Work assistance system

Abstract

To reduce position deviation that may cause a serious problem while mitigating a decrease in work efficiency.SOLUTION: A work assistance system 1 comprises a work machine 10 that performs work and a controller 50. The controller 50 includes an allowable range setting unit 57 which sets an allowable range A1 for position deviation of the work machine 10.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a work assistance system that reduces positional deviations of a work machine. [Background technology]

[0002] For example, Patent Document 1 describes that even if the position of a work machine is moved, the position information that was set before the work machine moved can be used. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2023-68408 Summary of the Invention [Problem to be solved by the invention]

[0004] On the other hand, if a positional deviation occurs in a work machine due to work being performed on a work object, it is possible that a serious problem that impedes work could occur. However, minor positional deviations that do not impede work occur frequently, and addressing each and every one of these would result in a decrease in work efficiency.

[0005] Therefore, an object of the present invention is to provide a work assistance system that can reduce the occurrence of positional deviations that can cause serious problems while reducing the decrease in work efficiency. [Means for solving the problem]

[0006] The work assistance system includes a work machine that performs work and a controller. The controller includes an allowable range setting unit that sets an allowable range for positional deviation of the work machine. [Effects of the Invention]

[0007] The above-described work assistance system can reduce the occurrence of positional deviations that could cause serious problems while reducing the decrease in work efficiency. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a side view of a work machine 10 and other components of the work assistance system 1. [Figure 2] FIG. 2 is a block diagram of the work assistance system 1 shown in FIG. [Figure 3] 3 is a flowchart of a positional deviation detection allowable range setting process executed by the controller 50 shown in FIG. 2 and the like. [Figure 4] 3 is a flowchart of a positional deviation allowable range contact determination process executed by the controller 50 shown in FIG. 2 and the like. [Figure 5] 3 is an explanatory diagram showing how the controller 50 shown in FIG. 2 sets the radius of the allowable range A1 based on the positional relationship between the lower body 11 and the working area A2. FIG. [Figure 6] 3 is an explanatory diagram showing how the controller 50 shown in FIG. 2 sets the radius of the allowable range A1 based on the positional relationship between the upper rotating body 13 and the working area A2. FIG. [Figure 7] 3 is a diagram showing an interface for manually setting an allowable range A1, which is displayed on an output unit 60 by the controller 50 shown in FIG. 2. FIG. [Figure 8] 3 is a diagram showing a machine allowable range A4 obtained by converting the allowable range A1 into machine coordinates, superimposed on the surrounding situation, which is displayed on the output unit 60 by the controller 50 shown in FIG. 2. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0009] The work assistance system 1 will be described with reference to the drawings.

[0010] The work assistance system 1 is a system that can reduce the possibility of positional deviation occurring in a work machine 10 (see FIG. 1). As shown in FIG. 2, the work assistance system 1 includes the work machine 10, a detection unit 31, an input unit 35, a controller 50 (computer), and an output device 60.

[0011] As shown in FIG. 1, the work machine 10 is a machine that performs work. The work machine 10 may be a construction machine that performs construction work, or a loading and unloading machine that performs loading and unloading work. The work machine 10 may be, for example, a shovel or a crane. The work machine 10 may be a bulldozer or a wheel loader. The following description will be given of the case where the work machine 10 is a shovel.

[0012] The work machine 10 may be one that operates in response to operation by a worker (operator). The work machine 10 may be configured to be operable by automatic control. The automatic control may be automatic operation or semi-automatic operation (machine control, described later). The work machine 10 may also operate in response to operation by a worker (operator) without using automatic control. For example, the work machine 10 may be operated by an operator in a cab 13a (described later), or may be remotely operated from outside the work machine 10.

[0013] The work machine 10 comprises a machine body 10a, an attachment 15, a drive control unit 17, an actuator 21, and an engine (not shown). The machine body 10a is the main body portion of the work machine 10. The machine body 10a comprises a lower body 11 and an upper rotating body 13.

[0014] The lower body 11 rotatably supports the upper rotating body 13. The lower body 11 may be a lower traveling body that can travel on a traveling surface (such as the ground). When the lower body 11 is capable of traveling, the lower body 11 may be provided with crawlers or wheels.

[0015] The upper rotating body 13 is mounted on the lower main body 11 so as to be able to rotate. A boom 15b (described later) and other components are attached to the upper rotating body 13. The upper rotating body 13 is equipped with a cab 13a, a rotating frame (not shown), and a counterweight (not shown). The cab 13a is the section where an operator can operate the work machine 10. When the work machine 10 operates in response to the operator's operation, the work machine 10 may be operated by the operator in the cab 13a, or may be remotely operated from outside the work machine 10. The rotating frame is a structure to which the boom 15b and other components are attached. The counterweight is a weight used to balance the work machine 10 in the fore-and-aft direction.

