Abstract: A work machine controller is configured to, when in a swinging operation, identify a circumferential operation start position of the tip of an arm based on a detected posture of the work device, and identify an angular interference prevention position in a swing direction that does not interfere between a vessel being loaded and the work device. A lower limit value of a height direction of the work device corresponding to the angular position in the swing direction of the arm is calculated to be within an operating range of the swing body from the identified operation start position to the interference prevention position. While the swinging body is in motion, the controller invalidates the operation of the arm and controls the movement of the boom and the swinging body so that the height of the tip of the arm does not fall below the lower limit value.

Abstract: A hydraulic excavator for performing cooperative work with another hydraulic excavator or a worker includes: a driving device that makes the hydraulic excavator operate; a cooperative function device that shares information about the hydraulic excavator with an inside and an outside of the hydraulic excavator; and a controller that controls the driving device that makes the hydraulic excavator operate, the controller, when there is an abnormality in the cooperative function device, controlling the driving device so as to limit operation of the hydraulic excavator, and when the hydraulic excavator is performing the cooperative work, controlling the driving device so as to make a degree of limitation on the operation of the hydraulic excavator stronger than when the hydraulic excavator is not performing the cooperative work. It is thereby possible to suppress an unnecessary decrease in work efficiency by suppressing an excessive operation limitation on the hydraulic excavator.

Abstract: Operations of an upper swing structure and a front work device are controlled such that a swing operation of the upper swing structure starts after a work tool starts only a lifting operation. The lifting operation and the swing operation are performed until the work tool reaches a height position of a passing position and only the swing operation is performed after the work tool reaches the height position of the passing position. The swing operation of the upper swing structure starts to decelerate at a swing deceleration start position, and only the swing operation is performed until the work tool reaches a swing position of the passing position to pass through the passing position. Accordingly, it is possible to reduce the discomfort feeling of an operator while realizing interference prevention at the time of a loading operation and a stop during the loading operation.

Abstract: Provided is an agent control system of the like in which an agent can perform predetermined tasks during monitoring. The agent control system comprises: a monitoring status evaluation unit that calculates a monitoring evaluation index indicating the quality of the monitoring status for each location within a predetermined area on the basis of monitoring information sent from an agent moving within the predetermined area; a global route generation unit that generates a route plan for the agent on the basis of business management information including the agent's destination and task type, and the monitoring evaluation index; and a route plan transmission unit that transmits route plan data to the agent.

Abstract: Upon determining that the work apparatus will not enter a prohibited area set on the basis of output of a second position calculator of a carrier, the system computes, on the basis of the result of a prediction computation, first input of the dynamic characteristic with which a distal end of the work apparatus approaches a target position set on the basis of the output of the second position calculator. Upon determining that the work apparatus will enter the prohibited area, the system computes second input of the dynamic characteristic with which the distal end targets and approaches a position that is closer to the target position than the position of the distal end of the work apparatus at a position different from the target position outside the prohibited area, and the system computes control input for controlling the operation of the loader.

Abstract: This autonomous control system: calculates the position of an object to be controlled (first object); identifies an attribute of an object not to be controlled (second object); calculates the position of the second object; evaluates the degree of deviation of the movement trajectory of the second object from a predicted movement trajectory of the second object corresponding to the attribute of the second object; determines a safety standard related to the action of the first object, on the basis of the attribute of the second object and the degree of deviation from the predicted movement trajectory; and, on the basis of the position of the first object, the position of the second object, and the safety standard, corrects the action of the first object such that the first object becomes less likely to approach the second object as the safety standard becomes higher.

Abstract: Provided are an agent management system and method capable of calculating, in real time, a route plan for efficiently moving a large number of agents. This agent management system is characterized by comprising agents that can move within a management area, and local calculation units that determine movement routes for moving the agents from initial positions to target positions, wherein the management area is divided into a plurality of control areas, and wherein each local calculation unit is provided for a respective control area, determines a movement route for the agents within the control area, and assigns the movement route to these agents.

Abstract: An automated operation controller 45 of an automated work system 10 includes: a work status management section 452 that selects a work content according to a work DB 456 that records a work plan for a hydraulic excavator 1 and a work order in the work plan, creates an operation plan based on the selected work content and information on the surrounding environment measured by laser scanners 34, and outputs a control signal to a vehicle body controller 41 based on the operation plan; and an abnormal object detection section 454 that detects an abnormal object present on a work site based on the information on the surrounding environment measured by the laser scanners 34. When the execution of the operation plan is determined to be hindered by the presence of the abnormal object, the work status management section 452 selects another work content from the work plan.

Abstract: Provided is a work machine capable of appropriately controlling a loading work onto a carrier machine by verifying validity of a recognition result of the carrier machine. A hydraulic excavator includes an external measuring device that measures a surrounding environment, an information processing device that recognizes a dump truck present around the hydraulic excavator based on a measurement result of the external measuring device, a control device that controls an operation of the hydraulic excavator based on a recognition result of the information processing device, and a truck information acquisition device that acquires a position and vehicle class information of the dump truck through external communication. The information processing device corrects the recognition result of the dump truck based on the information acquired by the truck information acquisition device. The control device controls the operation of the hydraulic excavator based on the corrected recognition result of the dump truck.

Abstract: A controller for a work machine is configured to, upon a swing operation being performed, identify the starting position of the movement of the tip of the arm, and a collision avoidance position between that position and the side part of the vessel; and calculate a lower limit value that becomes larger as it gets closer to the collision avoidance position and becomes a collision avoidance height at the collision avoidance position, within the range from the starting position of the movement to the collision avoidance position. The controller, while the swinging body is in motion, is configured to invalidate the operation of the arm and control the movement of the boom and the swinging body so that the height of the tip of the arm does not fall below the lower limit value. The controller is configured to enable the operation of the arm when the tip of the arm exceeds the collision avoidance position.

