Work machine
A main controller of a work machine computes target position information of an entry-prohibited area plane on the basis of operation information of a console switch 11 or a monitor operation device, decides, on the basis of the target position information of the entry-prohibited area plane, whether or not a distance r 1 between a target position M of the entry-prohibited area plane and the center O of swing action of an upper swing structure is greater than a threshold value set based on a distance r 2 from the center O of swing action of the upper swing structure to a rear end of the upper swing structure, validates the target position information of the entry-prohibited area plane when the distance r 1 is greater than the threshold value, and sets the entry-prohibited area plane at the target position M.
1 . A work machine comprising:
a lower track structure;
an upper swing structure swingably mounted on an upper portion of the lower track structure;
a work implement attached pivotally in an upward and downward direction at a front portion of the upper swing structure; and
a controller that performs area limiting control such that the work implement does not enter an entry-prohibited area beyond an entry-prohibited area plane set in advance, wherein
the work machine further comprises a setting operation device provided within a cabin and used for setting a target position of the entry-prohibited area plane according to setting operation by an operator and a monitor, and
wherein the controller is configured to:
when a distance between the target position set by the setting operation device and a center of swing action of the upper swing structure is greater than a threshold value set to a value equal to or greater than a distance from the center of swing action of the upper swing structure to a rear end of the upper swing structure:
set, as the entry-prohibited area plane, a plane perpendicular to a bottom plane of the lower track structure and passing through the target position set by the setting operation device, and
control the monitor to display information of success in setting of the entry-prohibited area plane, and
when the distance between the target position set by the setting operation device and the center of swing action of the upper swing structure is equal to or smaller than the threshold value:
discard the target position information without setting of the entry-prohibited area plane, and
control the monitor to display information of failure in setting of the entry-prohibited area plane.
2 . A work machine comprising:
a lower track structure;
an upper swing structure swingably mounted on an upper portion of the lower track structure;
a work implement attached pivotally in an upward and downward direction at a front portion of the upper swing structure; and
a controller that performs area limiting control such that the work implement does not enter an entry-prohibited area beyond an entry-prohibited area plane set in advance, wherein
the work machine further comprises a setting operation device provided within a cabin and used for setting a target position of the entry-prohibited area plane according to setting operation by an operator and a monitor; and
wherein the controller is configured to:
when a distance between the target position set by the setting operation device and a center of swing action of the upper swing structure is greater than a threshold value set to a value equal to or greater than a distance from the center of swing action of the upper swing structure to a rear end of the upper swing structure:
set, as the entry-prohibited area plane, a plane perpendicular to a bottom plane of the lower track structure and passing through the target position set by the setting operation device, and
control the monitor to display information of success in setting of the entry-prohibited area plane, and
when the distance between the target position set by the setting operation device and the center of swing action of the upper swing structure is equal to or smaller than the threshold value:
set a corrected entry-prohibited area plane as the entry-prohibited area plane, and
control the monitor to display the corrected entry-prohibited area plane, the corrected entry-prohibited area plane being an area plane determined by excluding a range inside a virtual circle having a radius equal to the threshold value and centered on the center of the swing action of the upper swing structure, from the entry-prohibited area plane set by the plane perpendicular to the bottom plane of the lower track structure and passing through the target position.
3 . The work machine according to claim 1 , wherein
the work machine further comprises an angle sensor that senses a swing angle of the upper swing structure, and
a plurality of posture sensors that are provided to the work implement and sense a posture of the work implement, and
the controller is configured to
compute the target position on a basis of signals from the angle sensor and the plurality of posture sensors when the setting operation device is operated.
4 . The work machine according to claim 2 , wherein
the work machine further comprises an angle sensor that senses a swing angle of the upper swing structure, and
a plurality of posture sensors that are provided to the work implement and sense a posture of the work implement, and
the controller is configured to
compute the target position on a basis of signals from the angle sensor and the plurality of posture sensors when the setting operation device is operated.