[0016] (direction) The direction in which the rotation axis of the upper rotating body 13 extends relative to the lower main body 11 is defined as the up-down direction Z. In the up-down direction Z, the side (facing) from the lower main body 11 toward the upper rotating body 13 is defined as the upper side Z1, and the opposite side is defined as the lower side Z2. The up-down direction Z may be a vertical direction. The direction in which the upper rotating body 13 rotates relative to the lower main body 11 is defined as the rotation direction. The direction perpendicular to both the up-down direction Z and the rotation direction of the upper rotating body 13 is defined as the front-to-rear direction X. When viewed from the up-down direction Z, the front-to-rear direction X is the direction in which the central axis of the attachment 15 extends in the longitudinal direction of the attachment 15 (the front-to-rear direction X of the attachment 15). In the front-to-rear direction X, the side from which the attachment 15 protrudes relative to the upper rotating body 13 is defined as the rear side X1, and the opposite side is defined as the front side X2.

[0017] The attachment 15 is the part that performs work. The attachment 15 is attached to the machine body 10a. For example, the attachment 15 includes a boom 15b, an arm 15c, and a tip attachment 15d (specific parts). The boom 15b is attached to the upper rotating body 13 so as to be rotatable (able to be raised and lowered, and rotatable in the forward / backward direction X and the upward / downward direction Z). The arm 15c is attached to the boom 15b so as to be rotatable (able to be rotatable in the forward / backward direction X and the upward / downward direction Z).

[0018] The tip attachment 15d is provided at the tip of the attachment 15. The tip attachment 15d is rotatably attached to the arm 15c (rotatable in the forward / backward direction X and the upward / downward direction Z). The tip attachment 15d may be a bucket capable of scooping and digging a work object. The tip attachment 15d may be equipped with a device for clamping a work object (grapple, nibbler, rotating fork, etc.), a device for crushing a work object (breaker, etc.), or a magnet for attracting a metal work object.

[0019] The work object is an object that is the target of work by the work machine 10. The work object may be soil or sand, rock, a magnetic material (metal, etc.), resin, waste, wood (logs, etc.), or a structure (block, etc.). If the work object is soil or sand, the work object may be in soil, granules, chips, powder, etc.

[0020] The drive control unit 17 (see FIG. 2) controls the actuator 21. The drive control unit 17 may include a hydraulic circuit that controls a hydraulic actuator that is operated by hydraulic pressure. The drive control unit 17 may include an electric circuit that controls an electric actuator that is operated by electricity. The drive control unit 17 controls the actuator 21 that moves the work machine 10.

[0021] The drive control unit 17 (see FIG. 2) controls the travel of the lower body 11. The drive control unit 17 controls the swing motor 21a that swings the upper swing body 13 relative to the lower body 11. The drive control unit 17 controls the boom cylinder 21b that rotates (raises and lowers) the boom 15b relative to the upper swing body 13. The drive control unit 17 controls the arm cylinder 21c that rotates the arm 15c relative to the boom 15b. The drive control unit 17 controls the tip attachment cylinder 21d that rotates the tip attachment 15d relative to the arm 15c.

[0022] The actuator 21 is a device that moves the work machine 10. The actuator 21 may be a hydraulic actuator that is powered by hydraulic pressure, or an electric actuator that is powered by electricity. The actuator 21 may be a motor that drives rotation, or a cylinder that drives extension and retraction (telescopic cylinder).

[0023] The actuator 21 includes a travel motor (not shown), a swing motor 21a, a boom cylinder 21b, an arm cylinder 21c, and a tip attachment cylinder 21d. The travel motor moves the lower body 11. For example, if the lower body 11 has left and right crawlers, a travel motor for driving the left crawler and a travel motor for driving the right crawler are provided. The travel motors may be, for example, hydraulic motors or electric motors (the same applies to the swing motor 21a). The swing motor 21a swings the upper swing body 13 relative to the lower body 11. The boom cylinder 21b raises and lowers the boom 15b relative to the upper swing body 13. The boom cylinder 21b is, for example, a hydraulic cylinder (the same applies to the arm cylinder 21c and the tip attachment cylinder 21d). The arm cylinder 21c rotates the arm 15c relative to the boom 15b. The tip attachment cylinder 21d rotates the tip attachment 15d relative to the arm 15c. If the tip attachment 15d itself is drivable, for example, as a device for clamping an object, an actuator 21 for driving the tip attachment 15d may be provided.

[0024] The detection unit 31 (see FIG. 2) detects various conditions. Part or all of the detection unit 31 may be mounted on the work machine 10, or may be located outside the work machine 10. The same applies to the input unit 35, controller 50, and output device 60, which will be described later, that the detection unit 31 may be mounted on the work machine 10, or may be located outside the work machine 10.

