JP7769562B2 - Work machinery - Google Patents

Description

The present invention relates to a work machine, and in particular to a work machine that has a function for releasing operational restrictions after detecting an object.

Working machines such as hydraulic excavators are equipped with a device that detects objects (including co-workers) within the working range of the working machine and restricts the operation of the working machine to prevent the machine from coming into contact with the detected object when the machine is turning or traveling. This restricted state can be released by the operator of the working machine operating a switch in the cab after confirming that the detected object is safe, and the machine will resume normal operation (see, for example, Patent Document 1).

International Publication No. 2018/105527

When lifting the operational restrictions on the work machine, the operator can visually check the camera image on the monitor installed in the cab to confirm safety, but since the co-worker continues to work on the spot, the co-worker remains visible in the camera image. Because the operator cannot determine whether the co-worker is aware that the operational restrictions have been lifted simply by looking at the camera image, the operator must leave the cab and go to the location where the co-worker is located to confirm that the co-worker is aware that the operational restrictions will be lifted. This creates an issue in that the operator's safety check work is time-consuming.

Furthermore, after the restrictions are lifted, the object detection function stops, which means that newly appearing objects (including people) will no longer be detected.

The present invention was made in consideration of the above-mentioned problems, and aims to provide a work machine that can reduce the burden on the operator when releasing operational restrictions on the work machine.

In order to solve the above-mentioned problems, the present invention has the configurations described in the claims. For example, the present invention provides a working machine including a vehicle body including a running body and an upper rotating body rotatably mounted on the running body, a cab mounted on the upper rotating body and on which an operator sits, a front working implement connected to the front of the vehicle body so as to be able to tilt up and down, and actuators for operating the running body, the upper rotating body, and the front working implement, the working machine comprising: a perimeter monitoring sensor that detects objects present within a working range around the vehicle body, a receiver that receives identification information for uniquely identifying a co-worker transmitted from a mobile terminal carried by the co-worker, a controller that controls operation restriction and restriction release of the actuator, and a restriction release switch that accepts a restriction release operation, the restriction release switch being provided outside the cab on the upper rotating body, and the controller When the sensor detects the presence of an object within the working range, it stops or slows down the operation of the actuator to impose the movement restriction, the limit release switch accepts the restriction release operation, and if it determines that the detected object is a pre-registered co-worker based on the identification information received by the receiver, it controls to release the movement restriction, and when a pre-registered co-worker is detected by the perimeter monitoring sensor after the limit release switch has controlled to release the movement restriction of the actuator, if the co-worker detected by the perimeter monitoring sensor is the co-worker who operated the limit release switch, the movement restriction is not executed, and if the co-worker detected by the perimeter monitoring sensor is different from the co-worker who operated the limit release switch, the movement restriction is executed.

The present invention provides a work machine that reduces the burden on the operator when releasing operational restrictions on the work machine. Objectives, configurations, and advantages other than those described above will become clear from the description of the following embodiments.

FIG. 1 is a top view showing the configuration of a hydraulic excavator. Left side view of the hydraulic excavator. FIG. 1 is a block diagram showing a hardware configuration of a hydraulic excavator according to a first embodiment. FIG. 2 is a block diagram showing the functional configuration of a controller according to the first embodiment. 4 is a flowchart showing the flow of processing of the operation restriction release system according to the first embodiment. FIG. 10 is a block diagram of a hydraulic excavator according to another example of the first embodiment (re-detection after restriction release). 10 is a flowchart showing a processing flow of an operation restriction release system according to another example of the first embodiment (re-detection after restriction release); FIG. 10 is a block diagram of a hydraulic excavator according to another example of the first embodiment (operator's approval action for releasing restrictions). FIG. 10 is a block diagram showing the hardware configuration of a hydraulic excavator according to a second embodiment. FIG. 10 is a block diagram showing the functional configuration of a controller according to a second embodiment.

Embodiments of the present invention will be described in detail below with reference to the drawings. Note that in all drawings used to explain the embodiments, components having the same functions will be assigned the same or related reference numerals, and repeated explanations will be omitted.

