JP7207085B2 - working machine - Google Patents

Description

The present invention relates to a working machine with attachments.

For example, Patent Document 1 and the like describe a conventional working machine. In the technique described in the same document, when an obstacle above the attachment is detected, an alarm is issued and the operation is restricted (see paragraph 0010 of the same document).

Japanese Utility Model Laid-Open No. 6-82164

However, in the technique described in the document, obstacles are detected only above the attachment. Therefore, if there is an obstacle next to the attachment and the attachment moves sideways, the attachment may come into contact with the obstacle. Moreover, if an alarm or operation restriction is always issued when an obstacle is detected around the attachment, the workability of the working machine may deteriorate.

SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide a working machine that can ensure workability while suppressing contact of an attachment with an obstacle.

A working machine includes a machine body, an attachment, an obstacle detection section, a determination area setting section, a determination section, and a command output section. The machine body has a cab. The attachment is movable with respect to the machine body. The obstacle detection section is located outside the attachment in the direction from the ventral surface to the back of the attachment, and laterally outside the attachment on the side opposite to the cab with respect to the attachment. to detect obstacles. The determination area setting section sets a determination area. The determination unit determines whether or not the obstacle detected by the obstacle detection unit is present within the determination area set by the determination area setting unit. The command output unit outputs a command for restricting an operation of moving the attachment close to the obstacle when the determination unit determines that the obstacle exists within the determination area, and a command for moving the attachment to the obstacle and/or a command to warn the operation of approaching the The determination area setting unit excludes at least a partial area on the one-direction side of a specific boundary surface, which is a specific surface, from the determination area.

With the above configuration, it is possible to ensure workability while suppressing contact of the attachment with obstacles.

It is the figure which looked at the working machine 1 from the side. It is the figure which looked at the working machine 1 shown in FIG. 1 from the top. It is the figure which looked at the working machine 1 shown in FIG. 1 from the front. 1 equivalent view when the obstacle detection part 43 shown in FIG. 1 is attached to the machine main body 10. FIG. 2 equivalent view when the obstacle detection part 43 shown in FIG. 1 is attached to the machine main body 10. FIG. 3 equivalent view when the obstacle detection part 43 shown in FIG. 1 is attached to the machine main body 10. FIG. 2 is a block diagram of the working machine 1 shown in FIG. 1; FIG. It is the figure which looked at the state which the working machine 1 shown in FIG. 1 is digging the hole in the ground from the side. FIG. 9 is a top view of the work machine 1 shown in FIG. 8 ; It is the figure which looked at the state which the arm 23 shown in FIG. 1 was held from the side. It is the figure which looked at the state which the working machine 1 shown in FIG. 1 is digging the hole in the slope from the side. It is the figure which looked at the working machine 201 of 2nd Embodiment from the front. It is the figure which looked at the working machine 301 of 3rd Embodiment from the top. It is the figure which looked at the working machine 401 of 4th Embodiment from the top. It is the figure which looked at the working machine 501 of 5th Embodiment from the side. It is the figure which looked at the working machine 601 of 6th Embodiment from the side.

(First embodiment)
A working machine 1 according to a first embodiment will be described with reference to FIGS. 1 to 11. FIG.

The work machine 1, as shown in FIG. 1, is a machine that performs work, such as a construction machine that performs construction work, and may be, for example, a shovel or a crane. The work machine 1 includes a machine body 10, an attachment 20, a machine operation section 31, a determination area operation section 33, a detection section 40 (see FIG. 7), and a controller 60 (see FIG. 7).

The machine main body 10 is a main body portion of the working machine 1 . The machine body 10 includes a lower traveling body 11 for traveling the work machine 1 and an upper revolving body 12 .

The upper revolving body 12 is arranged above the lower traveling body 11 (the direction will be detailed later) Z1, and is mounted on the lower traveling body 11 so as to be able to turn. The upper revolving body 12 has an operator's cab 15 .

(direction)
A direction with respect to work machine 1 is defined as follows. A direction that coincides with the vertical direction when the machine body 10 is placed on a horizontal plane is defined as an up-down direction Z (upper side Z1, lower side Z2). A lateral direction Y is the direction in which the axis of rotation of the attachment 20 undulating with respect to the machine body 10 extends. As shown in FIG. 2, in the horizontal direction Y, the operator's cab 15 side with respect to the base end of the attachment 20 (the end attached to the machine body 10) is the left side Yl, and the opposite side is the right side Yr. Note that the right side Yr and the left side Yl may be reversed to each other. As shown in FIG. 1, the direction orthogonal to each of the up-down direction Z and the lateral direction Y is defined as the front-rear direction X. As shown in FIG. When the base end portion and the tip end portion of the attachment 20 are arranged on the same horizontal plane in the front-rear direction X (when the attachment 20 is arranged horizontally), the side where the attachment 20 protrudes from the machine body 10 is the front side. Let it be X1. The side opposite to the front side X1 in the front-rear direction X is the rear side X2.

The operator's cab 15 is a part for the operator of the work machine 1 to operate. As shown in FIG. 2 , the driver's cab 15 is arranged on the left side Y1 portion and the front side X1 portion of the upper revolving body 12 . In the example shown in FIG. 2, the driver's cab 15 is arranged on the left side when viewed toward the front side X1, but may be arranged on the left side when viewed toward the rear side X2. As shown in FIG. 3, the cab 15 has a front window 15a. The front window 15a is a window arranged on the surface of the driver's cab 15 on the front side X1. The upper Z1 end of the front window 15a is arranged at or near the upper Z1 end of the front X1 surface of the driver's cab 15 .

The attachment 20 is a working device, as shown in FIG. The attachment 20 is attached to the upper revolving body 12 so as to be movable with respect to the upper revolving body 12 . The attachment 20 includes, for example, a boom 21, an arm 23, and a tip attachment 25.

The boom 21 is attached to the upper revolving body 12 and can be raised and lowered (rotated in the vertical direction Z) with respect to the upper revolving body 12 . The boom 21 is rotatable about a rotation axis extending at least in the horizontal direction Y with respect to the upper rotating body 12 . At least part of the boom 21 may be rotatable around a rotation axis extending in a direction other than the lateral direction Y (see FIGS. 13 and 14). The boom 21 has a back surface 21b, side surfaces 21s, and a ventral surface 21v. The rear surface 21b is positioned on the upper side Z1 when the base end (the end attached to the upper rotating body 12) and the tip end of the boom 21 are arranged on the same horizontal plane (when the boom 21 is arranged horizontally). It is the side facing the The side surface 21s is a surface facing outward in the horizontal direction Y. The ventral surface 21v is a surface that faces the lower side Z2 when the boom 21 is horizontally arranged.