[0025] 2, the detection unit 31 includes a position detection unit 311, an imaging device 312, a direction detection unit 313, an attitude detection unit 314, and a load detection unit 315. The position detection unit 311 detects the position of an object to be measured. The position detection unit 311 detects the position of a specific part of the work machine 10. For example, the position detection unit 311 may detect the position of a specific part of the upper rotating body 13, or may detect the position of a specific part of the attachment 15.

[0026] The position detection unit 311 may detect the position using electromagnetic waves (light, radio waves, etc.). The position detection unit 311 may use a satellite positioning system, for example, a global navigation satellite system (GNSS). The position detection unit 311 may use a (terrestrial) transmitter and receiver without using a satellite, or may use reflection of light (e.g., laser light) (e.g., a total station, etc.). The position detection unit 311 may calculate the position of the measurement object based on position information detected by multiple types of devices.

[0027] The imaging device 312 captures an image of an object to be imaged. The object to be imaged may include the work machine 10 (see FIG. 1), or may include the surroundings of the work machine 10. The imaging device 312 may detect a two-dimensional image, or may detect a three-dimensional image (distance image) having depth information. If the coordinate system of the spatial information detected by the imaging device 312 differs from the coordinate system of the work machine 10 (machine coordinates), these coordinates are unified (converted). The imaging device 312 may be of a passive type or an active type. Specifically, the imaging device 312 may be equipped with a camera (monocular camera) that detects two-dimensional information. The imaging device 312 may be equipped with a stereo camera that detects three-dimensional information.

[0028] The imaging device 312 may detect three-dimensional information of an object to be imaged by irradiating the object with waves such as electromagnetic waves and detecting the reflected waves. The imaging device 312 may be equipped with a TOF (Time Of Flight) sensor that detects distance based on the time from when the waves are emitted until the reflected waves return, or may be equipped with a sensor that detects distance based on the frequency of the reflected waves. The imaging device 312 may be equipped with a device that detects three-dimensional information using light (e.g., laser light), such as a LiDAR (Light Detection and Ranging). The imaging device 312 may be equipped with a device that detects three-dimensional information using radio waves (e.g., millimeter-wave radar).

[0029] Only one imaging device 312 may be provided, or multiple imaging devices 312 may be provided. Only one type (such as one system) of imaging device 312 may be used, or multiple types of imaging devices 312 may be combined. The imaging device 312 may detect three-dimensional information of the imaging target based on a three-dimensional image (distance image) and a two-dimensional image. The imaging device 312 may be mounted on the work machine 10, or may be located outside the work machine 10 (for example, at the work site). If the imaging device 312 is located outside the work machine 10, it may be able to detect positions that cannot be detected when the imaging device 312 is mounted only on the work machine 10 (for example, areas shaded by the attachment 15 (see FIG. 1)).

[0030] The direction detection unit 313 detects the direction (orientation, posture) of the object to be measured. The direction detection unit 313 detects the direction of a specific part of the work machine 10 (see FIG. 1). For example, the direction detection unit 313 may detect the direction of a specific part of the upper rotating body 13, or may detect the direction of a specific part of the attachment 15. The direction detection unit 313 may detect the orientation of the object to be measured using geomagnetism. The direction detection unit 313 may detect the direction of the object to be measured based on the positions of multiple parts of the object to be measured relative to the work site.

[0031] The attitude detection unit 314 detects the attitude of the work machine 10. The attitude detection unit 314 may be mounted on the work machine 10 (see FIG. 1 ) or may be arranged outside the work machine 10 (for example, at a work site, etc.). The attitude detection unit 314 may be mounted on the work machine 10 or arranged outside the work machine 10.

[0032] The attitude detection unit 314 may detect the position and orientation of the work machine 10 (see FIG. 1) relative to the work site. The attitude detection unit 314 may detect the position and orientation of a reference position of the work machine 10 relative to the work site. The reference position of the work machine 10 is, for example, a specific position of the upper rotating body 13 (see FIG. 1) or the lower body 11 (see FIG. 1). The reference position of the work machine 10 may be the attachment portion (boom foot) of the boom 15b (see FIG. 1) to the upper rotating body 13 (see FIG. 1), or a specific position on the rotation center axis of the upper rotating body 13 relative to the lower body 11. The attitude detection unit 314 may detect the inclination of the work machine 10 with respect to the horizontal plane. The attitude detection unit 314 may detect rotation information (angle, angular velocity, angular acceleration, etc.) of the upper rotating body 13 relative to the lower body 11. The attitude detection unit 314 may detect information (such as angle, angular velocity, and angular acceleration) about the rotation of the boom 15b relative to the upper rotating body 13. The attitude detection unit 314 may detect information about the rotation of the arm 15c relative to the boom 15b. The attitude detection unit 314 may detect information about the rotation of the bucket relative to the arm 15c.

