Patent Description:
In order to improve work efficiency or increase safety of work machines, such as hydraulic excavators, there is proposed a work machine that puts restrictions on actuator operation in a designated space (hereinafter referred to as a work area) within a worksite.

For example, a turnable work machine described in Patent Literature <NUM>, <NUM> calculates its current attitude, and when there is a possibility that any of work devices, such as a structure of a boom, an arm, a bucket, for example, will enter the outside of any given area set in advance, controls the turning movement to stop. Patent Literature <NUM> discloses a construction machine with a working region delimiting function for automatically deactivating and/or slowing down at least one actuator when the working region boundary is reached.

However, the techniques of the above Patent Literature <NUM>, <NUM> both assume only a simple surface and operation range of the work machine. In a worksite in which a complicated work area is required, the work efficiency may be reduced when setting a work area and when enabling/disabling the work area. Specifically, when taking a long time, in a work area, to input a work area or when inputting an enable/disable setting in the work area, for example, interference with a path or work of another work machine may occur, for example.

The present invention has been made in view of the foregoing, and provides a work machine and a control system for the work machine capable of preventing reduction of a work efficiency when inputting a complicated work area.

To solve the above problem, a work machine of the present invention includes: a work area setting device adapted to set a work area for performing operation restriction control of a work machine; an acquisition device adapted to acquire at least one of a position or an attitude of the work machine; a controller adapted to switch between an enabled state, in which the operation restriction control of the work machine in the work area is enabled, and a disabled state, in which the operation restriction control of the work machine in the work area is disabled, and, when the operation restriction control is switched to the enabled state, perform the operation restriction control of the work machine in the work area; and a designated area setting device adapted to set any given designated area in a worksite and an enable or disable setting of the operation restriction control in the work area depending on the designated area. When the work machine intrudes on the designated area, the controller puts the operation restriction control in the work area to an enabled state or disabled state according to the enable or disable setting of the operation restriction control depending on the designated area set in the designated area setting device.

According to the present invention, it is possible to make work area settings regardless of whether the work machine is inside or outside of the work area, and prevent the work machine from being stopped within the work area, thus improving the work efficiency.

Other problems, configurations, and advantageous effects will become apparent from the following description of embodiments.

Parts having the same function are denoted by the same reference numbers throughout the drawings, and repeated description thereof may be omitted. In the following description, the work machine according to the embodiments of the present invention is a hydraulic excavator as an example. It should be noted that the work machine to which the present invention is applicable may be a work machine including a work device and a moving device other than the hydraulic excavator, such as a wheel loader, a road roller, a dump truck, a bulldozer, for example, and the aspect thereof does not matter.

<FIG> is a perspective view of a hydraulic excavator that is an example of a work machine having a control system mounted thereon according to the first embodiment of the present invention.

A hydraulic excavator <NUM> includes a lower traveling body 1C, an upper turning body 1B rotatably attached to the lower traveling body 1C via a turning device <NUM>, and a work device 1A that is attached to the upper turning body 1B and performs digging work, loading work, and the like. The lower traveling body 1C and the upper turning body 1B constitute a moving device 1D (hereinafter also referred to as a body) that performs traveling operation and turning operation in the present embodiment.

The work device 1A includes a boom <NUM> rotatably attached to the upper turning body 1B, an arm <NUM> rotatably attached to the boom <NUM>, a bucket <NUM> rotatably attached to the arm <NUM>, a bucket link <NUM> rotatably attached to the bucket <NUM> and the arm <NUM>, a boom cylinder <NUM> that is coupled to the boom <NUM> and the upper turning body 1B and arbitrarily changes a rotation angle of the boom <NUM> relative to the upper turning body 1B, an arm cylinder <NUM> that is coupled to the boom <NUM> and the arm <NUM> and arbitrarily changes a rotation angle of the arm <NUM> relative to the boom <NUM>, and a bucket cylinder <NUM> that is coupled to the arm <NUM> and the bucket link <NUM> and arbitrarily changes a rotation angle of the bucket <NUM> relative to the arm <NUM>.