Arm 23 is rotatably attached to boom 21 . The direction of the rotation axis of the arm 23 with respect to the boom 21 is the horizontal direction Y. As shown in FIG. The arm 23, like the boom 21, has a rear surface 23b, side surfaces 23s, and an abdominal surface 23v. A central axis of the arm 23 extending in the longitudinal direction of the arm 23 is defined as an arm central axis 23a.

The tip attachment 25 is arranged at the tip of the attachment 20 . A tip attachment 25 is rotatably attached to the arm 23 . The tip attachment 25 is rotatable about a rotation axis extending at least in the lateral direction Y with respect to the arm 23 . The tip attachment 25 may be rotatable about a rotation axis extending in a direction other than the lateral direction Y with respect to the arm 23 (see FIGS. 4 and 12). The tip attachment 25 may be a bucket for scooping dirt or the like, a device for pinching an object (such as a grapple), or a device for crushing an object (such as a breaker).

(Direction with respect to attachment 20)
Orientation for attachment 20 is defined as follows. The direction in which the back surface 21b and the ventral surface 21v of the attachment 20 (for example, the boom 21) face each other is defined as the height direction D of the attachment. Note that there is an attachment height direction D for each of the boom 21 and the arm 23 (see FIG. 8). In the attachment height direction D, the side (orientation) from the ventral surface 21v to the back surface 21b is defined as the back surface side Db, and the opposite side is defined as the ventral surface side Dv. When the attachment 20 is horizontally arranged, the attachment height direction D is the vertical direction Z or substantially the vertical direction Z, the back side Db is the upper side Z1 or substantially the upper side Z1, and the ventral side Dv is the lower side Z2 or It is substantially lower side Z2.

The machine operation part 31 is a part operated by an operator to operate the work machine 1 . The machine operation unit 31 is, for example, a lever (operation lever). The machine operation unit 31 is arranged inside the operator's cab 15 . The machine operation unit 31 is for performing traveling operation of the lower traveling body 11 , turning operation of the upper revolving body 12 with respect to the lower traveling body 11 , and operation of the attachment 20 . The machine operation unit 31 is for performing rotation operation of the boom 21 with respect to the upper swing body 12 , operation of rotation of the arm 23 with respect to the boom 21 , and operation of rotation of the tip attachment 25 with respect to the arm 23 .

The determination area operation unit 33 is a part operated by an operator to operate (change) a determination area B (described later). The determination area operation unit 33 is arranged inside the operator's cab 15 .

The detection unit 40 includes a posture detection unit 41, an obstacle detection unit 43, a machine operation detection unit 45, and a determination area operation detection unit 47, as shown in FIG. Note that the components of the detection unit 40 will be described mainly with reference to FIG. 7 (the same applies to the components of the controller 60).

Posture detection unit 41 detects the posture of work machine 1 shown in FIG. 1 . The orientation detection unit 41 (see FIG. 7) detects the orientation of at least one of the machine body 10 and the attachment 20 . Specifically, the posture detection unit 41 detects the position (for example, the angle) of the boom 21 with respect to the upper swing body 12 , the position of the arm 23 with respect to the boom 21 , and the position of the tip attachment 25 with respect to the arm 23 . The attitude detection unit 41 detects the turning angle of the upper turning body 12 with respect to the lower traveling body 11 . The posture detection unit 41 may detect the running state of the lower running body 11 . The posture detection unit 41 may be, for example, an angle sensor or an acceleration sensor.

The obstacle detector 43 detects obstacles around the attachment 20 . A detectable area A is an area in which the obstacle detection unit 43 can detect an obstacle. The obstacle detection unit 43 detects an obstacle in the back side detectable area Ab outside the attachment 20 on the back side Db (outside the attachment 20 in the direction from the ventral surface 21v of the attachment 20 toward the back surface 21b). As shown in FIG. 2, the obstacle detection unit 43 detects a right detectable area Ar on the right side Yr of the attachment 20 (outside the attachment 20 in the lateral direction Y on the side opposite to the driver's cab 15 with respect to the attachment 20). obstacles. The obstacle detection unit 43 may detect an obstacle in the left detectable area Al on the left side Yl of the attachment 20 (on the driver's cab 15 side with respect to the attachment 20 and laterally Y outside the attachment 20). In addition, there may be a portion where the back-side detectable area Ab (see FIG. 1) and the right-side detectable area Ar overlap. There may be an overlapping portion between the rear side detectable area Ab (see FIG. 1) and the left side detectable area Al.

This obstacle detector 43 is a sensor capable of measuring the distance to an object. The obstacle detection unit 43 may be, for example, an ultrasonic sensor or an optical sensor. When the obstacle detection unit 43 is an optical sensor, it may be an infrared sensor, a sensor using laser light, a compound eye camera, or the like. The number of sensors constituting the obstacle detection section 43 may be plural or one.

This obstacle detector 43 is attached to at least one of the attachment 20 and the machine body 10 . The obstacle detector 43 may be attached to the boom 21 . In the example shown in FIG. 2, the obstacle detector 43 is attached to each of the back surface 21b of the boom 21, the right Yr side surface 21s, and the left Yl side surface 21s. The obstacle detector 43 may be attached to the arm 23 . In the example shown in FIG. 2, the obstacle detection unit 43 is attached to each of the rear surface 23b of the arm 23, the right Yr side surface 23s, and the left Yl side surface 23s. The obstacle detector 43 may be attached to the tip attachment 25 (not shown). The obstacle detector 43 may be fixed to the attachment 20 or may be movable (for example, rotatable) with respect to the attachment 20 .

The obstacle detector 43 may be attached to the upper swing body 12 as shown in FIG. As shown in FIG. 5, the obstacle detection unit 43 may be attached to a portion Yr on the right side of the attachment 20 in the upper rotating body 12, and a portion Yl on the left side of the attachment 20 in the upper rotating body 12 ( For example, it may be attached to the driver's cab 15, etc.). The obstacle detection unit 43 may be fixed to the upper revolving body 12 or may be movable (for example, rotatable) with respect to the upper revolving body 12 .

The machine operation detection section 45 detects the operation of the machine operation section 31 shown in FIG. The determination area operation detection section 47 detects an operation of the determination area operation section 33 .

The controller 60 performs signal input/output, computation (calculation, determination, etc.), information storage, and the like. The controller 60 includes an orientation calculation section 61 , an obstacle position calculation section 63 , a type acquisition section 65 , a determination area setting section 71 , a determination section 81 and a command output section 83 .

Posture calculation unit 61 calculates the position (coordinates) of each part of work machine 1 shown in FIG. 1 based on the posture of work machine 1 detected by posture detection unit 41 (see FIG. 7). For example, the attitude calculator 61 calculates the positions of the lower traveling body 11, the upper rotating body 12, the boom 21, the arm 23, and the tip attachment 25 with respect to a specific reference position.