[0033] The attitude detection unit 314 may be equipped with one or more types of detection devices. The attitude detection unit 314 may be equipped with a detection device (e.g., a rotary encoder, etc.) that detects information about the angle of a certain element of the work machine 10 (see FIG. 1) relative to other elements. The attitude detection unit 314 may be equipped with a stroke sensor that detects the stroke of a cylinder that moves the attachment 15 (see FIG. 1). The attitude detection unit 314 may be equipped with an inclination sensor that detects an angle (inclination) relative to the horizontal direction. The attitude detection unit 314 may be equipped with a sensor (e.g., a gyro sensor) that detects angular velocity relative to the work site, or may be equipped with a sensor that detects acceleration relative to the work site. The attitude detection unit 314 may be equipped with an inertial measurement unit or the like. The attitude detection unit 314 may be equipped with the position detection unit 311 described above. In this case, the attitude detection unit 314 may detect the attitude of a specific part (one or more parts) of the work machine 10 based on position information detected by the position detection unit 311. The attitude detection unit 314 may include a direction detection unit 313 that detects the direction of a particular part of the work machine 10 .

[0034] The attitude detection unit 314 may be equipped with the above-mentioned imaging device 312. The attitude detection unit 314 may detect the attitude of the work machine 10 (see FIG. 1) based on image recognition of a two-dimensional image. The attitude detection unit 314 may detect the attitude of the work machine 10 based on a three-dimensional image (distance image). The attitude detection unit 314 may detect the attitude of the work machine 10 based on a three-dimensional image (distance image) and a two-dimensional image.

[0035] Specifically, the attitude detection unit 314 includes a reference position detection unit 314a, an inclination detection unit 314b, a rotation detection unit 314c, a boom detection unit 314d, an arm detection unit 314e, and a tip attachment detection unit 314f.

[0036] The reference position detection unit 314a detects the position and orientation of a reference position (reference position) of the work machine 10 (see FIG. 1) relative to the work site. The reference position of the work machine 10 is, for example, a specific position on the upper rotating body 13 (see FIG. 1) or the lower main body 11 (see FIG. 1). The reference position of the work machine 10 may be the attachment portion (boom foot) of the boom 15b to the upper rotating body 13, or may be a specific position on the rotation center axis of the upper rotating body 13 relative to the lower main body 11. The reference position detection unit 314a detects the position and orientation relative to the work site based on information detected by, for example, one or more of the position detection unit 311, direction detection unit 313, and image capture device 312.

[0037] In Figure 1, the position of the GNSS antenna is marked with the symbol of the reference position detection unit 314a (and the position detection unit 311) when the reference position detection unit 314a (and the position detection unit 311) performs detection using a positioning system using GNSS.

[0038] The inclination detection unit 314b detects the inclination of the work machine 10 (see FIG. 1) relative to the horizontal direction. The inclination detection unit 314b may detect the inclination of the work machine 10 relative to the ground. The inclination detection unit 314b may detect the inclination of the work machine 10 based on information detected by a device that detects inclination relative to the horizontal direction (such as a gyro sensor, an acceleration sensor, or an inertial measurement unit). The inclination detection unit 314b may detect the inclination of the work machine 10 relative to the horizontal direction based on information detected by one or more of the position detection unit 311, the direction detection unit 313, and the imaging device 312, for example.

[0039] The rotation detection unit 314c detects the rotation angle of the upper rotating body 13 (see FIG. 1) relative to the lower body 11 (see FIG. 1). The rotation detection unit 314c may detect information (such as angle, angular velocity, and angular acceleration) about the rotation of the upper rotating body 13 relative to the lower body 11. The rotation detection unit 314c may detect the angle of rotation (rotation angle) of the upper rotating body 13 relative to the lower body 11, the angular velocity (rotation angular velocity), or the angular acceleration (rotation angular acceleration). The rotation detection unit 314c may detect the rotation information based on information detected by an angle sensor attached to the rotation axis or rotation support part (such as a rotation bearing) of the upper rotating body 13 relative to the lower body 11. The rotation detection unit 314c may detect the rotation information based on information detected by one or more of the position detection unit 311, the direction detection unit 313, and the imaging device 312.

[0040] The boom detection unit 314d detects the attitude of the boom 15b (see FIG. 1). The boom detection unit 314d detects the angle (tilt, rotation angle) of the boom 15b with respect to the horizontal direction or with respect to the upper rotating body 13 (see FIG. 1). The arm detection unit 314e and the tip attachment detection unit 314f may also detect the angle with respect to the horizontal direction or with respect to the components of the work machine 10 (see FIG. 1). The boom detection unit 314d may detect the attitude of the boom 15b based on information detected by one or more of the position detection unit 311, the direction detection unit 313, and the imaging device 312.

