Work machine
An object of the present invention is to provide a work machine that is capable of flexibly setting an entry-prohibited area for a work device according to an operator's intention. To achieve this, a controller 40 sets, as a first position, the position of a work tool 8 that is located when a setting switch 33 is operated, and sets, as a second position, the position of the work tool 8 that is located when the setting switch 33 is operated after the setting of the first position. Further, the controller 40 sets, as a boundary surface of an entry-prohibited area, a plane 70 that passes through a first reference point A and a second reference point B and that is perpendicular to a ground contact surface of a lower track structure 1 . The first reference point A is one of a plurality of reference points 8 L and 8 R on the work tool 8 located at the first position, the plurality of reference points 8 L and 8 R being preset on the work tool 8 . The second reference point B is one of the plurality of reference points 8 L and 8 R on the work tool 8 located at the second position.
1. A work machine comprising:
a lower track structure;
an upper swing structure that is swingably mounted on the lower track structure;
a work device that includes a bucket and that is attached to the upper swing structure rotatably in a vertical direction;
a plurality of actuators that drive the work device;
a sensor that measures a posture of the work device; and
a controller that controls operations of the plurality of actuators such that the work device does not enter a set entry-prohibited area; and
a setting switch that sets the entry-prohibited area according to an operation of an operator,
wherein the controller is configured to:
set, as a first position, a position of the bucket that is located computed based on the posture of the work device measured by the sensor when the setting switch is operated,
set, as a second position, a position of the bucket that is computed based on the posture of the work device measured by the sensor when the setting switch is operated after the setting of the first position, and
set, as a boundary surface of the entry-prohibited area, a plane that passes through a first reference point and a second reference point and that is perpendicular to a ground contact surface of the lower track structure, the first reference point being one of a plurality of reference points on the bucket located at the first position, the plurality of reference points being preset on the bucket, the second reference point being one of the plurality of reference points on the bucket located at the second position.
2. The work machine according to claim 1 ,
wherein the work machine includes a selection switch for selecting any one of the plurality of reference points, and
wherein the controller is configured to select the first reference point from the plurality of reference points on the bucket located at the first position, and select the second reference point from the plurality of reference points on the bucket located at the second position, according to an operation of the selection switch.
3. The work machine according to claim 1 ,
wherein the first reference point and the second reference point are reference points located on a plane that is the farthest plane from a swing center of the upper swing structure among a plurality of planes each of which passes, in a state of being perpendicular to the ground contact surface, through one of the plurality of reference points on the bucket located at the first position and one of the plurality of reference points on the bucket located at the second position.
4. The work machine according to claim 1 ,
wherein the controller is configured to:
compute a plurality of planes each of which passes through one of the plurality of reference points on the bucket located at the first position and one of the plurality of reference points on the bucket located at the second position and is perpendicular to the ground contact surface, and
set, as the boundary surface of the entry-prohibited area, a plane that is the farthest plane from a swing center of the upper swing structure among the computed planes.
5. The work machine according to claim 1 ,
wherein the plurality of reference points include a point located at a left end of a claw tip of the bucket and a point located at a right end of the claw tip of the bucket.
6. The work machine according to claim 1 ,
wherein the controller is configured to reset the setting of the first position in a case where the lower track structure travels during a period of time from the setting of the first position to the setting of the second position.