The obstacle position calculator 63 (see FIG. 7) calculates the position of the obstacle based on the detection result of the obstacle detector 43 (see FIG. 7). The obstacle position calculator 63 calculates the position of the obstacle with respect to the attachment 20 . For example, when the obstacle detection section 43 is attached to the upper revolving body 12 (see FIG. 4), the obstacle position calculation section 63 may perform calculation as follows. Based on the position of the obstacle relative to the upper rotating body 12 detected by the obstacle detecting section 43 and the position of the attachment 20 relative to the upper rotating body 12 calculated by the posture calculating section 61, the obstacle position calculator 63 The position of the obstacle relative to the attachment 20 may be calculated.

The type obtaining unit 65 (see FIG. 7) obtains the type of the attachment 20 . The type acquiring unit 65 acquires the type of the tip attachment 25 (for example, bucket, grapple, breaker, etc.). The type obtaining unit 65 may obtain the type of the boom 21 (normal boom 21, swingable (see FIG. 13), offsettable (see FIG. 14), etc.). The type obtaining unit 65 may obtain the type of the attachment 20 based on the signal for identifying the type of the attachment 20 . The type acquisition unit 65 may acquire the type of the attachment 20 based on information input by an operator or the like.

A determination area setting unit 71 (see FIG. 7) sets a determination area B, which is an area for determining the presence or absence of an obstacle. The details of the determination area B will be described later.

The determination unit 81 (see FIG. 7) determines whether or not there is an obstacle detected by the obstacle detection unit 43 within the range of the determination area B set in the determination area setting unit 71 . The determination unit 81 determines whether or not the position of the obstacle calculated by the obstacle position calculation unit 63 (see FIG. 7) is within the range of the determination region B or not.

The command output unit 83 (see FIG. 7) outputs a command when the determination unit 81 (see FIG. 7) determines that there is an obstacle within the range of the determination area B. FIG. The command output unit 83 does not output a command when the determination unit 81 determines that there is no obstacle within the range of the determination area B. FIG. The command output by command output unit 83 is at least one of [Example A1] and [Example A2] below.

[Example A1] The command output by the command output unit 83 (see FIG. 7) is a command for restricting the operation of the work machine 1 that causes the attachment 20 to approach an obstacle (operation restriction). This actuation limitation may be, for example, a stop of actuation, a deceleration of actuation, or an upper limit of actuation speed. [Example A2] The command output by the command output unit 83 is a command to warn the operation of bringing the attachment 20 closer to an obstacle. This warning is, for example, at least one of light (display, etc.), sound, and vibration.

The command output unit 83 may output a command when the machine operation detection unit 45 (see FIG. 7) detects an operation to bring the attachment 20 closer to an obstacle. The command output unit 83 may output a command when the posture detection unit 41 (see FIG. 7) detects an action of moving the attachment 20 closer to an obstacle.

This command output unit 83 (see FIG. 7) does not warn or limit the action of moving the attachment 20 away from the obstacle. Therefore, deterioration of workability of the work machine 1 due to warnings and operation restrictions can be suppressed. The type of command (deceleration, stop, warning, etc.) of the command output unit 83 may be changed according to some conditions. Specifically, for example, the closer the obstacle is to the attachment 20, the greater the degree of warning or operation restriction.

(Details of judgment area B)
The determination area setting unit 71 (see FIG. 7 (the same applies to the determination area setting unit 71 below)) sets the determination area B (area for determining the presence or absence of an obstacle) as follows. It is preferable that the determination area setting unit 71 set the determination area B as an area in which it is difficult for the operator to visually recognize the obstacle. It is preferable that the judgment area setting unit 71 set the area where the operator can easily visually recognize the obstacle to be outside the range of the judgment area B (exclude from the judgment area B). It is preferable that the determination area setting unit 71 excludes from the determination area B an area in which an object to be worked (for example, soil) that can be placed near the attachment 20 when the work machine 1 is working.

If the attachment 20 exists within the detectable area A, the determination area setting unit 71 excludes the area in which the attachment 20 exists from the determination area B. FIG. For example, the determination region setting unit 71 excludes from the determination region B the position (coordinates) of the attachment 20 calculated by the posture calculation unit 61 . When the machine body 10 exists within the detectable area A, the determination area setting unit 71 excludes the area in which the machine body 10 exists from the determination area B. FIG.

Exclusion from the determination area B by the determination area setting unit 71 is performed, for example, as follows (change of the determination area B, which will be described later, is the same). The determination region setting unit 71 may perform exclusion from the determination region B by setting a region (coordinates) to be excluded from the determination region B by calculation. The determination region setting unit 71 may exclude from the determination region B by changing the detectable region A. FIG. In this case, for example, the determination area setting unit 71 may change the detectable area A by stopping the function of a part of the sensors constituting the obstacle detection unit 43. The detectable area A may be changed by changing the mounting angle or the like.

A determination region B on the back side Db of the attachment 20 is referred to as a back side determination region Bb. As shown in FIG. 2, the determination area B outside the attachment 20 in the lateral direction Y is defined as a side determination area Bs. A side determination region Bs on the right side Yr of the attachment 20 is defined as a right determination region Bsr. The side determination region Bs on the left side Yl of the attachment 20 is defined as a left determination region Bsl. Note that the left side determination area Bsl may be omitted, that is, whether or not there is an obstacle on the left side Yl of the attachment 20 may not be determined. Further, the determination area B on the right side Yr and the back side Db of the attachment 20 may be the right side determination area Bsr or the back side determination area Bb. Further, the determination area B on the left side Yl and the back side Db of the attachment 20 may be the left side determination area Bsl or the back side determination area Bb.

A specific example of setting of the determination region B (how to determine the region) by the determination region setting unit 71 will be described below. The following example of setting the determination region B may be set as the right side determination region Bsr, as the left side determination region Bsl, or as the back side determination region Bb (see FIG. 1). The setting of the side determination region Bs (at least one of the right side determination region Bsr and the left side determination region Bsl) may be different from the setting of the back side determination region Bb (see FIG. 1). The setting of the right determination region Bsr and the setting of the left determination region Bsl may be different.

[Example B] The determination region setting unit 71 sets the determination region B to the region on the one-direction side of the specific boundary plane C shown in FIG. The determination area setting unit 71 sets the area on the opposite side of the "one direction side" from the specific boundary surface C to the outside of the determination area B (excludes it from the determination area B). [Example B1] The determination area setting unit 71 may set the area Z1 above the specific boundary surface C as the determination area B, and set the area Z2 below the specific boundary surface C as outside the range of the determination area B. . [Example B2] The determination area setting unit 71 may set the area on the right side Yr of the specific boundary surface C as the determination area B, and set the area on the left side Yl of the specific boundary surface C to be outside the range of the determination area B.