The lower traveling body 1C is driven by a travel motor <NUM> and allows the body to move to any given position. The turning device <NUM> includes a turning motor <NUM> that arbitrarily changes a rotation angle (i.e., a turning angle) of the upper turning body 1B relative to the lower traveling body 1C. Hereinafter, the boom cylinder <NUM>, the arm cylinder <NUM>, and the bucket cylinder <NUM> for driving the work device 1A, the travel motor <NUM> for traveling operation, and the turning motor <NUM> for turning operation may each be referred to as an actuator of the hydraulic excavator <NUM>.

In the upper turning body 1B, a tank <NUM> (<FIG>), a variable pump <NUM>, an engine (prime mover) <NUM>, a flow rate control valve (unit) <NUM>, an interface <NUM>, a controller <NUM>, and the like are disposed. Though not illustrated, the controller <NUM> is configured as a computer including a CPU (Central Processing Unit) that executes various operations, a storage unit such as a ROM (Read Only Memory), a HDD (Hard Disk Drive), or the like that stores programs for executing the operations by the CPU, a RAM (Random Access Memory) serving as a work area when the CPU executes the programs, and the like. The CPU loads various programs stored in the storage unit into the RAM and executes the programs so that the functions of the controller <NUM> are implemented.

The interface <NUM> is used for inputting a work area and a designated area, and an enable/disable setting of the work area depending on the designated area (described later). It should be noted that a work area, a designated area, and the like may be set by an operator or a worker around the hydraulic excavator, for example, and the aspect of inputting does not matter. In the present embodiment, a work area, a designated area, and the like are input/set via the interface <NUM> disposed in the upper turning body 1B (e.g., cab). However, a work area, a designated area, and the like may be input/set from the outside of the body via a server, for example.

That is, the interface <NUM> constitutes a work area setting device <NUM> adapted to input/set a work area and a designated area setting device <NUM> adapted to input/set a designated area and an enable/disable setting of the work area depending on the designated area in the present control system (<FIG>).

The hydraulic excavator <NUM> includes, as sensors, IMUs 51a, 51b, 51c (hereinafter the IMUs 51a, 51b, 51c are collectively referred to as a work implement IMU <NUM>) respectively provided for the boom <NUM>, the arm <NUM>, and the bucket <NUM> for measuring ground angles of link joints, an upper turning body IMU <NUM> provided on the upper turning body 1B for measuring a ground angle of the upper turning body 1B, and a GNSS <NUM> for measuring global coordinates of the upper turning body 1B. Based on the result of measurement by the GNSS <NUM> and the upper turning body IMU <NUM>, the hydraulic excavator <NUM> can calculate a position and an attitude of the body. Based on the result of measurement by the work implement IMU <NUM> (51a, 51b, 51c), the hydraulic excavator <NUM> can calculate a position and an attitude of the work device 1A. It should be noted that although the hydraulic excavator <NUM> of the present embodiment uses the IMU to acquire a position/attitude as an example, as long as a position/attitude can be detected/calculated, the aspect of the method for acquiring a position/displacement by an acquisition device does not matter, such as a rotary sensor, a potentiometer, a camera, a GNSS, a total station, and the like. Alternatively, the hydraulic excavator <NUM> may acquire a position/attitude via the server as an output from a detection device (e.g., a camera) disposed outside of the body, for example.

That is, the GNSS <NUM> and the upper turning body IMU <NUM> constitute a work machine position/attitude acquisition device <NUM> adapted to acquire a position and an attitude of the body in the present control system, and the work implement IMU <NUM> constitutes a work device position/attitude acquisition device <NUM> adapted to acquire a position and an attitude of the work device 1A in the present control system (<FIG>).

A hydraulic circuit of the hydraulic excavator <NUM> will be described. <FIG> illustrates an example of the hydraulic circuit of the hydraulic excavator <NUM>.

