Working machine

Provided is a work machine which is capable of accurately preventing a work device from interfering with a load receiving member without separately using a dedicated device. A work machine includes a controller which at least controls rotating of an upper rotating body and vertical movement of a boom in accordance with operation by an operator. The controller controls either a boom-up operation and a rotating operation of the upper rotating body such that a work device is prevented from interfering with a load receiving member in operation of an operator at subsequent lifting and rotating, operation based on part of a locus at a distal end side of the work device at least for one lifting and rotating operation.

CROSS-REFERENCE TO RELATED APPLICATION

This Application is a 35 USC § 371 US National Stage filing of International Application No. PCT/EP2016/070129 filed on Aug. 25, 2016 which claims priority under the Paris Convention to Japanese Serial No. 2015-169136 filed Aug. 28, 2015.

TECHNICAL FIELD

The present invention relates to a working machine including a working device with a working member receiving a load.

BACKGROUND ART

Among working machines such as an excavator having a working device with, for example, a boom, a stick, and an arm, and provided at an upper turning body axially supported to be rotatable on a lower traveling body, some working machines have a function of preventing the working device from interfering with (contacting) certain portions when the upper turning body is turned or components of the working device are operated in accordance with an operation of an operator.

For example, there is known a configuration in which a height of a working device is detected and an operation of turning an upper turning body is stopped when the height of the working device becomes a predetermined value or less during the turning operation (for example, see Patent Literature 1).

Further, as a technology of preventing interference when a load is loaded onto a load receiving member such as a truck, there is known a configuration in which an upper turning body is provided with a distance measurement instrument and an operation of turning the upper turning body is stopped when the upper turning body is too close to the load receiving member based on a distance measured by the distance measurement instrument during the turning operation (for example, see Patent Literature 2).

Furthermore, there is known a configuration in which a danger region is set in upper, lower, and front areas of a working machine in order to prevent a working device from contacting a barrier, and the working device is stopped while decelerating before the working device contacts the barrier (for example, see Patent Literature 3).

CITATION LIST

Patent Literature

SUMMARY OF INVENTION

Technical Problem

However, in the above-described working machines, since interference is prevented based on the detection of exclusive sensors such as a distance measurement instrument, these sensors need to be separately installed and there is a concern that interference preventing precision may be deteriorated due to contamination of the sensors.

This invention is contrived in view of such circumstances and an object of the invention is to provide a working machine capable of very accurately preventing a working device from interfering with a load receiving member without separately using an exclusive device.

Solution to Problem

The invention of claim1provides a working machine including: a machine body which includes a lower traveling body and an upper turning body provided to be turnable on the lower traveling body; a working device which includes a boom axially connected to the upper turning body to be movable up and down and a working member provided to be operable at a front end of the working device to receive a load into the working member; and a controller which controls at least a turning movement of the upper turning body and an up and down movement of the boom in response to an operation of an operator, wherein the controller controls at least any one of a boom raising operation and an upper turning body turning operation so that the working device does not interfere with a load receiving member in a subsequent lifting and turning operation of the operator based on a track of a part of a front end of the working device during at least one lifting and turning operation of transporting the load received in the working member by raising the boom and turning the upper turning body so that the load is input into the load receiving member.

The invention of claim2provides the working machine according to claim1, wherein the controller creates an estimation map which estimates a load receiving member existence range based on the track of the part of the front end of the working device during at least one lifting and turning operation and controls at least any one of the boom raising operation and the upper turning body turning operation so that the working device does not move within the load receiving member existence range estimated in the estimation map by an operation of the operator in the subsequent lifting and turning operation.

The invention of claim3provides the working machine according to claim2, wherein the controller updates the estimation map so that the load receiving member existence range in the estimation map is reduced when the track of the part of the front end of the working device during an operation of moving the working member from a load input position by lowering the boom and turning the upper turning body is closer to the load receiving member than the track of the part of the front end of the working device during the lifting and turning operation.

The invention of claim4provides the working machine according to any one of claims1to3, wherein the working member is an excavation bucket in which a load receiving position is an excavation position.

Advantageous Effects of Invention

According to the invention of claim1, since it is possible to control at least any one of the boom raising operation and the upper turning body turning operation based on a track in which the working device does not interfere with the load receiving member during at least one lifting and turning operation without separately using a device such as an exclusive sensor, it is possible to very accurately prevent interference between the working device and the load receiving member.