The external appearance of the hydraulic excavator 10 will be described with reference to Figures 1 and 2. Figure 1 is a top view showing the configuration of the hydraulic excavator 10. Figure 2 is a left side view of the hydraulic excavator 10.

The hydraulic excavator 10 comprises a left crawler 11L, a right crawler 11R (corresponding to the running body), an upper rotating body 12 that is rotatably supported on the running body via a rotating mechanism, a cab 13 attached to the upper rotating body 12, and a front working implement that is connected to the upper rotating body 12 so that it can be tilted up and down. The running body and upper rotating body 12 are sometimes collectively referred to as the vehicle body.

The front work implement includes a boom 14 supported on the upper rotating body 12 so that it can be raised and lowered, an arm 15 (see Figure 2) supported on the boom 14 so that it can swing up and down, and a bucket 16 supported on the arm 15 so that it can rotate.

In addition, actuators 106 (see Figure 3) such as hydraulic motors and hydraulic cylinders are provided to perform forward and backward movements using the traveling body, rotation of the upper rotating body 12, and elevation, swing, and rotation of the boom 14, arm 15, and bucket 16. The hydraulic motor is provided for rotation and other operations, while the hydraulic cylinder is provided for elevation, swing, and rotation of the boom 14, etc. Note that while a hydraulic system is assumed here, this is not a requirement and electric systems such as electric motors and linear actuators may also be used.

The hydraulic excavator 10 is equipped with a perimeter monitoring sensor that detects objects within the work area around the vehicle body, a receiver that receives identification information 32 that uniquely identifies the co-worker 30 and is transmitted from a mobile terminal 31 carried by the co-worker, and a restriction release switch that accepts a restriction release operation.

In this embodiment, the left rear perimeter monitoring camera 20LB, the right rear perimeter monitoring camera 20RB, and the right front perimeter monitoring camera 20RF are used as perimeter monitoring sensors, but other object detection means such as ultrasonic sensors or LiDar may be used instead of the monitoring cameras.

The restriction release switch may be configured as a hard button installed on the vehicle body, or may be configured to allow restriction release to be input via voice input, as described in a modified example below.

In this embodiment, the left rear limit release switch 22LB, the right rear limit release switch 22RB, and the right front limit release switch 22RF are used as limit release switches.

The receiver receives radio waves emitted by a mobile terminal 31 carried by a co-worker 30. The mobile terminal 31 transmits radio waves including identification information that uniquely identifies the co-worker 30. The identification information 32 may be identification information that uniquely identifies the mobile terminal 31, such as the frequency of the transmitted radio waves or a MAC address, to link the mobile terminal 31 with the co-worker 30 who carries it and identify the co-worker 30. Alternatively, identification information that uniquely identifies the co-worker 30, such as a name or a worker number uniquely assigned to the co-worker, may be used and a packet including this information may be transmitted.

In this embodiment, the receivers used are a left rear receiver 23LB, a right rear receiver 23RB, and a right front receiver 23RF.

The left rear perimeter monitoring camera 20LB, right rear perimeter monitoring camera 20RB, and right front perimeter monitoring camera 20RF may have the same configuration, but are simply named according to their location. Therefore, when there is no need to specifically explain where they are located, they may simply be referred to as perimeter monitoring cameras. The same applies to the restriction release switch and receiver.

The left rear perimeter monitoring camera 20LB and left rear receiver 23LB are located on the upper left rear side of the upper rotating body 12. The imaging area of the left rear perimeter monitoring camera 20LB is indicated by the reference symbol 21LB.

The left rear limit release switch 22LB is positioned on the left rear side of the upper rotating body 12 in a position where the co-worker operating the left rear limit release switch 22LB is included in the imaging area 21LB. This allows the co-worker operating the left rear limit release switch 22LB to be captured in the camera image captured by the left rear periphery monitoring camera 20LB, making it easier for the operator to check using the camera image.

