Intrusion monitoring control system and work machine
There are provided: a monitoring apparatus that detects an obstacle located around a hydraulic excavator, and outputs obstacle information; and a controller that calculates an operation limiting command for limiting operation of the hydraulic excavator in accordance with an intrusion prohibited area set on the basis of a result of comparison between a movable range of the hydraulic excavator and a monitoring range of the monitoring apparatus and in accordance with the obstacle information from the monitoring apparatus. Thereby, it is possible to appropriately set an intrusion prohibited area, and reduce detection failures and detection errors.
1. An intrusion monitoring control system comprising:
a plurality of monitoring apparatuses including, a sensing section that detects a position of an obstacle that has entered a preset monitoring range located around a work machine, and a communication section that treats the monitoring range as monitoring range information and transmits a position of an obstacle detected in the monitoring range as obstacle information; and
a controller on the work machine that controls operation of the work machine and is configured to:
set an intrusion prohibited area based on a movable range of the work machine,
extract an undetectable area that cannot be detected by the plurality of monitoring apparatus from the set intrusion prohibited area based on the monitoring range information transmitted from the monitoring apparatus,
exclude the extracted undetectable area from the intrusion prohibited area,
set a supplementary area inside the excluded undetectable area and formed by the perimeter of the monitoring range of the plurality of monitoring apparatuses,
set the remaining intrusion prohibited area excluding the undetectable area and the set supplementary area as a new intrusion prohibited area, and
upon determining that there is an obstacle in the set new intrusion prohibited area based on the obstacle information transmitted from any of the plurality of monitoring apparatus, calculate an operation limiting command for limiting operation of the work machine and limit the operation of the work machine according to the operation limiting command.
2. The intrusion monitoring control system according to claim 1 ,
wherein the monitoring apparatus includes a positioning apparatus that detects a position and azimuth of the monitoring apparatus, and converts the obstacle information and the monitoring range, on a basis of a position and azimuth of the monitoring apparatus detected by the positioning apparatus, into obstacle information and a monitoring range in a local coordinate system set for a construction site, and transmits, to the controller, the converted monitoring range in the local coordinate system as the monitoring range information, along with the converted obstacle information in the local coordinate system, and
wherein the controller is configured to limit the operation of the work machine on a basis of the obstacle information from the monitoring apparatus.
3. A work machine that operates at a construction site, comprising:
a controller that controls operation of the work machine,
wherein the controller is configured to:
set an intrusion prohibited area based on a movable range of the work machine,
treat a preset monitoring range as monitoring range information,
extract an undetectable area that cannot be detected by a plurality of monitoring apparatus from the set intrusion prohibited area based on the monitoring range information received from the plurality of monitoring apparatus, which treat a preset the monitoring range as monitoring range information, and transmit a position of an obstacle detected in the monitoring range as obstacle information,
exclude the extracted undetectable area from the intrusion prohibited area,
set a supplementary area inside the excluded undetectable area and formed by the perimeter of the monitoring range of the plurality of monitoring devices,
set the remaining intrusion prohibited area excluding the undetectable area and the set supplementary area as a new intrusion prohibited area, and
upon determining that there is an obstacle in the set new intrusion prohibited area based on the obstacle information received from any of the plurality of monitoring apparatus, calculate an operation limiting command for limiting the operation of the work machine and limit the operation of the work machine according to the operation limiting command.