According to the invention of claim2, it is possible to set a reference for controlling at least any one of the boom raising operation and the upper turning body turning operation without using a complicated calculation more than is necessary.

According to the invention of claim3, since it is possible to further very accurately set the load receiving member existence range by using an operation of moving the working member from the load input position by lowering the boom and turning the upper turning body, it is possible to further effectively prevent interference between the working device and the load receiving member.

According to the invention of claim4, it is possible to effectively input a load such as soil excavated by the bucket into the load receiving member without any contact between the working device and the load receiving member.

DESCRIPTION OF EMBODIMENTS

Hereinafter, the invention will be described in detail based on an embodiment shown inFIGS. 1 to 4.

FIG. 1shows an excavator-type working machine10and a working device13which is moved up and down by a boom cylinder12bmwhich is a fluid pressure cylinder (a hydraulic cylinder) mounted on a machine body11having an upper turning body11bprovided to be turnable in a lower traveling body11a. Then, the working machine10is used to transport a load (soil) to a load receiving member T such as a truck and to input the load thereinto (so that the soil is removed therefrom).

In the machine body11, the upper turning body11bis turned by a turning motor14(FIG. 3) which is a fluid pressure motor (a hydraulic motor) with respect to the lower traveling body11a. Further, the machine body11is provided with a turning sensor15(FIG. 3) which detects a turning position (a turning angle) of the upper turning body11bwith respect to the lower traveling body11a. In the embodiment, for example, an angle sensor is used as the turning sensor15(FIG. 3). Further, the machine body11may be provided with, for example, a machine body orientation sensor (an inclination sensor) which detects an orientation such as an inclination of the machine body11.

In the working device13, a base end of a boom13bmis axially supported to be rotatable in a vertical direction by the upper turning body11b, a stick13stis axially supported to be rotatable by a front end of the boom13bm, a bucket13bkwhich is an excavation working member is axially supported to be rotatable by a front end of the stick13st, the boom13bmis rotated by a boom cylinder12bm, the stick13stis rotated by a stick cylinder12stwhich is a fluid pressure cylinder (a hydraulic cylinder), and the bucket13bkis rotated by a bucket cylinder12bkwhich is a fluid pressure cylinder (a hydraulic cylinder).

Further, the working device13is provided with sensors17bm,17st, and17bkwhich is a boom orientation detection unit, a stick orientation detection unit, and a bucket orientation detection unit respectively detecting orientations of the boom13bm, the stick13st, and the bucket13bkand a weight sensor18which detects a weight (a payload) of a load received by the bucket13bk. Then, these sensors17bm,17st, and17bkconstitute an orientation sensor17which detects an orientation of the working device13. That is, the orientation sensor17detects angles (positions) of the boom13bm, the stick13st, and the bucket13bkconstituting the working device13.

As the sensors17bm,17st, and17bk, for example, an angle sensor such as a potentiometer or a position sensor detecting a position is arbitrarily used. However, in the embodiment, for example, angle sensors are used as the sensors17bmand17stand a position sensor is used as the sensor17bk.

The sensor17bmis attached to, for example, a boom foot pin19bmwhich axially supports the boom13bmby the machine body11(the upper turning body11b).

The sensor17stis attached to, for example, a pivot pin19st(at a stick base end side) which axially supports a base end of the stick13stby the front end of the boom13bm.

The sensor17bkdetects, for example, a position of a marker M attached to a rod of the bucket cylinder12bkby a detector (a laser catcher) C attached to a side portion of the stick13st. When a telescopic movement of the bucket cylinder12bkis detected, a position (a rotation angle) of the bucket13bkwith respect to the stick13stis detected.

Further, rotation angles detected by the sensors17bm,17st, and17bkcan be detected as an absolute angle by, for example, a body tilting angle in the embodiment. However, for example, relative angles of the boom13bm, the stick13st, and the bucket13bkwith respect to the machine body11, the boom13bm, and the stick13stmay be respectively detected.

The weight sensor18may have an arbitrary configuration, but the weight of the load inside the bucket13bkis obtained by a calculation of a balance in moment based on, for example, the orientations of the boom13bmand the stick13stdetected by the sensors17bmand17stand a head side pressure and a rod side pressure of the boom cylinder12bmdetected by a pressure sensor18bmhand a pressure sensor18bmr.

Further, a cab20for protecting a working space of an operator is mounted onto one side of the upper turning body11b. Inside the cab20, an operation lever23serving as an operation unit is provided at an upper portion of a console22provided at each of left and right portions of a driver seat21. Further, a monitor29serving as an input unit and a display unit is provided inside the cab20.