The specific boundary surface C may be flat or curved. When the specific boundary surface C is a plane, the specific boundary surface C may be a horizontal plane or a plane inclined with respect to the horizontal plane. The specific boundary surface C may be inclined with respect to the front-rear direction X so as to be arranged on the upper side Z1 as the distance from the upper revolving body 12 toward the front side X1 increases. The specific boundary surface C may be inclined with respect to the lateral direction Y so as to be arranged on the upper side Z1 or the lower side Z2 as it is separated from the upper revolving body 12 (or the attachment 20) to the right side Yr or the left side Yl. The specific boundary plane C may be inclined with respect to the horizontal direction Y so that either one of the left side Yl and the right side Yr is higher than the attachment 20 . The specific boundary surface C may be inclined with respect to the front-rear direction X and the lateral direction Y, respectively.

[Example C] The position of the determination area B (the position of the specific boundary surface C) with respect to the upper swing structure 12 may be constant (see [Example D] below) or variable (see [Example E] below).

(Example of setting determination region B based on position of upper rotating body 12)
[Example D] The determination region setting unit 71 may set the determination region B based on the position of the upper rotating body 12 . [Example D1] The determination region setting unit 71 may set the determination region B based on the position of the upper rotating body 12 other than the driver's cab 15 . [Example D2] The determination region setting unit 71 may set the determination region B based on the position of the driver's cab 15 . The determination region setting unit 71 may set the determination region B based on, for example, the position of the front window 15a, or may set the determination region B based on a specific position (for example, the eye point P) inside the driver's cab 15. You may

[Example D2a] The area Z1 above the plane C1 shown in FIG. 1 is an area that is difficult for the operator to see (obstacles are likely to be overlooked). A region Z2 below the plane C1 is a region that is easily visible to the operator. Therefore, the determination area setting section 71 may set the determination area B based on the plane C1. Specifically, the determination region setting unit 71 excludes from the determination region B the region on the lower side Z2 of the plane C1. The plane C1 is an example of the specific boundary surface C. As shown in FIG. The determination area setting unit 71 sets the area on the upper side Z1 of the plane C1 as the determination area B. FIG. The plane C1 is a flat plane that passes through the eye point P and the upper Z1 end of the front window 15a of the driver's cab 15 . The eye point P is a specific position inside the driver's cab 15 and is determined from the position of the seat. The eye point P is a position 660 mm above Z1 and 20 mm forward X1 of the seat reference point defined in JIS A 8318. This definition is the definition of the eye point P when the driver's cab 15 is not tilted with respect to the front-rear direction X. As shown in FIG. In addition, the plane C1 is linear when viewed in the horizontal direction Y. As shown in FIG. The plane C1 is inclined with respect to the front-rear direction X so that the plane C1 is arranged on the upper side Z1 as it moves away from the driver's cab 15 toward the front side X1.

(Example of setting variable judgment area B)
[Example E] The determination region setting unit 71 may change the determination region B according to the state of the work machine 1 . The determination region setting unit 71 may change the determination region B according to the operation of the operator (see [Example F] below), and change the determination region B according to the state (posture, type, etc.) of the attachment 20. (See [Example G] and [Example H] below).

(Example of setting determination region B according to operation of determination region operation unit 33)
[Example F] The determination region setting unit 71 may change the determination region B according to the operation of the determination region operation unit 33 shown in FIG. The determination region setting unit 71 may change the determination region B by changing the position (for example, height) of the specific boundary surface C2 according to the operation of the determination region operation unit 33 . In this case, the operator can arbitrarily change the position of the determination region B by operating the determination region operation unit 33 . Specifically, for example, when the attachment 20 is working next to a hole or embankment, the side of the hole or embankment is determined to be an obstacle, and the command output unit 83 (see FIG. 7) issues a warning or operation restriction. If the command is output, the workability of the work machine 1 may deteriorate. Therefore, the operator operates the determination region operation unit 33 so that the positions of the holes and embankments are excluded from the determination region B. FIG. Specifically, for example, the operator sets the height position of the specific boundary surface C2 to a position Z1 above the hole or embankment. Then, even if the attachment 20 is arranged beside a hole or embankment, no warning or operation restriction command is output, and the workability of the working machine 1 can be improved.

(Example of setting determination area B according to the type of attachment 20)
[Example G] The determination region setting unit 71 may change the determination region B according to the type of the attachment 20 acquired by the type acquisition unit 65 . Specifically, for example, the determination region setting unit 71 pre-stores the setting of the determination region B for each type of attachment 20 . Then, the determination region setting unit 71 reads the stored setting of the determination region B and changes the determination region B according to the type acquired by the type acquisition unit 65 .

(Example of setting determination area B according to posture of work machine 1)
[Example H] The determination region setting unit 71 may change the determination region B according to the posture of the work machine 1 detected by the posture detection unit 41 (see FIG. 7) ([Example I], [Example J] below). ]reference).

[Example I] The determination region setting unit 71 sets the determination region according to whether or not the attachment 20 is assumed to be working next to a hole or embankment (referred to as a “first posture”). You can change B. [Example I1a] The determination region setting unit 71 may determine whether or not the attachment 20 is in the first posture based on information on changes in the posture of the attachment 20 within a predetermined period of time. [Example I1b] The determination region setting unit 71 may determine that the attachment 20 is in the first posture when the tip attachment 25 is lowered below a predetermined height Z2. The above-mentioned "predetermined height" may be set (arbitrarily by the operator) by, for example, the determination area operation section 33 or the like. The "predetermined height" may be a constant height determined based on the machine main body 10, for example, a constant height determined based on the position of the lower traveling body 11, for example, the bottom surface of the lower traveling body 11 height.

[Example I2] When the attachment 20 is in the first posture, the determination region setting unit 71 excludes at least part of the region around the attachment 20 from the determination region B. FIG. Specifically, for example, when the attachment 20 is in the first posture, the determination region setting unit 71 excludes from the determination region B the region on the lower side Z2 of the specific boundary surface C3. [Example I2a] The specific boundary surface C3 may be set based on the "predetermined height", and may be a horizontal plane passing through the "predetermined height", for example. [Example I2b] The specific boundary plane C3 may be set separately (independently) from the "predetermined height". The specific boundary surface C3 may be changed according to the operation of the determination area operation section 33, or may be a constant surface determined based on the machine body 10. FIG.

[Example J] As shown in FIG. 10, the determination region setting unit 71 assumes a posture in which the boom 21 is laid down and the boom 21 and the arm 23 are folded (holding posture) (referred to as a “second posture”). The determination region B may be changed depending on whether or not. More specifically, when the attachment 20 is in the second posture, the ground is in the area on the back side Db of the arm 23 and in the vicinity of the arm 23 . The work machine 1 may travel with the attachment 20 in the second posture. In this case, the ground on the back side Db of the arm 23 is determined to be an obstacle, and the command output unit 83 (see FIG. 7) outputs a command for warning or operation restriction. ) may be exacerbated. Therefore, the determination area setting section 71 may change the determination area B depending on whether the attachment 20 is in the second posture. [Example J1] For example, when the arm 23 is bent at a predetermined angle or more with respect to the boom 21 and the boom 21 is laid down at an angle less than a predetermined angle with respect to the upper rotating body 12, the determination region setting unit 71 determines whether the attachment 20 is determined to be the second posture.