The right rear perimeter monitoring camera 20RB and right rear receiver 23RB are located on the upper right rear side of the upper rotating body 12. The imaging area of the right rear perimeter monitoring camera 20RB is indicated by the symbol 21RB.

The right rear limit release switch 22RB is located on the right rear side surface of the upper rotating body 12 in a position where the co-worker operating the right rear limit release switch 22RB is included in the imaging area 21RB.

The right front periphery monitoring camera 20RF and right front receiver 23RF are located on the upper right front side of the upper rotating body 12. The imaging area of the right front periphery monitoring camera 20RF is indicated by the symbol 21RF.

The right front limit release switch 22RF is located on the right front side of the upper rotating body 12 in a position where the co-worker operating the right front limit release switch 22RF is included in the imaging area 21RF.

The cab 13 is equipped with operating levers 101 (see Figure 3) including a right lever and a left lever. Operating the right lever forward or backward inputs commands to lower or raise the boom 14, operating it left or right inputs commands to lower or raise the bucket 16, operating the left lever forward or backward inputs commands to push out or retract the arm 15, and operating it left or right inputs commands to rotate the upper rotating body 12 left or right.

The cab 13 is also equipped with a display device 120.

The hardware of the hydraulic excavator 10 will be described with reference to Figure 3. Figure 3 is a block diagram showing the hardware configuration of the hydraulic excavator 10 according to the first embodiment.

The hydraulic excavator 10 comprises an operating lever 101, a pilot pump 102, a main pump (hydraulic pump) 103, a solenoid proportional valve 104, a control valve 105, an actuator 106, an engine 107, a flow path 108, and a controller 110. For ease of explanation, one solenoid proportional valve 104, one control valve 105, and one actuator 106 are shown, but in reality, multiple systems may be provided. The control valve 105 is provided on the flow path 108 that supplies pressurized oil from the main pump 103 to the actuator 106.

The controller 110 includes a processor 111 consisting of a CPU (Central Processing Unit) etc., RAM (Random Access Memory) 112, ROM (Read Only Memory) 113, storage device 114, input I/F 115, and output I/F 116, which are connected to each other via a bus 117.

The storage device 114 can be any device that can store data non-volatilely, including HDDs (Hard Disk Drives) and SSDs (Solid State Drives).

An operation signal from the operating lever 101 is input to the input I/F 115. The operation signal from the potentiometer, which converts it into an electrical signal corresponding to the amount of operation of the operating lever 101 and outputs it, drives the electromagnetic proportional valve 104 via the controller 110, and the pilot pressure output from this electromagnetic proportional valve 104 drives the control valve 105, operating the actuator 106. The pilot pump 102 discharges pressurized oil to the electromagnetic proportional valve 104, and the main pump 103 discharges pressurized oil to the control valve 105.

In addition, the left rear periphery monitoring camera 20LB, the right rear periphery monitoring camera 20RB, and the right front periphery monitoring camera 20RF are connected to the input I/F 115, and camera images are acquired from each periphery monitoring camera.

Furthermore, the left rear receiver 23LB, right rear receiver 23RB, and right front receiver 23RF are connected to the input I/F 115, and identification information is obtained from each receiver.

The input I/F 115 is also connected to the left rear limit release switch 22LB, the right rear limit release switch 22RB, and the right front limit release switch 22RF, and receives operation signals from each limit release switch.

A display device 120 is connected to the output I/F 116, and displays images captured by the left rear periphery monitoring camera 20LB, the right rear periphery monitoring camera 20RB, and the right front periphery monitoring camera 20RF.

The output I/F 116 is also connected to the electromagnetic proportional valve 104, and if the result of object detection is to stop or slow down the swing, forward, or backward movement of the hydraulic excavator 10, a close signal is output to the electromagnetic proportional valve 104.

Figure 4 is a block diagram showing the functional configuration of the controller 110 according to the first embodiment.