[0041] The arm detector 314e detects the posture of the arm 15c (see FIG. 1). The tip attachment detector 314f detects the posture of the tip attachment 15d (see FIG. 1). Specific examples of the arm detector 314e and the tip attachment detector 314f are similar to the specific example of the boom detector 314d.

[0042] The load detection unit 315 detects a load (load, excavation load) acting on the attachment 15 (see FIG. 1). The load detection unit 315 detects a load acting on the tip attachment 15d (see FIG. 1). The load detection unit 315 may detect the load acting on the attachment 15 based on a load acting on the actuator 21 (specifically, the cylinder) (see FIG. 1). The load detection unit 315 may detect the load acting on the attachment 15 based on distortion (deformation) of the attachment 15 or distortion of the cylinder. The load detection unit 315 may utilize a function (payload function) of detecting the mass of a work object captured by the tip attachment 15d.

[0043] The input unit 35 is used to input information (input device). The input unit 35 is used to input information used for control. The input unit 35 may be operated by an operator and output a signal in response to the operation. The input unit 35 outputs information to the controller 50. The input unit 35 may include a touch panel, a mouse, a keyboard, or a switch. The input unit 35 may be provided on a tablet, a smartphone, or a personal computer. The input unit 35 may be provided on a client device or a server device. The input unit 35 may be provided on the work machine 10 (see FIG. 1), and may be provided, for example, in the cab 13a (see FIG. 1). The input unit 35 may be provided on a remote control device (not shown) for remotely controlling the work machine 10. The input unit 35 may be provided on an operation unit (e.g., an operation lever) (not shown) provided on the cab 13a or the remote control device, or may be provided on the operation unit or a display (e.g., a cluster gauge). The operation unit is operated by an operator. Operations for moving the work machine 10 are input to the operation unit. The operation unit may be provided in the driver's cab 13a, or may be provided in a remote control device for remotely operating the work machine 10.

[0044] The operation unit (not shown) outputs a command according to the operation. The operation unit may output a command according to the operation amount. The command output by the operation unit may be pilot hydraulic pressure or an electrical signal. The operation unit may include a hydraulic remote control valve or an angle sensor (e.g., a variable resistor). An operation (travel operation) for traveling the lower body 11 (see FIG. 1) may be input to the operation unit. An operation (swing operation) for rotating the upper rotating body 13 (see FIG. 1) relative to the lower body 11 may be input to the operation unit. An operation (attachment operation) for moving the attachment 15 (see FIG. 1) may be input to the operation unit. An operation (boom operation) for rotating the boom 15b (see FIG. 1) relative to the upper rotating body 13 may be input to the operation unit. An operation (arm operation) for rotating the arm 15c (see FIG. 1) relative to the boom 15b may be input to the operation unit. An operation (tip attachment operation) for rotating tip attachment 15d (see FIG. 1) relative to arm 15c may be input to the operation unit.

[0045] The controller 50 is a computer that inputs and outputs signals, performs calculations (processing), stores information, and so on. The functions of the controller 50 are realized by executing a program stored in a memory unit (not shown) of the controller 50 in a calculation unit (not shown). The controller 50 may be connected to other devices via wireless communication or wired communication. The components of the controller 50 may be connected to each other via wireless communication or wired communication. For example, communication is performed via a communication means such as a mobile phone line, an optical fiber line, a wireless LAN (Local Area Network), or a wired LAN. For example, information is input to the controller 50 from the detection unit 31. For example, the controller 50 outputs a command (signal) to the drive control unit 17 to operate the work machine 10 (see FIG. 1). For example, the controller 50 outputs information to the output unit 60. The controller 50 may be mounted on the work machine 10 or may be located external to the work machine 10. The controller 50 may be distributed across multiple units (a distributed system may be configured). Specific processing performed by the controller 50 will be described later.

[0046] The controller 50 comprises a calculation unit and a memory unit. The calculation unit calculates (processes) information. The memory unit stores information. Focusing on the functions of the controller 50, the controller 50 comprises a work plan setting unit 51, an operation control unit 53, a surrounding situation recognition unit 55, and an allowable range setting unit 57. Below, the components of the work machine 10 will be described mainly with reference to FIG. 1, and the components of the controller 50 will be described with reference to FIG. 2. Furthermore, the steps of the flowchart will be described with reference to FIGS. 3 and 4.