The hydraulic circuit includes: an engine <NUM> for generating power; a tank <NUM> disposed at any given position on the upper turning body 1B; a variable pump <NUM> that is coupled to the engine <NUM> and converts, with the power of the engine <NUM>, hydraulic oil in the tank <NUM> to pressure oil having any given pressure or flow rate; a flow rate control valve <NUM> that is coupled to the variable pump <NUM>, the actuator <NUM>, such as the boom cylinder <NUM>, the arm cylinder <NUM>, the bucket cylinder <NUM>, the turning motor <NUM>, and the travel motor <NUM>, and the controller <NUM>, and is capable of sending pressure oil of any given flow rate out of the pressure oil ejected from the variable pump <NUM> to the actuator <NUM>; and the controller <NUM> adapted to control the flow rate of the flow rate control valve <NUM>. By outputting a control instruction from the controller <NUM> for controlling the flow rate of the pressure oil that is sent from the flow rate control valve <NUM> to the actuator <NUM>, it is possible to limit (i.e., decelerate and stop) the operation speed of the actuator <NUM>, eventually, the operation speeds of the work device 1A and the moving device 1D.

It should be noted that the engine <NUM> is an example of a power generation device, and as long as power can be generated, the aspect thereof does not matter, such as an engine, a motor, or the like. In addition, as long as the flow rate of the flow rate control valve <NUM> can be controlled, an indirect control method in which a solenoid valve controls a pilot pressure of a hydraulic pilot type valve may be employed or a method in which a solenoid valve directly controls a flow rate may be employed.

<FIG> is a top view of an example of a work area, a designated area, and a work machine according to the first embodiment of the present invention.

A work area <NUM> includes a deceleration area 111a in which the speed of either or both of the work device 1A or the moving device 1D of the hydraulic excavator <NUM> is limited, a stop area 111b in which the operation of either or both of the work device 1Aor the moving device 1D of the hydraulic excavator <NUM> is stopped, and a non-restricted area 111c in which the speed and the operation of the work device 1A and the moving device 1D will not be restricted.

It should be noted that as long as the work area <NUM> is an area that puts any given rule to the actuator operation, the aspect thereof does not matter. In addition to the state of the first embodiment, in the work area <NUM>, the operation of a designated actuator may be prohibited, or a work machine may be controlled to track a specific attitude, for example.

In addition, as long as the deceleration area 111a, the stop area 111b, and the non-restricted area 111c of the work area <NUM> are included inside of the work area <NUM>, the work area <NUM> may have any three-dimensional shape and any division number (i.e., the number of divisions).

In addition, the present control system can switch between "the enabled state of the work area <NUM>," in which the operation restriction control of the work device 1A and the moving device 1D in the work area <NUM> (111a, 111b, 111c) is enabled, and "the disabled state of the work area <NUM>," in which the operation restriction control of the work device 1A and the moving device 1D in the work area <NUM> (111a, 111b, 111c) is disabled (described later).

A designated area <NUM> is any given space within a worksite and is used to set an enable/disable setting of the work area <NUM> (i.e., an enable/disable setting of the operation restriction control in the work area <NUM>). The designated area <NUM> may be included inside of the work area <NUM> (<FIG>) or outside of the work area <NUM>.

<FIG> is a system configuration diagram of the present embodiment.

The control system of the present embodiment includes a work area setting device <NUM> capable of setting the work area <NUM> of any given three-dimensional or two-dimensional shape that is input via the interface <NUM>, a work machine position/attitude acquisition device <NUM> adapted to measure/calculate a position/attitude of the body of the hydraulic excavator (work machine) <NUM> using the GNSS <NUM> and the upper turning body IMU <NUM>, a work device position/attitude acquisition device <NUM> adapted to measure/calculate a position/attitude of the work device 1A using the work implement IMU <NUM>, a designated area setting device <NUM> capable of setting the designated area <NUM> of any given three-dimensional or two-dimensional shape that is input via the interface <NUM>, and a controller <NUM> adapted to perform calculations.