The processor 111 executes the functions of the object detection unit 141, display control unit 142, operation restriction unit 143, restriction removal unit 144, and operation signal conversion unit 146. Each of these units is realized by the processor 111 loading an operation restriction removal program into the RAM 112 and executing it.

The storage device 114 also includes an identification information storage unit 145 that stores the identification information 32 of the co-worker 30.

First Embodiment
FIG. 5 is a flowchart showing the flow of processing in the operation restriction release system according to the first embodiment.

When the main power of the controller 110 of the hydraulic excavator 10 is turned on and processing of the operation restriction release system begins, the object detection unit 141 acquires camera images from all surrounding monitoring cameras (S01). The display control unit 142 displays the acquired camera images on the display device 120.

The object detection unit 141 performs subject detection processing on the camera images and object detection processing on the detected subjects. If the object detection unit 141 determines that an object that may obstruct work has been captured in at least one camera image (S02: Yes), the operation restriction unit 143 determines whether operation of the hydraulic excavator 10 is restricted. If no obstructing object has been captured in any of the camera images from the surrounding monitoring cameras (S02: No), the process proceeds to determining the end of the operation restriction release processing (S08).

If no operation restriction is in place (S03: No), the operation restriction unit 143 outputs an operation restriction signal to the operation signal conversion unit 146.

When no operation restriction is in place, the operation signal conversion unit 146 outputs the operation signal from the operation lever 101 to the solenoid proportional valve 104 without converting it. On the other hand, when the operation signal conversion unit 146 receives an operation restriction signal, it either disables the operation signal from the operation lever 101 until it receives a restriction release signal from the restriction release unit 144, i.e., it does not output the operation signal to the solenoid proportional valve 104, or it performs a conversion process on the operation signal to slow down the operation speed, and outputs the converted operation signal to the solenoid proportional valve 104. As a result, when the operation restriction is in place, the actuator does not operate even if the operation lever 101 is operated, or it operates at a slowed operation speed, thereby realizing the operation restriction (S04).

When movement is restricted (S03: Yes), or following step S04, the restriction release unit 144 determines whether the detected object is a pre-registered co-worker 30 (S05). The restriction release unit 144 compares the identification information stored in the identification information storage unit 145 with the identification information 32 received by the left rear receiver 23LB, right rear receiver 23RB, and right front receiver 23RF, and determines whether the co-worker 30 is a pre-registered co-worker 30.

If the detected person is a pre-registered co-worker 30 (S05: Yes), and the left rear limit release switch 22LB, right rear limit release switch 22RB, or right front limit release switch 22RF, which is located near the surrounding surveillance camera that detected the co-worker 30, is operated (S06: Yes), the limit release unit 144 outputs a limit release signal to the operation signal conversion unit 146. The operation signal conversion unit 146 releases the operation limit signal, and thereafter outputs the operation signal from the operation lever 101 to the solenoid proportional valve 104 without conversion. This releases the operation limit (S07).

If the detected person is not a pre-registered co-worker (S05: No), if the restriction release switch is not operated (S06: No), or after the operation restriction is released (S07), the process proceeds to determine whether the operation restriction release process has ended. If the operation restriction release process is to continue (S08: No), the process returns to step S01 and continues. If the operation restriction release system is to be terminated (S08: Yes), the process ends.

According to this embodiment, when the perimeter monitoring sensor detects an object, the operation of the work machine is temporarily restricted to ensure safety. It is then determined whether the detected object is a pre-registered co-worker, and the operation restriction is released when the registered co-worker operates a restriction release switch located outside the cab of the work machine. This allows the operator to determine, without leaving the cab, that the co-worker is aware that the operation restriction has been released.

(When there are multiple collaborators)
In the first embodiment, when there are multiple co-workers, the identification information of all the co-workers is stored in the identification information storage unit 145 .

Then, in step S06, the restriction release unit 144 may be configured to release the operation restrictions from all pre-registered co-workers if the number of times the restriction release switch has been operated is equal to the total number of co-workers and the receiver receives the identification information 32 of all co-workers when the restriction release switch is operated.

