Work machine
Provided is a work machine including a controller configured to perform area restriction control for preventing a vehicle body from deviating from a work area set in a construction area. In this work machine, it is possible to easily set an area for which operation of the work machine is to be restricted in an actual space to a desired position, and to avoid displacement of the area for which the work machine is to be actually controlled from the set area. The work machine includes a controller configured to perform area restriction control for restricting operation of a vehicle body so as to prevent the vehicle body from deviating from a work area set in a construction area. The controller sets at least a part of the work area based on design data representing a final intended shape of a construction target in the construction area.
1 . A work machine comprising a controller configured to perform area restriction control to prevent a vehicle body from deviating from a work area set in a construction area and avoid entry by the vehicle body into an entry-prohibited area,
wherein the controller is configured to:
display, on a monitor screen, design data representing a final intended shape of a construction target in the construction area and, when a closed area selected from the design data includes a current position of the work machine from an input from the monitor screen, store in a storage unit as the work area the closed area including the position of the work machine;
when the closed area selected from the design data does not include the current position of the work machine from the input from the monitor screen, store in the storage unit as the entry-prohibited area, the closed area not including the position of the work machine;
when the closed area not including the position of the work machine includes at least a part of the work area that has already been stored in the storage unit, delete the work area from the storage unit, store in the storage unit as the entry-prohibited area the closed area not including the position of the work machine, and display the entry-prohibited area on the monitor screen; and
according to a distance between a control point set to the vehicle body and a surface stored as the entry-prohibited area, calculate, as a correction amount, a deceleration factor indicating a degree of deceleration of a control command for a flow rate control valve that controls supply of hydraulic oil to an actuator that drives the vehicle body, correct the control command based on the calculated correction amount, and output the corrected control command to the flow rate control valve.
2 . The work machine according to claim 1 , wherein the controller is configured to set the work area other than in a direction of gravity in the work area or a vertical direction of the vehicle body based on the design data.
3 . The work machine according to claim 1 , wherein:
the design data is composed of a point cloud of coordinate points; and
the controller is configured to set, as the work area, a closed area formed by a plurality of points selected from the point cloud.
4 . The work machine according to claim 3 , wherein the controller is configured to set, as the work area, the closed area formed by a plurality of points selected from the point cloud only when a current position of the work machine is included.
5 . The work machine according to claim 1 , wherein:
the design data is composed of a surface group including coordinate information; and
the controller is configured to set, as the work area, at least one surface selected from the surface group.
6 . The work machine according to claim 5 , wherein the controller is configured to set in advance, as the work area, design data located below a current position of the work machine.
7 . The work machine according to claim 1 , wherein the controller is configured to prohibit setting, as the work area of an own machine, a work area that has already been set by another machine.
8 . The work machine according to claim 1 , wherein the controller can switch between a first work area setting mode for setting at least a part of the work area based on the design data and a second work area setting mode for setting the work area based on a position of the vehicle body irrespective of the design data.
9 . The work machine according to claim 8 , wherein the work machine includes a switching device for switching between the first work area setting mode and the second work area setting mode.
10 . The work machine according to claim 1 , wherein the controller is configured to set the work area other than in a direction of gravity in the work area or a vertical direction of the vehicle body based on the design data.
11 . The work machine according to claim 1 , wherein:
the design data is composed of a point cloud of coordinate points; and
the controller is configured to set, as the work area, a closed area formed by a plurality of points selected from the point cloud.
12 . The work machine according to claim 11 , wherein the controller is configured to set, as the work area, the closed area formed by a plurality of points selected from the point cloud only when a current position of the work machine is included.
13 . The work machine according to claim 1 , wherein:
the design data is composed of a surface group including coordinate information; and
the controller is configured to set, as a work area, at least one surface selected from the surface group.
14 . The work machine according to claim 13 , wherein the controller is configured to set in advance, as a work area, design data located below a current position of the work machine.
15 . The work machine according to claim 1 , wherein the controller is configured to prohibit setting, as a work area of an own machine, a work area that has already been set by another machine.
16 . The work machine according to claim 1 , wherein the controller can switch between a first work area setting mode for setting at least a part of the work area based on the design data and a second work area setting mode for setting the work area based on a position of the vehicle body irrespective of the design data.
17 . The work machine according to claim 16 , wherein the work machine includes a switching device for switching between the first work area setting mode and the second work area setting mode.