The controller <NUM> includes: a work area recording unit <NUM> adapted to record the work area <NUM> set in the work area setting device <NUM>; a designated area recording unit <NUM> adapted to record the designated area <NUM> and the enable/disable setting of the work area <NUM> depending on the designated area <NUM> set in the designated area setting device <NUM>; a work machine position/attitude calculation unit <NUM> adapted to calculate position/attitude data acquired from the work machine position/attitude acquisition device <NUM> and calculate the data in a format suitable for the data in a work area operation control unit <NUM> and a work area enable/disable determination unit <NUM> by coordinate transformation, for example; a work device position/attitude calculation unit <NUM> adapted to calculate position/attitude data acquired from the work device position/attitude acquisition device <NUM> and calculate the data in a format suitable for the data in the work area operation control unit <NUM> and the work area enable/disable determination unit <NUM> by coordinate transformation, for example; the work area enable/disable determination unit <NUM> adapted to determine an enable/disable setting of the work area <NUM> based on the attitudes calculated in the work machine position/attitude calculation unit <NUM> and the work device position/attitude calculation unit <NUM> and the information on the designated area <NUM> recorded in the designated area recording unit <NUM>; and the work area operation control unit <NUM> adapted to determine an operation of the work device 1A and the moving device 1D of the hydraulic excavator <NUM> in the work area <NUM> based on the information on the work area <NUM> recorded in the work area recording unit <NUM>, the attitude of the body calculated in the work machine position/attitude calculation unit <NUM>, the attitude of the work device 1A calculated in the work device position/attitude calculation unit <NUM>, and an enable/disable determination value received from the work area enable/disable determination unit <NUM>.

In the controller <NUM>, the work area enable/disable determination unit <NUM> repeats the determination of whether the position of the hydraulic excavator <NUM> is included in the designated area <NUM>, and if the position of the hydraulic excavator <NUM> is included in the designated area <NUM>, outputs, to the work area operation control unit <NUM>, an enable/disable determination value by which the work area <NUM> is put to an enabled state or disabled state in accordance with the enable/disable setting of the work area <NUM> depending on the designated area <NUM> recorded in the designated area recording unit <NUM> (i.e., so as to match with the enable/disable setting of the work area <NUM> depending on the designated area <NUM>).

The work area operation control unit <NUM> repeats the determination of whether the position of the hydraulic excavator <NUM> is included in the work area <NUM> (i.e., the deceleration area 111a, the stop area 111b, the non-restricted area 111c), and if the position of the hydraulic excavator <NUM> is included in the work area <NUM> (i.e., the deceleration area 111a, the stop area 111b, the non-restricted area 111c), outputs a control instruction to perform operation restriction control of the work device 1A and the moving device 1D of the hydraulic excavator <NUM>. At this time, the work area operation control unit <NUM> puts (switches) the work area <NUM> to an enabled state or disabled state according to the enable/disable determination value (i.e., the enable/disable setting of the work area <NUM>) received from the work area enable/disable determination unit <NUM>, and when the work area <NUM> is in the enabled state, outputs a control instruction to perform operation restriction control of the work device 1A and the moving device 1D of the hydraulic excavator <NUM> as described above.

<FIG> is an operating flow of determining an enable/disable setting of operation control in the work area <NUM> depending on the designated area <NUM>.

First, an operator or the like sets a shape (i.e., spatial information) of the designated area <NUM> and an enable/disable setting of the work area <NUM> in the designated area setting device <NUM> via the interface <NUM> (S001). The shape of the designated area <NUM> and the enable/disable setting of the work area <NUM> set in the designated area setting device <NUM> are recorded in the designated area recording unit <NUM> (S002). The work area enable/disable determination unit <NUM> repeats the determination of whether the hydraulic excavator <NUM> is located in the designated area <NUM> using the designated area <NUM> recorded in the designated area recording unit <NUM> and the attitude of the body calculated in the work machine position/attitude calculation unit <NUM> (S003). If the hydraulic excavator <NUM> is located in the designated area <NUM> in S003 (S003: Yes), the work area enable/disable determination unit <NUM> determines a work area enable/disable setting recorded in the designated area recording unit <NUM> (S006). If the work area enable/disable setting is an enable setting in S006 (S006: Yes), the work area enable/disable determination unit <NUM> outputs an enable/disable determination value by which the work area <NUM> is put to an enabled state (S004), and if the work area enable/disable setting is a disable setting in S006 (S006: No), the work area enable/disable determination unit <NUM> outputs an enable/disable determination value by which the work area is put to a disabled state (S005).