[Example J2] When the attachment 20 is in the second posture, the determination region setting unit 71 excludes, from the determination region B, at least part of the region on the back side Db of the arm 23, for example. [Example J2a] When the attachment 20 is in the second orientation, the determination region setting unit 71 may exclude from the determination region B the region Z2 below the specific boundary surface C3. [Example J2b] The specific boundary surface C3 may be a constant surface determined based on the machine body 10 or a constant surface determined based on the undercarriage 11. It may be the surface of the upper side Z1 only. [Example J2c] The specific boundary plane C3 may be set based on, for example, the position of the attachment 20, or may be set based on, for example, the position of the arm 23 (for example, the position of the back surface 23b). [Example J2d] The specific boundary plane C3 may be changed according to the operation of the determination region operation section 33 .

(Combination of Settings for Judgment Area B)
[Example K] The examples of setting the determination area B described above can be combined in various ways. [Example K1] The determination region setting unit 71 sets a reference determination region B based on the position of the upper rotating body 12 (see [Example D] above). 33 may be changed (see [Example F] above). [Example K2] The determination region setting unit 71 sets a reference determination region B according to the orientation and type of the attachment 20 (see [Example E] above), and furthermore, sets this determination region B to the determination region operation unit. 33 may be changed (see [Example F] above). [Example K3] The determination region setting unit 71 sets a determination region B as a reference based on the position of the upper rotating body 12 (see [Example D] above). and type (see [Example E] above).

[Example K4] When the examples of setting the determination area B described above are combined, the area that becomes the determination area B in one setting (e.g. [Example D]) becomes the determination area B in another setting (e.g. [Example E]). may be an area to be excluded from In this case, the determination region setting unit 71 can determine in various ways which setting should be prioritized (in this example, which of [example D] and [example E] should be given priority).

[Example K5] Specifically, as shown in FIG. 1, the determination region setting unit 71 may set the region Z1 above the plane C1 as the determination region B (see [Example D2a] above). On the other hand, as shown in FIG. 11, there are cases where the work is performed above the plane C1 Z1. In this case, when the work target (for example, a slope or an object to be demolished) is determined to be an obstacle and the command output unit 83 (see FIG. 7) outputs a warning or operation restriction command, the workability of the work machine 1 is reduced. may worsen. Therefore, the determination area setting unit 71 may exclude at least part of the area Z1 above the plane C1 from the determination area B when the work is performed above the plane C1 Z1. [Example K5a] Specifically, for example, the determination region setting unit 71 changes the determination region B according to the orientation of the attachment 20 when the tip attachment 25 is located above the plane C1 Z1. More specifically, when the distal end attachment 25 is located above the plane C1 Z1, the determination area setting unit 71 selects an area Z2 below the surface parallel to the ventral surface 23v of the arm 23 (specific boundary surface C4). , are excluded from the determination region B. The specific boundary plane C4 may be a plane passing through the ventral surface 23v of the arm 23 or a plane passing through a position a predetermined distance away from the ventral surface 23v of the arm 23 .

(Comparison with the case where only an obstacle on the back side Db of the attachment 20 is detected)
Consider a case where the presence or absence of an obstacle is determined only on the rear side Db of the attachment 20 shown in FIG. In this case, contact between the attachment 20 and objects on the upper side Z1 than the attachment 20 can be suppressed when the work machine 1 is placed, for example, under an elevated structure, under an eaves, or under a signboard. On the other hand, for example, when the upper rotating body 12 rotates or the lower traveling body 11 travels in a state in which the attachment 20 protrudes toward the front side X1 or the upper side Z1 with respect to the upper rotating body 12, the attachment 20 protrudes laterally in the Y direction. The attachment 20 may come into contact with an outside obstacle. Further, when the operator rotates the upper revolving body 12, the operator often operates while confirming the periphery of the rear side X2 portion of the upper revolving body 12. As shown in FIG. In addition, when operating the work machine 1, the operator often operates the work machine 1 while confirming the direction in which the work machine 1 travels. Therefore, the operator may neglect the surroundings of the attachment 20 when the upper swing body 12 swings or when the work machine 1 travels. In particular, the attachment 20 may come into contact with an obstacle in a region Yr on the right side of the attachment 20, which is likely to be a blind spot for the operator.

Therefore, the work machine 1 determines whether or not there is an obstacle in the right determination region Bsr on the right side Yr of the attachment 20 shown in FIG. If there is an obstacle in the right determination region Bsr, the command output unit 83 (see FIG. 7) can output a warning or operation restriction command before the attachment 20 contacts the obstacle. Therefore, it is possible to prevent the attachment 20 from contacting an obstacle.

(Effect of the first invention)
The effects of the working machine 1 shown in FIG. 1 are as follows. The work machine 1 includes a machine body 10, an attachment 20, an obstacle detection section 43, a determination area setting section 71 shown in FIG. 7, a determination section 81, and a command output section 83. As shown in FIG. 1, the machine body 10 has an operator's cab 15 . The attachment 20 is movable with respect to the machine body 10 .

[Configuration 1-1] The obstacle detection unit 43 detects an obstacle in a region outside the attachment 20 in the direction from the ventral surface 21v of the attachment 20 toward the back surface 21b (back surface side Db). As shown in FIG. 2 , the obstacle detection unit 43 detects an obstacle in a region laterally Y outside of the attachment 20 on the side (right side Yr) opposite to the cab 15 with respect to the attachment 20 . A determination region setting unit 71 (see FIG. 7) sets a determination region B shown in FIG. The determination unit 81 (see FIG. 7) determines whether or not there is an obstacle detected by the obstacle detection unit 43 within the range of the determination area B set by the determination area setting unit 71 . The command output unit 83 shown in FIG. 7 outputs at least one of the following commands (command a) and (command b) when the determination unit 81 determines that there is an obstacle within the range of the determination area B. do. (Command a) A command for restricting the movement of the attachment 20 close to an obstacle. (Command b) A command to warn the operation of bringing the attachment 20 closer to an obstacle.

[Arrangement 1-2] The determination area setting unit 71 excludes from the determination area B at least a partial area on the one-direction side of the specific boundary surface C, which is a specific surface.