[0047] The work plan setting unit 51 sets a work plan for the work machine 10 (see Figure 1). The work plan is information related to the work target of the work machine 10. The work plan may include information on the target route for travel of the work machine 10. The work plan may include information on the target range (e.g., target capture range, target release range) in which the attachment 15 (see Figure 1) will perform work. The work plan may include information on the target path of a specific part of the attachment 15. The target path is information including, for example, information on the positions (coordinates) of multiple target points and information on the order of each target point. The work plan may include information on the target trajectory of the specific part. The target trajectory is information in which time information is added to the target path information. The time information may be the time between two points, or may be information on time, etc. The time between two points is the target value for the movement time of the specific part between two adjacent (sequential) target points. The time information is information such as the time at which the specific part arrives at the target point. By adjusting the time information, the target moving speed of the specific part is adjusted.

[0048] Parameters representing positions in a work plan can be set in various ways. In a work plan, parameters representing the position of specific parts of the attachment 15 (see FIG. 1) may be set in any way as long as they are parameters from which the attitude of the work machine 10 (see FIG. 1) can be derived. Coordinate axes of parameters representing positions in a work plan may be set in any way. These parameters may be represented by coordinate axes (absolute coordinates) based on the work site. The origins (reference positions) of these coordinate axes may be set at the work site. Parameters representing positions in a work plan may be represented by coordinate axes (machine coordinates) based on the work machine 10. The origins of these coordinate axes may be set at specific parts of the work machine 10, for example, at specific parts of the upper rotating body 13 (see FIG. 1). Specifically, for example, the origin of these coordinate axes may be set at the attachment portion (boom foot pin) of the boom 15b (see FIG. 1) to the upper rotating body 13, or at the center of rotation of the upper rotating body 13 with respect to the lower body 11 (see FIG. 1). Specifically, the work plan may include information on the forward / backward direction X, the up / down direction Z, the swing angle, and the angle (posture) of the tip attachment 15d (see FIG. 1). The information on the forward / backward direction X may be, for example, information on the distance from the origin of the coordinate axes to a specific part of the attachment 15 (e.g., the tip of the tip attachment 15d). The information on the up / down direction Z may be, for example, information on the height from the origin of the coordinate axes to the specific part of the attachment 15. The information on the angle of the tip attachment 15d may be, for example, information on the angle of the tip attachment 15d relative to the horizontal direction, or information on the angle of the tip attachment 15d relative to the arm 15c. The parameters representing the position in the work plan may include the position of the actuator 21 that moves the work machine 10 (e.g., the stroke position of a cylinder, the rotation angle of a motor, etc.).

[0049] The work plan setting unit 51 sets a plurality of work phases (work contents) included in the work plan. Specifically, for example, the work phases include a capture phase, a lifting and swinging phase, a release phase, and a return swing phase. The capture phase is a phase in which the tip attachment 15d (see FIG. 1) captures a work object within a target capture range (e.g., excavating earth and sand). For example, the target capture range is set to a location where the work objects have been collected (e.g., a pile of earth and sand). The lifting and swinging phase is a phase in which, after the tip attachment 15d has captured the work object, a specific part moves from the target capture range to a target release range. The release phase is a phase in which the tip attachment 15d releases the work object within a target release range (e.g., unloads earth). The target release range is set to, for example, a range above the bed of a transport vehicle. The return swing phase is a phase in which a specific part moves from the target release range to the target capture range. For example, a series of work phases including a capture phase, a lift-up swing phase, a release phase, and a return swing phase are repeatedly performed.

[0050] The work plan may be set by the worker operating the work machine 10 (see FIG. 1) (by teaching), or may be set by the worker operating the input unit 35 (by manual operation), or may be set automatically by the controller 50. The work plan may be corrected. The work plan may be corrected by the worker operating the input unit 35 (by manual operation). The work plan may also be corrected automatically by the controller 50 based on information detected by the detection unit 31 (for example, information about obstacles, etc.).

[0051] At least a part of the work plan may be set in the work plan setting unit 51 by teaching, or may be set in the work plan setting unit 51 by a method other than teaching (for example, numerical input, etc.). Teaching is performed as follows: A worker (operator) rides on the work machine 10 (see FIG. 1 ) and operates the work machine 10, or the worker remotely operates the work machine 10. For example, the worker operates the work machine 10 to place a specific part at a position (route, range) that is to be set as information about the work plan. The position where the specific part is placed is calculated based on the attitude of the work machine 10 detected by the attitude detection unit 314. The work plan setting unit 51 then sets the work plan based on the position where the specific part is placed. For example, the worker operates the work machine 10 to place a specific part at a specific position (for example, a position at a corner of the target capture range) in a range that is to be set as a target range (target capture range or target release range). The work plan setting unit 51 then sets the target range based on the position where the specific part is placed. For example, the worker operates the work machine 10 to move the specific part along the path that the worker wants to set as the target path. For example, the worker operates the work machine 10 to move the specific part along the path that the worker wants to set as the target trajectory at a speed that the worker wants to set as the target trajectory. Then, the work plan setting unit 51 sets the path (trajectory) along which the specific part has moved as the target path (trajectory).