<FIG> is a flow of the operation control in the work area <NUM>.

First, the work area operation control unit <NUM> determines whether the work area <NUM> is in an enabled state or disabled state in response to the enable/disable determination value (the flow of <FIG>) received from the work area enable/disable determination unit <NUM> (S101). If the work area <NUM> is in the enabled state in S101 (S101: Yes), the work area operation control unit <NUM> determines whether the work device 1A or the moving device 1D is located in the stop area 111b (S102). If the work device 1A or the moving device 1D is located in the stop area 111b in S102 (S102: Yes), the work area operation control unit <NUM> outputs a control instruction to stop the work device 1A and the moving device 1D (S103). In contrast, if the work device 1A and the moving device 1D are located outside of the stop area 111b in S102 (S102: No), the work area operation control unit <NUM> determines whether the work device 1A or the moving device 1D is located in the deceleration area 111a (S104). If the work device 1A or the moving device 1D is located in the deceleration area 111a in S104 (S104: Yes), the work area operation control unit <NUM> outputs a control instruction to control the work device 1A and the moving device 1D to decelerate (S105). In contrast, if the work device 1A and the moving device 1D are located outside of the deceleration area 111a in S104 (S104: No), the process returns to S102 again and repeats the determination.

It should be noted that although deceleration and stop are shown as the examples of the operation control in the work area <NUM>, as long as the operation control conforms to a specific rule, such as stopping a designated actuator or restricting a specific attitude in the work area <NUM>, or the like, a content thereof does not matter. Thus, it is also considered that the stop area or the deceleration area shown as a fixed area in one example may be variable according to the current state of the work machine.

In addition, in the present embodiment, although the controller <NUM> mounted on the hydraulic excavator (work machine) <NUM> determines an enable/disable setting of the work area <NUM> and calculates a control instruction for the work device 1A and the moving device 1D based on the information output from the work area setting device <NUM>, the work machine position/attitude acquisition device <NUM>, the work device position/attitude acquisition device <NUM>, and the designated area setting device <NUM>, a server (or a controller installed thereon) may determine an enable/disable setting, calculate a control instruction, and transmit the control instruction to the hydraulic excavator <NUM>.

As described above, the hydraulic excavator <NUM> of the first embodiment includes: the work area setting device <NUM> adapted to set the work area <NUM> for performing operation restriction control of the hydraulic excavator (work machine) <NUM>; the acquisition device (i.e., the work machine position/attitude acquisition device <NUM>, the work device position/attitude acquisition device <NUM>) adapted to acquire at least one of a position or an attitude of the hydraulic excavator (work machine) <NUM>; the controller <NUM> adapted to switch between an enabled state, in which the operation restriction control of the hydraulic excavator (work machine) <NUM> in the work area <NUM> is enabled, and a disabled state, in which the operation restriction control of the hydraulic excavator (work machine) <NUM> in the work area <NUM> is disabled and, when the operation restriction control is switched to the enabled state, perform the operation restriction control of the hydraulic excavator (work machine) <NUM> in the work area <NUM>; and the designated area setting device <NUM> adapted to set any given designated area <NUM> in a worksite and an enable or disable setting of the operation restriction control in the work area <NUM> depending on the designated area <NUM>. When the hydraulic excavator (work machine) <NUM> intrudes on the designated area <NUM>, the controller <NUM> puts the operation restriction control in the work area <NUM> to an enabled state or disabled state in accordance with the enable or disable setting of the operation restriction control depending on the designated area <NUM> set in the designated area setting device <NUM>.

