is controlled based on a distance between the working machine and the boundary line so that the working machine is prevented from invading the operation restriction area.

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