(Re-detection after restriction is lifted)
In the first embodiment, the perimeter monitoring sensor may be configured so that, when it detects again the co-worker who operated the restriction release switch, it does not transmit a detection signal to the operation restriction unit 143. Figure 6 is a block diagram of a hydraulic excavator 10a according to another example of the first embodiment.

As shown in FIG. 6, the object detection unit 141 acquires the result of the restriction release unit 144's decision to release the restriction, as well as the identification information 32 received by the left rear receiver 23LB, the left rear receiver 23LB, and the left rear receiver 23LB.

Figure 7 is a flowchart showing the processing flow of a system for removing operational restrictions according to another example of the first embodiment. In Figure 7, the processing flow differs before and after the operational restrictions are removed. In Figure 7, steps that are the same as those in Figure 5 are designated by the same reference numerals, and duplicate explanations will be omitted.

When the perimeter monitoring sensor detects an object for the first time without any movement restrictions in place (S02: Yes), movement restrictions are implemented (S04) without determining whether movement restrictions are in place in step S03. After that, the same processing as in Figure 5 is performed up to step S08.

If the process does not end in step S08 (S08: No), the object detection process begins after the restriction is lifted. Camera images are acquired again from all surrounding surveillance cameras (S01a), and if at least one surrounding surveillance camera detects an object (S02a: Yes), the object detection unit 141 queries the restriction lifting unit 144 for identification information. The restriction lifting unit 144 compares the identification information 32 being received by the receiver with the identification information stored in the identification information storage unit 145 (S09) and outputs the comparison result to the object detection unit 141.

If the comparison results in a match, the object detection unit 141 determines that the detected person is a co-worker who has already operated the restriction release switch (S09: Yes), and proceeds to determining the end of the movement restriction release process without outputting a detection signal from the object detection unit 141 to the movement restriction unit 143 indicating that an object has been detected (S08).

If none of the surrounding surveillance cameras captures an obstructing object in step S02a (step S02a: No), the process also proceeds to determine whether the operation restriction release process has ended (S08).

On the other hand, if the comparison result is a mismatch, the object detection unit 141 determines that the detected person is not a co-worker who has already operated the restriction release switch (S09: No), and a detection signal is output from the object detection unit 141 to the movement restriction unit 143, causing movement restriction to be performed (S04).

On the other hand, if the detected person is not a co-worker who has already operated the restriction release switch (S09: No), the object detection unit 141 outputs a detection signal to the movement restriction unit 143 indicating that an object has been detected, and movement restrictions are implemented (S04).

According to the alternative examples shown in Figures 6 and 7 above, even if the co-worker who operated the restriction release switch is detected again, movement restrictions are prevented from being imposed again, and if an object other than the co-worker who operated the restriction release switch (including a new co-worker) is detected, movement is restricted, ensuring safety.

(Removing restrictions by voice input)
The restriction release switch may be configured using a voice recognition device instead of a hard button. When configured using a voice recognition device, a microphone is provided on the vehicle body instead of the restriction release switch consisting of a hard button, and voice recognition processing is performed on the voice collected by the microphone to determine whether the spoken content is a word indicating restriction release. The word indicating restriction release may be a predetermined hot word. The voice recognition processing may be performed by the restriction release unit, or a separate processor for voice recognition processing may be provided.

If the restriction release switch is configured as a hard button, the co-worker must approach the side of the work machine and operate the hard button, but if it is voice input, the co-worker can simply speak the words indicating restriction release from where they are working, so there is no need to interrupt their work to release the restriction.

(Operator approval action for lifting restrictions)
The system may be configured so that, after the co-worker operates the restriction release switch, the operation restriction will not be released unless the operator performs some operation in the cab 13 to approve the restriction release. Figure 8 is a block diagram of a hydraulic excavator according to another example of the first embodiment.

An example of a device for approving restriction removal may be configured by stacking a touch panel 121 on a display device 120.