In the above [configuration 1-1], when the obstacle detection unit 43 detects an obstacle on at least one of the back side Db and the right side Yr of the attachment 20, the attachment 20 is restricted to approach the obstacle and a warning is issued. can be output. Therefore, it is possible to prevent the attachment 20 from contacting an obstacle. Here, if the above command is always output when there is an obstacle on at least one of the back side Db and the right side Yr of the attachment 20, the workability of the work machine 1 may deteriorate. . Therefore, in the above [Configuration 1-2], the determination area setting unit 71 (see FIG. 7) sets at least a part of the area on the one-direction side (for example, the lower side Z2) of the specific boundary plane C to the determination area. Exclude from B. Therefore, if there is no obstacle within the range of the determination area B, the command output unit 83 does not need to output the above command even if there is an obstacle in the area excluded from the determination area B. Therefore, the workability of the work machine 1 can be ensured while suppressing the attachment 20 from coming into contact with obstacles.

(Effect of the second invention)
[Arrangement 2] The work machine 1 includes an orientation detection section 41 (see FIG. 7) that detects the orientation of at least one of the machine body 10 and the attachment 20 . The determination area setting section 71 changes the determination area B according to the posture detected by the posture detection section 41 .

Depending on the posture of the work machine 1, for example, the ease of visual recognition from the operator, the position at which the operator is likely to gaze, etc. may change, and the need to determine the presence or absence of an obstacle may change. Therefore, in the above [Configuration 2], the determination area B is changed according to the posture of the working machine 1 . Therefore, the workability of the work machine 1 can be ensured while suppressing the contact of the attachment 20 with an obstacle more reliably.

(Effect of the third invention)
[Configuration 3] The working machine 1 includes a type acquisition unit 65 (see FIG. 7) that acquires the type of the attachment 20 . The determination region setting portion 71 changes the determination region B according to the type of the attachment 20 acquired by the type acquisition portion 65 .

Depending on the type of the attachment 20, for example, the ease of visual recognition from the operator, the position where the operator is likely to gaze, etc. may change, and the need to determine the presence or absence of an obstacle may change. Therefore, in the above [Configuration 3], the determination region B is changed according to the type of the attachment 20 . Therefore, the workability of the work machine 1 can be ensured while suppressing the contact of the attachment 20 with an obstacle more reliably.

(Effect of the fourth invention)
[Configuration 4] The driver's cab 15 has a front window 15a provided in the front side X1 portion of the driver's cab 15 (see FIG. 3). The determination region setting unit 71 excludes from the determination region B at least part of the region on the lower side Z2 of the plane C1. The plane C1 passes through the eye point P, which is a specific position inside the cab 15, and the upper Z1 end of the front window 15a.

The area Z2 below the plane C1 is easier for the operator to see than the area Z1 above the plane C1, and there is less need to determine the presence or absence of an obstacle. Therefore, in [Configuration 4], at least a part of the region on the lower side Z2 than the plane C1 is excluded from the determination region B. FIG. Therefore, the workability of the working machine 1 can be further ensured.

(Effect of the fifth invention)
As shown in FIG. 11, the attachment 20 includes a boom 21 attached to the machine body 10, an arm 23 rotatably attached to the boom 21, and a tip attachment 25 attached to the arm 23.

[Configuration 5] When the distal end attachment 25 is located above the plane C1 Z1, the determination area setting unit 71 determines at least one area Z2 below the surface parallel to the ventral surface 23v of the arm 23 (specific boundary surface C4). part is excluded from the determination region B.

When the above [Configuration 4] is provided and the above [Configuration 5] is not provided, the area Z1 above the plane C1 can be the determination area B. FIG. Therefore, when work is performed by the tip attachment 25 in the area Z1 above the plane C1, objects around the tip attachment 25 are determined to be obstacles, and the above command can be output. As a result, the workability of the work machine 1 may deteriorate. Therefore, the working machine 1 has the above [Configuration 5]. Therefore, at least a part of the area Z2 below the plane parallel to the ventral surface 23v of the arm 23 (specific boundary plane C4) is excluded from the determination area B. FIG. Therefore, the workability of the working machine 1 can be further ensured.

(Effect of the ninth invention)
[Arrangement 9] The work machine 1 is provided with a determination area operation section 33 arranged in the operator's cab 15 . The determination area setting section 71 changes the determination area B according to the operation of the determination area operation section 33 .

According to [Configuration 9] described above, the operator of the work machine 1 can change the determination region B by operating the determination region operation unit 33 . Therefore, convenience for the operator can be improved. For example, if the operator sets an appropriate judgment area B according to the content of the work performed by the work machine 1 and the conditions of the work site, the attachment 20 can be more reliably prevented from coming into contact with obstacles, and the work can be performed. Workability of the machine 1 can be ensured.

(Second embodiment)
With reference to FIG. 12 and the like, a working machine 201 of the second embodiment will be described with respect to differences from the first embodiment. In the working machine 201 of the second embodiment, the common points with the first embodiment are denoted by the same reference numerals as in the first embodiment, and description thereof is omitted. Descriptions of other embodiments to be described later are also the same as to the points where descriptions of common points are omitted. The difference is the direction of rotation of tip attachment 225 with respect to arm 23 .

The tip attachment 225 is rotatable with respect to the arm 23 about a rotation axis extending in the lateral direction Y, similar to the tip attachment 25 shown in FIG. Further, the tip attachment 225 shown in FIG. 12 is rotatable with respect to the arm 23 about a rotation axis extending in a direction other than the lateral Y direction. Specifically, as shown in FIG. 4, the tip attachment 225 may be rotatable about a rotation axis parallel to the arm central axis 23a (see FIG. 4). Further, as shown in FIG. 12, the tip attachment 225 may be swingable (tiltable) in the horizontal direction Y with respect to the arm 23 . More specifically, the tip attachment 225 may be rotatable with respect to the arm 23 about a rotation axis extending perpendicular to the direction in which the arm central axis 23a (see FIG. 4) extends and the lateral direction Y, respectively.

(activation)
The difference between the operation of the working machine 1 (see FIG. 1) of the first embodiment and the operation of the working machine 201 of the present embodiment is as follows. The posture detection unit 41 (see FIG. 7) detects the rotation (for example, angle) of the tip attachment 225 with respect to the arm 23 . The posture calculator 61 (see FIG. 7) calculates the position (coordinates) of the rotated tip attachment 225 . The determination region setting unit 71 (see FIG. 7) excludes the position of the rotated tip attachment 225 from the determination region B. FIG. When the determination unit 81 (see FIG. 7) determines that there is an obstacle within the range of the determination area B, the command output unit 83 (see FIG. 7) causes the tip attachment 225 to rotate toward the obstacle. In response, a warning or operation restriction command is output.

(Third Embodiment)
With reference to FIG. 13 and the like, a working machine 301 of the third embodiment will be described with respect to differences from the first embodiment. The difference is the rotation direction of the attachment 20 with respect to the upper swing structure 12 , for example, the rotation direction of the boom 321 with respect to the upper swing structure 12 .