[0052] The operation control unit 53 automatically controls the work machine 10 (see FIG. 1) so that the work machine 10 moves in accordance with the work plan. The operation control unit 53 outputs commands to the drive control unit 17 so that the work machine 10 moves in accordance with the work plan. The operation control unit 53 controls the movement of the work machine 10 based on the attitude detected by the attitude detection unit 314.

[0053] In this way, the operation control unit 53 controls the automatic operation of the work machine 10 (see FIG. 1) based on the target route (work plan). For example, specifically, the operation control unit 53 controls the automatic operation to perform earth and sand excavation work. More specifically, the operation control unit 53 has the following work phases of the target route that constitutes the excavation work: a capture phase in which earth and sand, which serves as the work object, is captured by the tip attachment 15d (see FIG. 1), a lifting and swinging phase in which the tip attachment 15d swings to a release position while holding the earth and sand, a release phase in which the earth and sand is released, and a return swinging phase in which the tip attachment 15d returns to the position where the earth and sand will be excavated.

[0054] (Operation of work machine 10) As described above, the work machine 10 (see FIG. 1) may be operated by an operator in the cab 13a (see FIG. 1), may be remotely operated by an operator from outside the work machine 10 (by a remote control device), or may be automatically driven. The work machine 10 is a machine that utilizes information and communication technology (ICT) (e.g., ICT construction machinery). For example, the work machine 10 may be operated by an operator using the function of a machine guidance (MG) system. Specifically, a work plan is set in the controller 50. Then, guidance such as the position where work should be done is shown to the operator so that the work machine 10 can work according to the work plan. This guidance is output, for example, to an output device provided in the cab 13a of the work machine 10 or an output device provided in the remote control device. Then, the operator operates the work machine 10 according to the guidance. As a result, the work machine 10 moves according to the work plan.

[0055] Furthermore, for example, the work machine 10 (see FIG. 1) may be operated by a machine control (MC) system (semi-automatic operation). Specifically, a work plan is set in the controller 50. Then, for example, the worker operates only some of the elements of the attachment 15 (see FIG. 1) (for example, only the boom 15b (see FIG. 1)). At this time, the controller 50 automatically controls the elements not operated by the worker (for example, the arm 15c (see FIG. 1) and the tip attachment 15d (see FIG. 1)) so that the work machine 10 moves in accordance with the work plan. At this time, the controller 50 controls the operation of the work machine 10 based on information detected by the attitude detection unit 314 (the same applies to automatic operation). As a result, the work machine 10 moves in accordance with the work plan. Furthermore, for example, the work machine 10 may be operated by automatic operation. In this case, the controller 50 controls the operation of the work machine 10 so that the work machine 10 automatically moves in accordance with the work plan.

[0056] The surrounding condition recognition unit 55 recognizes the surrounding conditions of the work machine 10. The surrounding condition recognition unit 55 may recognize the surrounding conditions based on the surrounding conditions detected by the detection unit 31. The surrounding condition recognition unit 55 may also recognize the surrounding conditions based on a construction plan including predetermined topographical data of the work site, etc. The allowable range setting unit 57 sets an allowable range A1 (see FIG. 5) for positional deviation of the work machine 10. Note that the allowable range A1 may be, for example, a range of positional deviation that is allowable by the automatic driving system. "Acceptable by the automatic driving system" means that the automatic driving system can correct the target so that the work machine 10 can perform the originally intended operation. "Correction of the automatic driving target" means, for example, correcting the target path of the attachment 15. The allowable range setting unit 57 may set the allowable range A1 based on manual input by the operator received by the input unit 35. The allowable range setting unit 57 may also automatically set the allowable range A1 from the surrounding conditions. Details of the process for setting the allowable range A1 for positional deviation will be described later.

[0057] The output unit 60 is a device that outputs information. The output unit 60 outputs information based on a signal output from the controller 50. The output unit 60 may output light (such as a display), sound, or vibration. The output unit 60 may be provided in a tablet, a smartphone, or a personal computer. The output unit 60 may be provided in the operator's cab 13a (see FIG. 1). The output unit 60 may be provided in a remote control device for remotely controlling the work machine 10 (see FIG. 1). When the output unit 60 outputs light, the output unit 60 may be provided with a display device (monitor). The output unit 60 may be provided with a projection device that projects onto an object such as the ground. The output unit 60 may be provided with a light source (light). The output unit 60 may be provided with a device that uses VR (Virtual Reality) technology (VR device) or a device that uses AR (Augmented Reality) technology (AR device). The output section 60 may change at least one of the hue, density (transparency), brightness, and saturation of the light it outputs.