Then, the restriction removal unit 144 determines that the detected person is a pre-registered co-worker (S05: Yes in Figure 5), and when all pre-registered co-workers operate the restriction removal switch, it outputs the determination result to the display control unit 142. In response, the display control unit 142 displays an approval button on the display device 120 along with an approval message such as "Do you want to remove the restriction?" When the operator touches the approval button, the answer is affirmative (Yes) in step S06, and the operation restriction unit 143 outputs a restriction removal signal, and the operation restriction is released (S07).

This means that operational restrictions are only lifted when the operator finally approves them, allowing the operator to be aware of the point at which the operational restrictions have been lifted.

Second Embodiment
The second embodiment has a function of identifying individual co-workers using the sensor output of the perimeter monitoring sensor, and the operation restriction is released when the co-worker operates a restriction release switch located outside the cab 13.

Figure 9 is a block diagram showing the hardware configuration of a hydraulic excavator 10a according to the second embodiment. The hydraulic excavator 10a according to the second embodiment differs from the hydraulic excavator 10 according to the first embodiment shown in Figure 3 in that the hydraulic excavator 10a according to the second embodiment does not include the left rear receiver 23LB, the right rear receiver 23RB, or the right front receiver 23RF.

In addition, an AI (Artificial Intelligence) camera is used as a perimeter monitoring sensor, which performs facial recognition processing on the captured camera image and determines whether it matches the facial image of a co-worker, thereby identifying whether the person in the image is a co-worker.

Figure 10 is a block diagram showing the functional configuration of a controller 110a according to the second embodiment. The difference from the controller 110 according to the first embodiment is that in the controller 110a according to the second embodiment, the object detection unit 141 and restriction removal unit 144 obtain the object detection results and the determination result as to whether or not the object matches a pre-registered co-worker from the left rear periphery monitoring camera 20LB, right rear periphery monitoring camera 20RB, and right front periphery monitoring camera 20RF, which are all AI cameras.

The processing flow of the operation restriction release system according to the second embodiment is the same as that of the first embodiment, so it will be explained using Figure 5.

In the second embodiment, in step S05, the restriction removal unit 144 obtains the result of matching the results of the face recognition process performed by the AI camera with the face image data of the pre-registered co-worker (S05). The other steps are the same as in the first embodiment.

In the second embodiment, the perimeter monitoring sensor detects objects and determines whether they are pre-registered co-workers, eliminating the need for a receiver or mobile terminal.

As with the hydraulic excavator 10 of the first embodiment, in the hydraulic excavator 10a according to the second embodiment, if there are multiple co-workers, the restriction is released only if all of them operate the restriction release switch in step S06.

Furthermore, in the hydraulic excavator 10a according to the second embodiment, similar to the hydraulic excavator 10 according to the first embodiment, the perimeter monitoring camera may be configured not to transmit a detection signal to the operation restriction unit 143 when it again captures (detects) an image of a co-worker who has operated the restriction release switch.

The restriction release switch may also be configured to be operable via voice input.

Furthermore, in step S06, after all co-workers have operated the restriction release switch, if the operator then approves the restriction release, the restriction may be released in step S07.

The above embodiment is not intended to limit the present invention, and various modifications are also included in the present invention. For example, the mounting position and number of cameras are not limited to those described above.

DESCRIPTION OF SYMBOLS 10: Hydraulic excavator 10a: Hydraulic excavator 11L: Left crawler 11R: Right crawler 12: Upper rotating body 13: Cab 14: Boom 15: Arm 16: Bucket 20LB: Left rear periphery monitoring camera 20RB: Right rear periphery monitoring camera 20RF: Right front periphery monitoring camera 21LB: Imaging area 21RB: Imaging area 21RF: Imaging area 22LB: Left rear limit release switch 22RB: Right rear limit release switch 22RF: Right front limit release switch 23LB: Left rear receiver 23RB: Right rear receiver 23RF: Right front receiver 30: Collaborator 31: Portable terminal 32: Identification information 101: Operation lever 102: Pilot pump 103: Main pump 104: Solenoid proportional valve 105: Control valve 106: Actuator 107 : Engine 108 : Flow path 110 : Controller 110a : Controller 111 : Processor 112 : RAM
113: ROM
114: Storage device 115: Input I/F
116: Output I/F
117: Bus 120: Display device 121: Touch panel 141: Object detection unit 142: Display control unit 143: Operation restriction unit 144: Restriction removal unit 145: Identification information storage unit 146: Operation signal conversion unit