At least part of the attachment 20 is rotatable in the lateral direction Y with respect to the machine body 10 . More specifically, the boom 321 is rotatable (swingable) in the horizontal direction Y with respect to the upper rotating body 12 . The direction of the axis of rotation of the boom 321 with respect to the upper swing body 12 is the vertical direction Z (more specifically, it includes the component of the vertical direction Z). As the boom 321 rotates in the lateral direction Y with respect to the upper rotating body 12 , the arm 23 and the tip attachment 25 rotate in the lateral direction Y with respect to the upper rotating body 12 .

(activation)
The difference between the operation of the working machine 1 (see FIG. 1) of the first embodiment and the operation of the working machine 301 of the present embodiment is as follows. The posture detection unit 41 (see FIG. 7) detects the swing of the boom 321 with respect to the upper swing body 12 (rotation in the lateral direction Y). The posture calculator 61 (see FIG. 7) calculates the position (coordinates) of the swung boom 321 . The determination region setting unit 71 (see FIG. 7) excludes from the determination region B the position of the swung boom 321 . When the determination unit 81 (see FIG. 7) determines that there is an obstacle within the determination region B, the command output unit 83 (see FIG. 7) responds to the operation of swinging the boom 321 toward the obstacle. to output a warning or operation limit command.

When the operator performs an operation to swing the boom 321 with respect to the upper swing body 12, the operator often visually confirms whether there is an object (for example, an operator) in contact with the end attachment 25 or the periphery of the arm 23. . On the other hand, at this time, attention to the surroundings of the boom 321 (especially the upper side Z1 and the right side Yr of the boom 321) may be neglected (the same is true when offsetting the boom 421 (see FIG. 14), which will be described later). Therefore, in the work machine 301, the command output unit 83 (see FIG. 7) can output a command to warn or limit the operation of the boom 321 swinging toward the obstacle. Therefore, it is possible to prevent the attachment 20 from contacting an obstacle.

(Effect of the sixth invention)
[Arrangement 6] As shown in FIG.

In the above [configuration 6], when the attachment 20 rotates in the lateral direction Y with respect to the machine body 10, the attachment 20 may approach an obstacle. Even in such a case, in the above [configuration 1-1], when the determination unit 81 (see FIG. 7) determines that there is an obstacle within the range of the determination area B, the command output unit 83 (see FIG. 7) , outputs a warning or a command to restrict the operation when the attachment 20 approaches an obstacle. Therefore, even when the attachment 20 has a portion that can rotate in the lateral direction Y with respect to the machine body 10, the attachment 20 can be prevented from coming into contact with obstacles.

(Fourth embodiment)
A working machine 401 according to the fourth embodiment will be described with reference to FIG. 14 for differences from the first embodiment. The difference is the movable direction of the attachment 20 with respect to the upper swing body 12 , for example, the movable direction of the boom 421 with respect to the upper swing body 12 .

The attachment 20 has a portion that is translatable in the lateral direction Y with respect to the machine body 10 . More specifically, the boom 421 has a portion that can be translated in the lateral direction Y (offset) with respect to the upper rotating body 12 . The boom 421 includes, for example, a first boom 421-1, a second boom 421-2, and a third boom 421-3. The first boom 421-1 is attached to the upper rotating body 12 so as to be able to rise and fall. The second boom 421-2 is rotatably attached in the lateral direction Y to the first boom 421-1. The second boom 421-2 is a parallel link. The third boom 421-3 is rotatably attached in the lateral direction Y to the second boom 421-2. Arm 23 is attached to third boom 421-3. The third boom 421-3, the arm 23, and the tip attachment 25 are translatable in the lateral direction Y with respect to the first boom 421-1 and the upper rotating body 12. As shown in FIG.

(activation)
The difference between the operation of the working machine 1 (see FIG. 1) of the first embodiment and the operation of the working machine 401 of the present embodiment is as follows. The posture detection unit 41 (see FIG. 7) detects parallel movement (offset) of the boom 421 in the lateral direction Y with respect to the upper swing body 12 . The posture calculator 61 (see FIG. 7) calculates the offset position (coordinates) of the boom 421 . The determination region setting unit 71 (see FIG. 7) excludes the offset position of the boom 421 from the determination region B. FIG. When the determination unit 81 (see FIG. 7) determines that there is an obstacle within the range of the determination region B, the command output unit 83 (see FIG. 7) responds to the operation of offsetting the boom 421 in the direction of approaching the obstacle. to output a warning or operation limit command.

(Effect of the seventh invention)
[Arrangement 7] The attachment 20 has a portion that can be translated in the lateral direction Y with respect to the machine body 10 .

In the above [configuration 7], when a part of the attachment 20 is translated in the lateral direction Y with respect to the machine body 10, the part of the attachment 20 may approach an obstacle. Even in such a case, in the above [configuration 1-1], when the determination unit 81 (see FIG. 7) determines that there is an obstacle within the range of the determination area B, the command output unit 83 (see FIG. 7) , outputs a warning or a command to restrict the operation when the attachment 20 approaches an obstacle. Therefore, even if the attachment 20 has a portion that can be translated in the lateral direction Y with respect to the machine body 10, the attachment 20 can be prevented from coming into contact with obstacles.

(Fifth embodiment)
With reference to FIG. 15 and the like, a working machine 501 of the fifth embodiment will be described with respect to differences from the first embodiment. The difference is that the cab 515 is movable with respect to the frame 513 .

A frame 513 of the machine body 10 (of the upper revolving body 12) movably supports an operator's cab 515. As shown in FIG. The driver's cab 515 is an elevator cab that can move in the vertical direction Z with respect to the frame 513 . The cab 515 and the frame 513 are connected by a link 514 in the example shown in FIG. For example, when the link 514 rotates with respect to the frame 513 , the cab 515 moves in the vertical direction Z with respect to the frame 513 . Note that the link 514 may not be provided, and the driver's cab 515 may be slidable in the vertical direction Z with respect to the frame 513 .

As shown in FIG. 7 , the detector 40 includes a cab orientation detector 542 . The driver's cab attitude detection unit 542 detects the attitude of the driver's cab 515 shown in FIG. As shown in FIG. 7 , the controller 60 includes a cab attitude calculator 562 . The driver's cab attitude calculator 562 calculates the position (coordinates) of the driver's cab 515 based on the attitude of the driver's cab 515 (see FIG. 15) detected by the driver's cab attitude detector 542 . The driver's cab attitude calculator 562 may calculate a position (for example, an eye point P) with respect to the driver's cab 515 .