Specific examples of the operation of the hydraulic excavator (work machine) <NUM> include as follows: an operator or the like, at any given point, sets a "designated area <NUM>," which is any given space in a worksite, "whether the designated area <NUM> serves to enable or disable the work area <NUM>," and a "work area <NUM>" (i.e., the designated area setting device <NUM>, the work area setting device <NUM>); after such setting, the operator or the like moves the hydraulic excavator <NUM> at an appropriate timing. When the hydraulic excavator <NUM> has entered the designated area <NUM>, the present control system enables or disables the work area <NUM> according to the preliminary settings (i.e., the work area enable/disable determination unit <NUM> and the work area operation control unit <NUM> of the controller <NUM>).

According to the first embodiment, it is possible to separately provide any given designated area <NUM> for switching the enable/disable setting in the work area <NUM>, make settings of the work area <NUM> at any position regardless of whether the hydraulic excavator <NUM> is inside or outside of the work area <NUM> in setting the work area <NUM>, and prevent the hydraulic excavator <NUM> from being stopped within the work area <NUM>, thus improving the work efficiency.

In addition to the configuration of the first embodiment, the control system of the present embodiment includes a designated area semiautomatic setting device <NUM> adapted to set whether an operator uses the work area <NUM> for a designated area <NUM> (in other words, whether to set a designated area <NUM> matching with the work area <NUM>). The designated area semiautomatic setting device <NUM> may be disposed in the interface <NUM> or outside of the interface <NUM>. It should be noted that this setting may be performed by an operator or a worker around the hydraulic excavator, for example, and the aspect of inputting does not matter. Alternatively, this inputting/setting may be performed from the outside of the body via a server, for example.

In addition to the configuration of the first embodiment, the controller <NUM> includes a designated area semiautomatic calculation unit <NUM> adapted to calculate a designated area <NUM> using spatial information (i.e., coordinate points and shape) on the work area <NUM> set in the work area setting device <NUM>, spatial information (i.e., coordinate points and shape) on the designated area <NUM> set in the designated area setting device <NUM>, and information on whether to use the work area <NUM> that is set in the designated area semiautomatic setting device <NUM>.

The designated area semiautomatic calculation unit <NUM> mainly determines whether there is an area setting (i.e., a designated area setting for using the work area) in the designated area semiautomatic setting device <NUM> and, if there is an area setting, sets a designated area <NUM> according to the shape of the work area <NUM> set in the work area setting device <NUM> (herein, so as to match with the shape of the work area <NUM>). In addition, when there is no area setting, the designated area semiautomatic calculation unit <NUM> sets a designated area <NUM> based on the shape of the designated area <NUM> set in the designated area setting device <NUM>.

<FIG> is an operating flow of determining an enable/disable setting of operation control in the work area <NUM> depending on the designated area <NUM> of the present embodiment.

First, the designated area semiautomatic calculation unit <NUM> determines whether an operator or the like has set an area setting in the designated area semiautomatic setting device <NUM> (S011). If a designated area has already been set in S011 (S011: Yes), the designated area semiautomatic calculation unit <NUM> determines whether a work area <NUM> has already been set in the work area setting device <NUM> (S012). If a work area <NUM> has already been set in S012 (S012: Yes), the work area <NUM> is set as the designated area <NUM> (S013), and recorded in the designated area recording unit <NUM> (S002). If a designated area has not been set in S011 (S011: No) or a work area <NUM> has not been set in S012 (S012: No), the designated area semiautomatic calculation unit <NUM> determines whether a designated area <NUM> has already been set in the designated area setting device <NUM> (S001). If a designated area <NUM> has already been set in S001 (S001: Yes), the area set in the designated area setting device <NUM> is recorded as the designated area <NUM> in the designated area recording unit <NUM> (S002). If a designated area <NUM> has not been set in S001 (S001: No), the process returns to the determination in S011 again. The operation in S002 and afterward is equal to that of the first embodiment (see <FIG>).

The operation control in the work area <NUM> is equal to that of the first embodiment (see <FIG>).