Abstract: A work machine control system includes: a monitoring apparatus that detects a position and an action of a person in a monitored area set around a hydraulic excavator; and a controller that generates a control signal for limiting an action of the hydraulic excavator on the basis of a positional relation between the hydraulic excavator and a detected person detected by the monitoring apparatus, and controls the hydraulic excavator on the basis of the control signal. The controller determines which of a cooperating worker and a non-cooperating worker the detected person is, on the basis of an action of the detected person; and changes an allowable velocity of the work machine at a time of limiting an action of the work machine on the basis of a result of the determination or on the basis of the result of the determination and the action of the work machine.

Abstract: Provided is a work machine that allows assisting a loading work without giving uncomfortable feeling to an operator. The control device 40 of the work machine 1 includes an allowable range calculation section 46 that calculates an allowable range indicating a range in which the front work device 2 is movable in a height direction allowed in a swing operation; an operation determining section 45 that determines whether the work machine 1 is under a convey operation; and an operation control section 4 that controls a turn operation of a boom 8 such that the position of the front work device 2 in the height direction remains within the allowable range when the work machine 1 is determined to be under the convey operation.

Abstract: The posture of a work machine is computed on the basis of posture information about the work machine output from a posture measurement device. A loading area which is an area where a transporting machine stops and where loading work by the work machine to load the transporting machine is performed is set. On the basis of the posture of the work machine, it is assessed whether or not the work machine can sense, with an external environment measurement device, the transporting machine having stopped in the loading area. When it is assessed that the work machine can sense the transporting machine, the transporting machine is sensed on the basis of measurement information output from the external environment measurement device. Accordingly, it is possible to more accurately sense the position of the vessel of the stopped transporting machine and to appropriately assist loading work by the work machine.

Abstract: An autonomous control system includes a state amount acquiring unit that acquires the information of a control target, a control target position identification unit, a control target reaching region calculation unit, an outside information acquiring unit, a target distinguishing unit, a non-control target position identification unit, a non-control target reaching region calculation unit, an intersection region calculation unit, a control parameter setting unit, and an operation amount calculation unit that calculates a control input such that the value of an objective function J becomes a smaller value than the previous value.

Abstract: Operations of an upper swing structure and a front work device are controlled such that a swing operation of the upper swing structure starts after a work tool starts only a lifting operation. The lifting operation and the swing operation are performed until the work tool reaches a height position of a passing position and only the swing operation is performed after the work tool reaches the height position of the passing position. The swing operation of the upper swing structure starts to decelerate at a swing deceleration start position, and only the swing operation is performed until the work tool reaches a swing position of the passing position to pass through the passing position. Accordingly, it is possible to reduce the discomfort feeling of an operator while realizing interference prevention at the time of a loading operation and a stop during the loading operation.

Abstract: In a work machine, when on a travel plane S of crawler belts, a straight line passing through a predicted travel point P1 a given distance from the crawler belts and having a maximum climbing angle is assumed to be a first line L1, and a line connecting an installation position of a distance sensor and the predicted travel point P1 is assumed to be a second line L2. The distance sensor measures a distance to a ground surface on the second straight line L2. A controller calculates a height H1 of a predicted travel region T based on a result of the distance sensor and a detection result of a turning angle sensor, and determines whether a height difference H3 between a height H1 of the predicted travel region T and a height H2 of the travel plane S is equal to or greater than a threshold.

Abstract: A work machine includes a second pilot line that introduces a hydraulic fluid from a pilot hydraulic fluid source to a pilot valve bypassing a first gate lock valve, a second gate lock valve that is disposed on the second pilot line and that is configured to be switched to an open position for allowing the supply of the hydraulic fluid to the pilot valve or a closed position for interrupting the supply of the hydraulic fluid, and a controller that controls the second gate lock valve on the basis of a second remote operation signal transmitted from a remote operation apparatus and that controls the pilot valve according to a first remote operation signal transmitted from the remote operation apparatus. In a state where the first gate lock valve is at a closed position, the second gate lock valve is allowed to be controlled by the controller when stairs are in a retracted state, and is kept at the closed position irrespective of the second remote operation signal when the stairs are in an extended state.

Abstract: In a case that a change instruction to instruct to change a work area A1 to a requested work area A2 is input, whether or not change of the work area A1 to the requested work area A2 is possible is judged on the basis of the work area A1, location information of a machine main body configured by an upper swing structure 10 and a lower track structure 9, and posture information of a work device 15, and the work area A1 is overwritten with the requested work area A2 to change the work area in an only case that it is judged that change is possible. This can suppress interference between plural work machines.

Abstract: An articulated-type front work implement has a boom, an arm, and a bucket that are driven members coupled to each other; a boom cylinder, an arm cylinder and a bucket cylinder that are hydraulic actuators each of which drives a corresponding one of the plurality of driven members on the basis of an operation signal; a plurality of operation members each outputting the operation signal to one of the hydraulic actuators; and a controller that outputs the operation signal to at least one of the plurality of hydraulic actuators or executes area limiting control of correcting the output operation signal such that the front work implement moves on a target surface preset for a work target of the front work implement or within an area above the target surface, and corrects the operation signal on the basis of information related to operation of the hydraulic actuator.

Abstract: An object of the present invention is to provide a work management system that enables efficient extraction of approach events that are likely to result in contact between a work machine and a worker.