As shown inFIG. 3, an upper front surface portion of each operation lever23is provided with a push button type switch25and a thumb wheel type switch27. These switches25and27or the monitor29shown inFIG. 1can be used as an interference preventing function switching switch which automatically prevents the working device13from interfering with the load receiving member T during a lifting and turning operation of turning the upper turning body11bwith respect to the lower traveling body11awhile lifting the bucket13bkhaving a load received therein by raising the boom. An operation and a control when the interference preventing function is enabled will be described below.

Then,FIG. 3shows an outline of a control circuit which controls the working device13and spools33bm,33st,33bk, and33sw, which correspond to control valves controlling working oil which is a working fluid supplied to the cylinders12bm,12st, and12bkand the turning motor14from a main pump32driven by an in-vehicle engine31, are movably provided inside a block35. Further, a traveling motor control spool is also movably provided inside the block35, but is not shown in the drawings in order to clarify the description.

The boom cylinder12bmis a single rod type hydraulic cylinder which operates the working device13(FIG. 1) in the vertical direction. When the boom cylinder is operated in a lengthening direction by the operation lever23, the working device13(the boom13bm) shown inFIG. 1is operated in a raising direction with respect to the machine body11(the upper turning body11b) (a boom raising operation). Meanwhile, when the boom cylinder is operated in a shortening direction, the working device13(the boom13bm) is operated in a lowering direction with respect to the machine body11(the upper turning body11b) (a boom lowering operation).

The stick cylinder12stis a single rod type hydraulic cylinder which operates the stick13stin an anteroposterior direction with respect to the boom13bm. When the stick cylinder is operated in a lengthening direction by the operation lever23(FIG. 3), the stick13stis moved in a front direction with respect to the boom13bm, that is, a direction moving away from the operator (a stick-out operation). Meanwhile, when the stick cylinder is operated in a shortening direction, the stick13stis moved in a rear direction with respect to the boom13bm, that is, a direction moving close to the operator (a stick-in operation).

The bucket cylinder12bkis a single rod type hydraulic cylinder which operates the bucket13bkin an anteroposterior direction with respect to the stick13st. When the bucket cylinder is operated in a lengthening direction by the operation lever23(FIG. 3), the bucket13bkis moved in a front direction with respect to the stick13st(a bucket-out operation). Meanwhile, when the bucket cylinder is operated in a shortening direction, the bucket13bkis moved in a rear direction with respect to the stick13st(a bucket-in operation).

Returning toFIG. 3, electromagnetic proportional valves38bm,39bm,38st,39st,38bk,39bk,38sw, and39sware pressure reducing valves which convert a first pilot pressure supplied from a pilot pump40into a second pilot pressure in response to a control signal from a controller37and applies the pressure to pilot pressure action portions of the spools33bm,33st,33bk, and33sw.

The controller37outputs an electric signal for operating the cylinders12bm,12st, and12bkand the turning motor14while an input unit is electrically connected to the turning sensor15, the orientation sensor17(the sensors17bk,17bm, and17st), the weight sensor18, and the operation levers23and an output unit is electrically connected to solenoids of the electromagnetic proportional valves38bm,39bm,38st,39st,38bk,39bk,38sw, and39sw. Further, the controller37may electrically detect the second pilot pressure converted by the electromagnetic proportional valves38bm,39bm,38st,39st,38bk,39bk,38sw, and39sw.

Next, an operation of the embodiment shown in the drawings will be described.

The working machine10receives a load (soil) into the bucket13bkby an excavating operation and inputs the load into the load receiving member T such as a truck (so that the soil is removed therefrom) by performing a lifting and turning operation of lifting the bucket13bkhaving the load received therein by raising the boom while turning the upper turning body11bwith respect to the lower traveling body11a. When a series of tasks are repeated, a predetermined amount of the load is transported to the load receiving member T. For example, as shown inFIG. 1, when a rear portion of the load receiving member T is located at a front side of the working machine10, the working machine10performs an excavating operation by the bucket13bkand turns the upper turning body11bby about 90° in a bucket-in state. In the series of tasks, the operator can manually set whether to enable the interference preventing function by, for example, switching the switches25and27(FIG. 3) or inputting an instruction to the monitor29.

When the interference preventing function is enabled, the controller37records a front end side track T1(FIG. 2) of the working device13by sequentially recording a minimal height of the front end of the working device13from a first load receiving position, that is, an excavation position (an excavation point) P1(FIG. 2), to a load input position, that is, a soil discharging position (a soil removing point) P2(FIG. 2), for example, a position of the lowest portion of the bucket13bkor the stick13st, and controls the boom raising operation and the operation of turning the upper turning body11bso that the working device13does not interfere with the load receiving member T by an operation of the operator in subsequent (second or following) lifting and turning operation based on the track T1(FIG. 2).

That is, when the operator carefully operates the working device13so that the working device does not interfere with the load receiving member T during the lifting and turning operation of a first task, the working device13does not interfere with the load receiving member T as long as the working device moves along a track including the front end side track of the working device13at this time, that is, a position separated from the load receiving member T. For that reason, when the boom raising operation and the operation of turning the upper turning body11bare controlled so that the working device13does not enter into the first track, that is, toward the load receiving member T from the second lifting and turning operation, interference of the working device13with respect to the load receiving member T can be prevented.

Specifically, when the controller37first detects a first load receiving operation, that is, a lifting and turning operation after the excavating operation using the bucket13bk, the controller records the position of the lowest portion of the bucket13bkdetected by the sensor17bkof the orientation sensor17or the position of the lowest portion of the stick13stdetected by the sensor17st, that is, a front end side position of the working device13, until the load is input to the load receiving member T, that is, a soil removing operation is detected. Further, in order to detect the excavating operation, the lifting and turning operation, and the soil removing operation, an arbitrary existing method is used based on at least any one of, for example, an operational input of the operation lever23, a weight (a head pressure and a rod pressure of the boom cylinder12bm) of the load detected by the weight sensor18(the sensors18bmhand18bmr), a changed speed thereof, a turning angle of the upper turning body11bdetected by the turning sensor15, a changed speed and a changed direction thereof, positions of the bucket13bk, the boom13bm, and the stick13stdetected by the orientation sensor17(the sensors17bk,17bm, and17st), and a changed speed and a changed direction thereof. Then, the controller37creates an estimation map which estimates a range (a position) in which the load receiving member T exists based on the track T1of the front end (the lowest portion of the bucket13bkor the lowest portion of the stick13st) of the working device13calculated by continuously plotting the above-described recorded position. Then, in a series of tasks from a second load receiving operation (the excavating operation) to the load inputting operation (the soil removing operation), the controller monitors the position of the lowest portion of the bucket13bkor the position of the lowest portion of the stick13stin the lifting and turning operation, that is, the position, the speed, and the direction of the front end of the working device13, and controls an opening degree of the spool33bmand/or the spool33swso that the front end side position of the working device13does not enter a range in which the load receiving member T exists in the estimation map by ignoring the operation of the operator when such an entering is about to happen. In this way, the boom raising operation and the operation of turning the upper turning body11bare controlled.

Additionally, when a first soil removing operation ends, the operator lowers the boom and turns the upper turning body11bwith respect to the lower traveling body11a(in an opposite turning direction) to return the bucket13bkto the excavation position and starts a second excavating operation. Here, when the interference preventing function is enabled, the controller37may record a front end side track T2of the working device13by sequentially recording the position of the front end of the working device13, for example, the position of the lowest portion of the bucket13bkor the stick13st, until the working device returns from the soil discharging position to the excavation position in an operation after the first soil removing operation, and may update the estimation map based on the track T2.

That is, the soil discharging position is basically the same position every time unless a relative position between the working machine10and the load receiving member T changes, but the excavation position returned to from the soil discharging position can be changed every time (for example, excavation positions P1and P1aofFIG. 2). Further, an existence range of the load receiving member T is smaller than that of a current estimation if the working device13does not interfere with the load receiving member T although the track T2of the front end (the lowest portion of the bucket13bkor the lowest portion of the stick13st) of the working device13enters into the track T1, that is, a position near the load receiving member T. For this reason, when the estimation map is updated to reduce the existence range of the load receiving member T to correspond to a position closer to the load receiving member T than the track T1in the track T2, it is possible to expect improvement in accuracy of the interference preventing function in subsequent lifting and turning operation.