By applying the present embodiment to <FIG>, <FIG> illustrates an example in which the designated area <NUM> is now identical to the work area <NUM>.

As described above, the hydraulic excavator <NUM> of the second embodiment includes the designated area semiautomatic setting device <NUM> adapted to set a designated area <NUM> according to the shape of the work area <NUM> (herein, so as to match with the shape of the work area <NUM>).

According to the second embodiment, in addition to the advantageous effect of the first embodiment, it is possible to easily set a designated area <NUM> when setting a designated area <NUM> matching with the work area <NUM>, and reduce the operator's work of setting a designated area <NUM>.

The control system of the present embodiment is equal to that of the second embodiment. However, the designated area semiautomatic calculation unit <NUM> mainly determines whether there is an area setting in the designated area semiautomatic setting device <NUM> and, if there is an area setting, sets a designated area <NUM> according to the shape of the work area <NUM> set in the work area setting device <NUM> (herein, so that the shape of the designated area <NUM> is in an exclusive relation with the shape of the work area <NUM>). It should be noted that the exclusive relation can, for example, prevent reentry into the work area <NUM> after the hydraulic excavator <NUM> in the work area <NUM> finishes working in the work area <NUM> and then moves outside of the work area <NUM>. Specifically, by providing a designated area <NUM> outside of the work area <NUM>, the hydraulic excavator <NUM> outside of the work area <NUM> is located in the designated area <NUM>, whereby the operation restriction control is enabled and the entry into the work area <NUM> can be prevented.

Instead of S013 of the second embodiment, if a work area <NUM> has already been set in S012 (S012: Yes), the area in an exclusive relation with the work area <NUM> is set as the designated area <NUM> (S014), and recorded in the designated area recording unit <NUM> (S002).

By applying the present embodiment to <FIG>, <FIG> illustrates an example in which the designated area <NUM> is now in an exclusive relation with the work area <NUM> (i.e., an example in which the designated area <NUM> is set outside of the work area <NUM>).

As described above, the hydraulic excavator <NUM> of the third embodiment includes the designated area semiautomatic setting device <NUM> adapted to set a designated area <NUM> according to the shape of the work area <NUM> (herein, so that the shape of the designated area <NUM> is in an exclusive relation with the shape of the work area <NUM>).

According to the third embodiment, in addition to the advantageous effect of the first embodiment, it is possible to easily set a designated area <NUM> when setting a designated area <NUM> in an exclusive relation with the work area <NUM> having a complicated shape, and reduce the operator's work of setting a designated area <NUM>.

In addition to the configuration of the first embodiment, the control system of the present embodiment includes a designated area semiautomatic setting device <NUM> adapted to set whether an operator incorporates the actuator operation in the work area <NUM> designated in the work area operation control unit <NUM> into a designated area <NUM> (in other words, whether to set a designated area <NUM> matching with the non-restricted area 111c in the work area <NUM>). The designated area semiautomatic setting device <NUM> may be disposed in the interface <NUM> or outside of the interface <NUM>. It should be noted that this setting may be performed by an operator or a worker around the hydraulic excavator, for example, and the aspect of inputting does not matter. Alternatively, this inputting/setting may be performed from the outside of the body via a server, for example.

In addition to the configuration of the first embodiment, the controller <NUM> includes a designated area semiautomatic calculation unit <NUM> adapted to calculate a designated area <NUM> using the actuator operation in the work area <NUM> designated in the work area operation control unit <NUM>, spatial information on the work area <NUM> set in the work area setting device <NUM>, spatial information on the designated area <NUM> set in the designated area setting device <NUM>, and information on whether to incorporate the actuator operation in the work area <NUM> designated in the work area operation control unit <NUM> that is set in the designated area semiautomatic setting device <NUM>.

The designated area semiautomatic calculation unit <NUM> mainly determines whether there is an area setting (i.e., a designated area setting for incorporating the actuator operation in the work area <NUM>) in the designated area semiautomatic setting device <NUM> and, if there is an area setting, sets a designated area <NUM> according to the operation control content in the work area <NUM> (herein, so as to match with the shape of the non-restricted area 111c in the work area <NUM>).

<FIG> is an operating flow of determining an enable/disable setting of operation control in the work area <NUM> depending on the designated area <NUM> of the fourth embodiment.

Instead of S013 of the second embodiment, if a work area <NUM> has already been set in S012 (S012: Yes), the non-restricted area 111c in the work area <NUM> is set as the designated area <NUM> (S015), and recorded in the designated area recording unit <NUM> (S002).

By applying the present embodiment to <FIG>, <FIG> illustrates an example in which the designated area <NUM> is now equal to (i.e., matching with) the non-restricted area 111c in the work area <NUM>.

As described above, the hydraulic excavator <NUM> of the fourth embodiment includes the designated area semiautomatic setting device <NUM> adapted to set a designated area <NUM> according to the operation control content in the work area <NUM> (herein, so as to match with the shape of the non-restricted area 111c in the work area <NUM>).

According to the fourth embodiment, in addition to the advantageous effect of the first embodiment, it is possible to easily set a designated area <NUM>, within the work area <NUM> having a complicated shape, when setting a designated area <NUM> having the same shape as the non-restricted area 111c in which the operation of the hydraulic excavator (work machine) <NUM> will not be restricted, and reduce the operator's work of setting a designated area <NUM>.

<FIG> illustrates a hydraulic excavator that is an example of a work machine using the present embodiment.

In addition to the configuration of the first embodiment, the hydraulic excavator <NUM> of the present embodiment includes a display device <NUM> adapted to display the work area <NUM> and the designated area <NUM>. It should be noted that the display device <NUM> may be disposed in a server that has control over the hydraulic excavator <NUM>.

<FIG> illustrates an example of a display screen of the display device <NUM>.

In the display device <NUM>, the designated area <NUM>, the work area <NUM>, the enable/disable setting of the work area <NUM>, and the hydraulic excavator (work machine) <NUM> are represented in overhead view or three-dimensional view on the same screen, and different patterns or different colors are displayed so that the designated area <NUM>, the work area <NUM>, and the enable/disable setting of the work area <NUM> are apparently distinguishable.

As described above, the hydraulic excavator <NUM> of the fifth embodiment includes the display device <NUM> adapted to simultaneously display the designated area <NUM>, the work area <NUM>, and the enabled state or disabled state of the operation restriction control in the work area <NUM>.

According to the fifth embodiment, in addition to the advantageous effect of the first embodiment, the operator can easily confirm the designated area <NUM>, the work area <NUM>, and the enable/disable setting of the work area <NUM>, thus improving the work efficiency.

It should be noted that the present invention is not limited to the aforementioned embodiments, and includes a variety of modifications. The aforementioned embodiments have been described in detail to clearly illustrate the present invention, and the present invention need not include all of the structures described in the embodiments.

Claim 1:
A work machine (<NUM>) comprising:
a work area setting device (<NUM>) adapted to set a work area (<NUM>) for performing operation restriction control of a work machine (<NUM>);
an acquisition device (<NUM>, <NUM>) adapted to acquire at least one of a position or an attitude of the work machine (<NUM>);
a controller (<NUM>) adapted to switch between an enabled state, in which the operation restriction control of the work machine (<NUM>) in the work area (<NUM>) is enabled, and a disabled state, in which the operation restriction control of the work machine (<NUM>) in the work area (<NUM>) is disabled, and, when the operation restriction control is switched to the enabled state, perform the operation restriction control of the work machine (<NUM>) in the work area (<NUM>); and
characterised by a designated area setting device (<NUM>) adapted to set any given designated area in a worksite and an enable or disable setting of the operation restriction control in the work area (<NUM>) depending on the designated area,
wherein, when the work machine (<NUM>) intrudes on the designated area, the controller (<NUM>) puts the operation restriction control in the work area (<NUM>) to an enabled state or disabled state according to the enable or disable setting of the operation restriction control depending on the designated area set in the designated area setting device (<NUM>).