(activation)
The difference between the operation of the working machine 1 (see FIG. 1) of the first embodiment and the operation of the working machine 501 of the present embodiment shown in FIG. 5 is as follows. When the position of the operator's cab 515 with respect to the frame 513 changes, the range visible to the operator in the operator's cab 515 changes, and the visibility of obstacles changes. Therefore, the determination region setting unit 71 (see FIG. 7) changes the determination region B according to the position of the cab 515 with respect to the frame 513 detected by the cab attitude detection unit 542 (see FIG. 7). For example, the determination region setting unit 71 may set the specific boundary plane C to the upper side Z1 position as the driver's cab 515 is higher than the frame 513 . Also, for example, when the position of the driver's cab 515 with respect to the frame 513 is higher, the eye point P is higher and the plane C1 is higher. Therefore, the determination region setting unit 71 may change the position of the plane C<b>1 according to the height of the cab 515 with respect to the frame 513 .

(Effect of the eighth invention)
[Arrangement 8] The machine body 10 includes a frame 513 that movably supports an operator's cab 515 . A determination region setting unit 71 (see FIG. 7) changes the determination region B according to the position of the cab 515 with respect to the frame 513 .

With the above [configuration 8], when an appropriate determination region B is set according to the position of the operator's cab 515 with respect to the frame 513, the attachment 20 is more reliably prevented from coming into contact with obstacles, and the working machine 1 Workability can be secured.

(Sixth embodiment)
With reference to FIG. 16 and the like, a working machine 601 of the sixth embodiment will be described with respect to differences from the fifth embodiment (see FIG. 15). The difference is the moving direction of cab 615 with respect to frame 513 .

The cab 615 is a tilt cab rotatable in the vertical direction Z with respect to the frame 513 . The direction in which the axis of rotation of the cab 615 extends with respect to the frame 513 is the horizontal direction Y. As shown in FIG. A driver's cab posture detector 542 (see FIG. 7) detects the angle of the driver's cab 615 with respect to the frame 513 .

(activation)
The difference between the operation of the work machine 501 (see FIG. 15) of the fifth embodiment and the operation of the work machine 601 of this embodiment is as follows. The determination region setting unit 71 (see FIG. 7) sets the determination region B according to the position (specifically, the angle) of the driver's cab 615 with respect to the frame 513 detected by the driver's cab attitude detector 542 (see FIG. 7). change. Specifically, for example, the determination region setting unit 71 sets the specific boundary surface to be higher as the driver's cab 615 faces the upper side Z1 (the front side X1 portion is arranged on the upper side Z1 with respect to the rear side X2 portion of the driver's cab 615). C may be set to the upper Z1 position. Further, for example, as the driver's cab 615 faces the upper side Z1 with respect to the frame 513, the position of the upper side Z1 end of the front window 15a becomes the upper side Z1. Therefore, the determination region setting unit 71 (see FIG. 7) increases the inclination of the plane C1 with respect to the longitudinal direction X as the inclination of the cab 615 with respect to the frame 513 increases.

(Modification)
The above embodiments may be modified in various ways. For example, components from different embodiments may be combined. For example, the arrangement and shape of each component may be changed. For example, the number of components may vary and some components may not be provided. For example, fixing, coupling, etc. between components may be direct or indirect. For example, what has been described as a plurality of different members or parts may be treated as one member or part. For example, what has been described as one member or portion may be divided into a plurality of different members or portions.

Reference Signs List 1, 201, 301, 401, 501, 601 working machine 10 machine body 15, 515, 615 driver's cab 20 attachment 21, 321, 421 boom 23 arm 25, 225 tip attachment 33 determination area operation section 41 posture detection section (attachment posture detection unit, machine body posture detection unit)
43 obstacle detection unit 65 type acquisition unit 71 determination region setting unit 81 determination unit 83 command output unit 513 frame B determination region C, C2, C3, C4 specific boundary surface C1 plane (specific boundary surface)
Db back side
Ab back side detectable area (area on the back side of the arm and outside the arm)
Ar right detectable area (area laterally outside the attachment on the side opposite to the driver's cab with respect to the attachment)

Claims (10)

a machine body having a cab;
an attachment movable with respect to the machine body;
an obstacle detection unit that detects obstacles around the attachment;
a determination area setting unit that sets a determination area;
a determination unit that determines whether or not the obstacle detected by the obstacle detection unit is present within the range of the determination area set by the determination area setting unit;
When the determination unit determines that the obstacle exists within the range of the determination area, a command to restrict the operation of moving the attachment close to the obstacle and a warning of the operation of moving the attachment close to the obstacle are issued. a command output unit that outputs at least one command of a command;
with
The attachment is
a boom attached to the machine body;
an arm rotatably attached to the boom;
with
When the direction from the ventral surface of the attachment to the back is defined as the back side,
The obstacle detection unit is attached to at least one of the back surface of the boom and the main body of the machine so as to detect the obstacle in a region on the back side of the arm and outside the arm, and , detecting the obstacle in a region laterally outside of the attachment on the side opposite to the cab with respect to the attachment;
The determination region setting unit includes a one-direction side region on the one-direction side of a specific boundary surface that is a specific surface, a other-direction-side region on the side opposite to the one-direction side region with respect to the specific boundary surface, and set
The determination area setting unit excludes at least a part of the other-direction-side area from the determination area.
working machine. A work machine according to claim 1 ,
An attachment posture detection unit that detects the posture of the attachment,
The determination region setting unit changes the determination region according to the orientation of the attachment detected by the attachment orientation detection unit.
working machine. The working machine according to claim 1 or 2 ,
a machine body posture detection unit that detects the posture of the machine body;
The determination region setting unit changes the determination region according to the posture of the machine body detected by the machine body posture detection unit.
working machine. The working machine according to any one of claims 1 to 3 ,
A type acquisition unit that acquires the type of the attachment,
The determination region setting unit changes the determination region according to the type of the attachment acquired by the type acquisition unit.
working machine. The working machine according to any one of claims 1 to 4 ,
The driver's cab comprises a front window provided in a front portion of the driver's cab,
The determination region setting unit excludes from the determination region at least part of a region below a plane passing through an eye point, which is a specific position inside the driver's cab, and the upper end of the front window. ,
working machine. A work machine according to claim 5 ,
The attachment comprises a tip attachment attached to the arm,
When the tip attachment is above the plane, the determination region setting unit excludes at least part of a region below a plane parallel to the ventral surface of the arm from the determination region.
working machine. The working machine according to any one of claims 1 to 6 ,
the attachment is laterally rotatable with respect to the machine body;
working machine. A working machine according to any one of claims 1 to 7 ,
the attachment has a portion translatable laterally with respect to the machine body;
working machine. The working machine according to any one of claims 1 to 8 ,
The machine body includes a frame that movably supports the cab,
The determination region setting unit changes the determination region according to the position of the cab with respect to the frame.
working machine. The working machine according to any one of claims 1 to 9 ,
A determination area operation unit arranged in the driver's cab,
The determination area setting unit changes the determination area according to the operation of the determination area operation unit.
working machine.

Images