Specifically, when the controller37detects a soil removing operation, the controller records the position of the lowest portion of the bucket13bkdetected by the sensor17bkof the orientation sensor17or the position of the lowest portion of the stick13stdetected by the sensor17st, that is, the front end side position of the working device13, until the load is received, that is, the excavating operation is detected. Then, when the track T2of the front end (the lowest portion of the bucket13bkor the lowest portion of the stick13st) of the working device13calculated by continuously plotting the above-described recorded position includes a position near the load receiving member T which is inside the track T1, in other words, a portion entering the existence range of the load receiving member T, the controller37reduces the existence range of the load receiving member T at this portion.

A control using the controller37will be described in detail with reference to a flowchart shown inFIG. 4. Further, circled numbers in the flowchart indicate step numbers.

The controller37determines whether the interference preventing function is enabled. When the controller determines that the interference preventing function is not enabled (disabled) in step1, step1is repeated. Meanwhile, when the controller determines that the interference preventing function is enabled, a routine proceeds to step2.

The controller37determines whether an excavating operation is detected. When the controller determines that the excavating operation is not detected in step2, step2is repeated. Meanwhile, when the controller determines that the excavating operation is detected, the routine proceeds to step3.

The controller37determines whether a soil removing operation is detected. When the controller determines that the soil removing operation is detected in step3, the routine returns to step2. Meanwhile, when the controller determines that the soil removing operation is not detected, the routine proceeds to step4.

The controller37determines whether a lifting and turning operation is detected. When the controller determines that the lifting and turning operation is not detected in step4, the routine returns to step3. Meanwhile, when the controller determines that the lifting and turning operation is detected, the routine proceeds to step5.

The controller37starts to record a position of the front end (the lowest portion of the bucket13bkor the lowest portion of the stick13st) of the working device13and a turning angle of the upper turning body11band moves the routine to step6.

The controller37determines whether a soil removing operation is detected. When the controller determines that the soil removing operation is not detected in step6, the routine returns to step5. Meanwhile, when the controller determines that the soil removing operation is detected, the routine proceeds to step7.

The controller37ends the recording of the position of the front end (the lowest portion of the bucket13bkor the lowest portion of the stick13st) of the working device13and the turning angle of the upper turning body11b, creates an estimation map based on the track T1calculated from this record, and moves the routine to step8. In this step, a series of tasks including a first excavating operation, the lifting and turning operation, and the soil removing operation end.

The controller37determines whether an excavating operation is detected. When the controller determines that the excavating operation is not detected in step8, the routine proceeds to step9. Meanwhile, when the controller determines that the excavating operation is detected, the routine proceeds to step10.

The controller37records a position of the front end (the lowest portion of the bucket13bkor the lowest portion of the stick13st) of the working device13and a turning angle of the upper turning body11band returns the routine to step8.

The controller37updates the estimation map if necessary based on the track T2calculated from the recorded position of the front end (the lowest portion of the bucket13bkor the lowest portion of the stick13st) of the working device13and the recorded turning angle of the upper turning body11b, that is, the current position of the front end of the working device13, and moves the routine to step11. That is, when the track T2is closer to an existence range of the load receiving member T than the track T1, the estimation map is updated. Otherwise, the estimation map is not updated.

The controller37determines whether a soil removing operation is detected. When the controller determines that the soil removing operation is detected in step11, the routine returns to step8. Meanwhile, when the controller determines that the soil removing operation is not detected, the routine proceeds to step12.

The controller37determines whether a lifting and turning operation is detected. In step12, when the controller determines that the lifting and turning operation is not detected, the routine returns to step11. When the controller determines that the lifting and turning operation is detected, the routine proceeds to step13.

The controller37compares a position, a speed, and a direction of the front end (the lowest portion of the bucket13bkor the lowest portion of the stick13st) of the working device13at a current time with the estimation map and determines whether to control a boom raising operation and/or an operation of turning the upper turning body11b. That is, when the position, the speed, and the direction of the front end of the working device13are considered such that the front end moves into the existence range of the load receiving member T in the estimation map, the controller37determines that the boom raising operation and/or the operation of turning the upper turning body11bis needed so that the front end avoids the existence range of the load receiving member T by ignoring an operation of an operator. When the controller determines that the control is needed in step13, the routine proceeds to step14. Meanwhile, when the controller determines that the control is not needed, the routine proceeds to step15.

The controller37controls the boom raising operation and/or the operation of turning the upper turning body11bby controlling a flow amount and a direction of a working oil supplied to a head or a rod of the boom cylinder12bmthrough the spool33bmand/or a flow amount and a direction of a working oil supplied to the turning motor14through the spool33sw, and moves the routine to step15.