Claims (5)

a vehicle body including a running body and an upper rotating body rotatably mounted on the running body;
a cab mounted on the upper rotating body and in which an operator sits;
a front working machine connected to the front of the vehicle body so as to be able to be tilted up and down;
a working machine including the traveling body, the upper rotating body, and an actuator that operates the front working implement,
a periphery monitoring sensor that detects an object present within a work area around the vehicle body;
a receiver that receives identification information for uniquely identifying a collaborator, the identification information being transmitted from a mobile terminal carried by the collaborator;
a controller for controlling operation restriction and restriction release of the actuator;
a restriction release switch that accepts a restriction release operation,
The limit release switch is provided outside the cab of the upper rotating body,
The controller
When the perimeter monitoring sensor detects the presence of an object within the working range, the operation of the actuator is stopped or slowed down to restrict the operation;
When the restriction release switch accepts the restriction release operation and the receiver determines that the detected object is a pre-registered co-worker based on the identification information received, the receiver performs control to release the operation restriction;
When a pre-registered co-worker is detected by the periphery monitoring sensor after the restriction release switch has been used to release the operation restriction on the actuator,
If the co-worker detected by the perimeter monitoring sensor is the co-worker who operated the restriction release switch, the operation restriction is not executed,
If the co-worker detected by the periphery monitoring sensor is different from the co-worker who operated the restriction release switch, the operation restriction is implemented.
A work machine characterized by: 2. A work machine according to claim 1,
a storage device for storing information uniquely identifying the co-worker;
the receiver receives the identification information from a plurality of mobile terminals ;
the controller releases the operation restriction when it is determined that the restriction release switches have been operated by all of the co-workers and that all of the co-workers are pre-registered co-workers, based on the information uniquely identifying the co-workers stored in the storage device and the identification information received by the receiver.
A work machine characterized by: 2. A work machine according to claim 1,
The restriction release switch is configured using a microphone and a voice recognition device,
the voice recognition device accepts the restriction release operation based on the restriction release voice generated by the co-worker and collected by the microphone;
A work machine characterized by: 2. A work machine according to claim 1,
After the restriction release switch receives a restriction release operation from the co-worker, the controller does not release the operation restriction until it receives an approval operation for the restriction release from the operator.
A work machine characterized by: a vehicle body including a running body and an upper rotating body rotatably mounted on the running body;
a cab mounted on the upper rotating body and in which an operator sits;
a front working machine connected to the front of the vehicle body so as to be able to be tilted up and down;
a working machine including the traveling body, the upper rotating body, and an actuator that operates the front working implement,
a periphery monitoring sensor that detects an object present within a work area around the vehicle body;
a controller for controlling operation restriction and restriction release of the actuator;
a restriction release switch that accepts a restriction release operation,
The limit release switch is provided outside the cab of the upper rotating body,
The controller
When the perimeter monitoring sensor detects the presence of an object within the working range, the operation of the actuator is stopped or slowed down to perform the operation restriction;
When the restriction release switch receives the restriction release operation and determines based on the sensor output of the perimeter monitoring sensor that the detected object is a pre-registered co-worker, the operation restriction is released.
When a pre-registered co-worker is detected by the periphery monitoring sensor after the restriction release switch has been used to release the operation restriction on the actuator,
If the co-worker detected by the perimeter monitoring sensor is the co-worker who operated the restriction release switch, the operation restriction is not executed,
If the co-worker detected by the periphery monitoring sensor is different from the co-worker who operated the restriction release switch, the operation restriction is implemented.
A work machine characterized by: