Work machine

Abstract

Provided is a work machine capable of automatic with reduced burden on a worker. The work machine includes a controller that controls driving of an upper turning body and a work device to make the upper turning body and the work device perform a designated motion. The controller revises the designated motion, when a restriction target part of the work device will be protruded beyond a preset allowable area during the designated motion, to keep the restriction target part from being protruded beyond the allowable area.

1 . A work machine comprising:
 a lower traveling body;   an upper turning body mounted on the lower traveling body capably of turning;   a work device attached to the upper turning body capably of performing a work motion; and   a controller that controls driving of the upper turning body and the work device so as to make the upper turning body and the work device perform a designated motion that is designated in advance, wherein   the controller is configured to revise the designated motion, when a restriction target part of the work device will be protruded beyond an allowable area that is preset or there is a possibility that the restriction target part is protruded beyond the allowable area when the upper turning body and the work device performs the designated motion, so as to keep the restriction target part from being protruded beyond the allowable area.   
     
     
         2 . The work machine according to  claim 1 , wherein the controller is configured to set the allowable area. 
     
     
         3 . The work machine according to  claim 2 , wherein the controller is configured to set the allowable area based on a plurality of positions at which a predetermined part of the work device can be located. 
     
     
         4 . The work machine according to  claim 1 , wherein the controller is configured to set the allowable area based on information about an ambient condition at a work site. 
     
     
         5 . The work machine according to  claim 4 , wherein the controller is configured to set the allowable area based on information about the ambient condition that is managed by a management device that manages ambient condition at the work site. 
     
     
         6 . The work machine according to  claim 4 , further comprising an acquisition device that acquires information about an ambient condition of the work site, wherein the controller sets the allowable area based on information about the ambient condition acquired by the acquisition device. 
     
     
         7 . The work machine according to  claim 1 , wherein the controller is configured to perform: controlling driving of the upper turning body and the work device so as to make the restriction target part pass through a plurality of target points sequentially to make the upper turning body and the work device perform the designated motion; setting a transit point, when there is a possibility that the restriction target part of the work device is protruded beyond the allowable area between two target points selected from among the plurality of target points in the designated motion that is unrevised, between the two target points within the allowable area; and revising the designated motion so as to make the restriction target part pass through the transit point. 
     
     
         8 . The work machine according to  claim 7 , wherein the controller is configured to set the transit point on a line interconnecting the two target points. 
     
     
         9 . The work machine according to  claim 7 , wherein the controller is configured to set the transit point on a straight line passing through a downstream target point, which is a target point on a downstream side in the designated motion that is unrevised, selected from the two target points, the straight line being inclined to a horizontal plane at an angle formed between the horizontal plane and a direction of movement of the work device when the restriction target part passes through the downstream target point by the designated motion that is unrevised. 
     
     
         10 . The work machine according to  claim 7 , wherein the controller is configured to set the transit point on a straight line passing through a downstream target point, which is a target point on a downstream side in the designated motion that is unrevised, selected from the two target points, the straight line being inclined to a horizontal plane at an angle formed between the horizontal plane and a direction of movement of the restriction target part when the work device performs a predetermined word motion. 
     
     
         11 . The work machine according to  claim 1 , wherein the work device includes a bucket, which includes the restriction target part, and the designated motion includes an excavation motion for excavating an excavation object with the bucket, the work machine further comprising a height detection device that detects a height of a surface of the excavation object, wherein the controller is configured to horizontally shift a region in which the excavation motion is performed, when at least one of a start point and a terminal point of the excavation motion that is unrevised is an endpoint that is located at a height equivalent to a height of the surface and outside the allowable area, so as to locate the endpoint in the excavation motion that is revised at a height equivalent to the height of the surface. 
     
     
         12 . The work machine according to  claim 11 , wherein the controller is configured to revise the excavation motion, when a horizontal shift of the region of the excavation motion involves a decrease in an excavation amount by the excavation motion, to increase an excavation depth so as to compensate for an amount of the decrease in the excavation amount, the excavation depth being a depth by which the excavation object is excavated by the bucket. 
     
     
         13 . The work machine according to  claim 12 , wherein the controller is configured to modify a trajectory of the bucket in a direction for smoothing the trajectory with increasing the excavation depth. 
     
     
         14 . The work machine according to  claim 1 , wherein: the work machine includes a bucket; the designated motion includes an excavation motion for excavating an excavation object with the bucket; and the controller is configured to set a ground angle of the bucket in the excavation motion that is revised, on the basis of a set angle that is a preset ground angle of the bucket, with a revision of the excavation motion. 
     
     
         15 . The work machine according to  claim 14 , wherein the controller is configured to set the ground angle of the bucket at which the bucket is penetrated into the excavation object in the excavation motion that is revised to an angle equal to a ground angle of the bucket at which the bucket is penetrated into the excavation object by the excavation motion that is unrevised. 
     
     
         16 . The work machine according to  claim 14 , wherein the controller is configured to set the ground angle of the bucket at which the bucket is extracted from the excavation object in the excavation motion that is revised to an angle equal to a ground angle of the bucket at which the bucket is extracted from the excavation object in the excavation motion that is unrevised. 
     
     
         17 . The work machine according to  claim 14 , wherein the controller is configured to set the ground angle of the bucket in at least a part of the excavation motion that is revised, based on respective ground angles of the bucket at a start point and a terminal point of the excavation motion that is unrevised and respective path lengths of trajectories of a tip of the bucket in the excavation motion that is unrevised and the excavation motion that is revised. 
     
     
         18 . The work machine according to  claim 14 , wherein the controller is configured to set the ground angle of the bucket in at least a part of the excavation motion that is revised, based on respective ground angles of the bucket at a start point and a terminal point of the excavation motion that is unrevised and a horizontal distance between the start point and the terminal point in each of the excavation motion that is unrevised and the excavation motion that is revised. 
     
     
         19 . The work machine according to  claim 14 , wherein the controller is configured to set the ground angle of the bucket at a lowest point of a trajectory of a tip of the bucket to an angle equal to or less than a ground angle at which a bottom surface of the bucket is horizontal. 
     
     
         20 . The work machine according to  claim 1 , wherein the controller is configured to make a notification device notify a revision of the designated motion. 
     
     
         21 . The work machine according to  claim 1 , wherein the controller is configured to stop respective motions of the upper turning body and the work device when judging it difficult to make the upper turning body and the work device perform the revised designated motion. 
     
     
         22 . The work machine according to  claim 1 , further comprising a position detection device that detects a coordinate of a position of at least one of the lower traveling body, the upper turning body and the work device in a coordinate system of a work site, wherein the controller is configured to set the allowable area in the coordinate system of the work site and to update the allowable area based on a change in the coordinate of the position detected by the position detection device. 
     
     
         23 . The work machine according to  claim 1 , wherein the restriction target part is a tip of the work device. 
     
     
         24 . The work machine according to  claim 1 , wherein the controller is configured to make a motion information display device display information about the designated motion and information about a result of the revision. 
     
     
         25 . The work machine according to  claim 1 , wherein the controller is configured to make the position information display device display information about the allowable area and information about relative positions of the upper and work devices relative to the allowable area.