The controller37determines whether a soil removing operation is detected. When the controller determines that the soil removing operation is not detected in step15, the routine returns to step13. Meanwhile, when the controller determines that the soil removing operation is detected, the routine proceeds to step16.

The controller37determines whether the interference preventing function is disabled. When the controller determines that the interference preventing function is not disabled (enabled) in step16, the routine returns to step8. Meanwhile, when the controller determines that the interference preventing function is disabled, the control ends.

As described above, according to the above-described embodiment, since at least one of the boom raising operation and the operation of turning the upper turning body11bis controlled so that the working device13does not interfere with the load receiving member T in a subsequent lifting and turning operation of the operator based on the track T1of a part of the front end of the working device13during at least one lifting and turning operation in which a load received by the bucket13bkis transported by the boom raising operation and the operation of turning the upper turning body11band is input into the load receiving member T, it is possible to control at least one of the boom raising operation and the operation of turning the upper turning body11bbased on the track T1in which the working device13does not interfere with the load receiving member T during at least one lifting and turning operation without separately using a device such as an exclusive sensor, and to very accurately prevent interference between the working device13and the load receiving member T.

In general, since the working machine10includes the turning sensor15, the orientation sensor17, and the weight sensor18in order to monitor the orientation or the operation of the working machine and the weight of the load, it is possible to perform the above-described control by using these sensors15,17, and18without requiring an additional sensor. Thus, it is possible to prevent problems in which soil adheres to a distance measurement sensor during the excavating operation and deterioration in accuracy is caused by contamination of the sensor, for example, in the case where the distance measurement sensor for measuring a distance between a front object and the front end of the bucket13bkor the stick13stis attached to the front end thereof.

Specifically, since the estimation map which estimates the existence range of the load receiving member T based on the track T1of a part of the front end of the working device13during at least one lifting and turning operation is created, it is possible to set a reference for controlling at least any one of the boom raising operation and the operation of turning the upper turning body11bso that the working device13does not move into the existence range of the load receiving member T estimated in the estimation map in a subsequent lifting and turning operation of the operator without using a complicated calculation more than is necessary.

Further, since the boom raising operation and the operation of turning the upper turning body11bare not controlled in an operation other than the lifting and turning operation, it is possible to ensure a degree of freedom in a movement range of the working device13even when the interference preventing function is enabled.

Further, since the estimation map is updated so that the existence range of the load receiving member T is reduced when the track T2of a part of the front end of the working device13in an operation of moving the bucket13bkfrom the load input position by lowering the boom and turning the upper turning body11bis closer to the load receiving member T than the track T1of a part of the front end of the working device13in the lifting and turning operation, it is possible to further very accurately set the existence range of the load receiving member T by using the operation of moving the bucket13bkfrom the load input position by lowering the boom and turning the upper turning body11b. Accordingly, it is possible to further effectively prevent interference of the working device13with respect to the load receiving member T and to broaden an operable range of the working device13with respect to the load receiving member T without interference between the working device13and the load receiving member T and a control for the boom raising operation or the operation of turning the upper turning body11busing the controller37.

Then, it is possible to effectively input a load such as soil excavated by the bucket13bkwhich is the working member to the load receiving member T without bringing the working device13into contact with the load receiving member T. Thus, it is possible to very appropriately use the bucket13bkin the working machine10such as an excavator provided in the working device13.

As a result, it is possible to easily and very safely perform a series of tasks including the excavating operation using the bucket13bk, the lifting and turning operation, and the soil removing operation to reduce a risk of interference between the working device13and the load receiving member T and even to handle a change in excavation position of the bucket13bk.

Furthermore, in the above-described embodiment, the controller37creates the estimation map which estimates the existence range of the load receiving member T based on the track T1of a part of the front end of the working device13during at least one lifting and turning operation, but the invention is not limited to this configuration. For example, the boom raising operation and/or the operation of turning the upper turning body11bcan be controlled by directly comparing the track T1of a part of the front end of the working device13during at least one lifting and turning operation with the current position of the front end of the working device13.

Further, the working member is not limited to the bucket13bk, and an arbitrary member capable of transporting a load and inputting the load into the load receiving member T can be used. For example, a grapple for grasping a load can be used.

INDUSTRIAL APPLICABILITY

The invention is suitable for an excavator-type working machine.

REFERENCE SIGNS LIST

T: load receiving member

10: working machine

11: machine body

11a: lower traveling body

11b: upper turning body

13: working device

13bk: bucket which is a working member