[0058] The functions of the controller 50 may be realized by a client device (not shown) and a server device (not shown). Each of the client device and the server device is a computer. The input unit 35, the controller 50, and the output device 60 may be provided in either the client device or the server device, or in both. For example, the memory unit (not shown) and the calculation unit (not shown) of the controller 50 may be provided in either the client device or the server device, or in both. Only one client device and one server device may be provided, or multiple client devices and one server device may be provided. The client device and the server device may be connected by wireless communication or by wired communication. For example, communication is performed using a communication means such as a mobile phone line, an optical fiber line, a wireless LAN (Local Area Network), or a wired LAN.

[0059] (process) The work assistance system 1 (mainly the controller 50) is configured to perform the following processes. A program stored in the controller 50 causes the controller 50 to execute the following operations. In the work assistance system 1, a method for performing the following operations is realized.

[0060] First, an example of a flowchart of the positional deviation detection allowable range setting process executed in the task assistance system 1 will be described with reference to FIG.

[0061] (About the surrounding circumstances of collection) As shown in FIG. 3, first, the controller 50 collects surrounding conditions (S10). The surrounding conditions are information collected by the detection unit 31, and are, for example, position information of the work area A2 that is the target of work by the work machine 10. Specifically, for example, the work area A2 is a location where work objects are collected (e.g., a soil pit). Specifically, for example, the work area A2 is a location where work objects are captured (e.g., where soil is excavated). Specifically, for example, the work area A2 is a location where the captured work objects are released (e.g., where soil is discharged). The surrounding conditions are also, for example, position information of no-entry areas, such as parking areas for other work vehicles. The surrounding conditions are also position information of obstacles. The work area A2 may include no-entry areas, or may include some kind of object such as an obstacle.

[0062] (Regarding setting the reference position) Then, the controller 50 sets an allowable range reference position P1 (see FIG. 5) (S20). The allowable range reference position P1 is an absolute position at which the initial position of the work machine virtual point P2 (see FIG. 5) is set, and is a position that does not move relative to the work site. The allowable range reference position P1 is a reference position for determining positional deviation of the work machine 10. The work machine virtual point P2 is a position that moves in accordance with positional deviation of the work machine 10, in order to determine positional deviation of the work machine 10. The work machine virtual point P2 is a position whose relative position with respect to the work machine 10 is determined. The initial position of the work machine virtual point P2 is the position of P1 when the work machine 10 is placed at its initial position (for example, the position before work starts). The position of the work machine virtual point P2 is changed relative to a position that serves as a reference on the work machine 10 (work machine reference point P3 (see FIG. 5)). In this embodiment, whether or not the positional deviation has reached outside the allowable range A1 is determined based on the positional relationship between the work machine virtual point P2 and the allowable range A1 (see FIG. 5) that is set for the allowable range reference position P1. For example, in the example shown in FIG. 5, the work machine virtual point P2 moves outside the allowable range A1 from the original position that is the same as the allowable range reference position P1 as the work machine 10 (work machine reference point P3) moves. In other words, the example shown in FIG. 5 indicates that the work machine 10 has reached outside the allowable range A1. Preferably, the allowable range reference position P1 is set to a position where there is a landmark object such as a pole or cone at the work site, for example, but is not limited to this. Note that the allowable range reference position P1 is not limited to being set, and the allowable range A1 may be set in the area surrounding the work machine 10, for example, and a positional deviation may be determined based on whether or not the work machine 10 has reached outside the allowable range A1.

[0063] (Regarding the setting of tolerance A1) The controller 50 then determines whether to automatically set the allowable range A1 (S30). If the allowable range A1 is to be automatically set (S30: YES), the controller 50 automatically sets the allowable range A1. Specifically, for example, the controller 50 sets the allowable range A1 around the allowable range reference position P1. The area of ​​the allowable range A1 may be any shape, such as a circle or a rectangle. The dimensions of the allowable range A1 may be fixed in advance or may be variable. As shown in FIG. 5, for example, when the dimensions of the allowable range A1 are variable, the dimensions of the allowable range A1 may be determined based on a distance L1 from a point on the lower main body 11 (lower traveling body) that is closest to the work area A2 to be worked on to the work area A2. More specifically, the radius of the allowable range A1 may be set to the distance L1. Alternatively, the radius of the allowable range A1 may be set to the distance L1 minus a predetermined margin (not shown). 6, for example, when the dimension of the allowable range A1 is variable, the dimension of the allowable range A1 may be determined based on the positional relationship between the upper rotating body 13 and the working area A2. Specifically, the dimension of the allowable range A1 may be determined based on a distance L2 from a point on the outer periphery C1 of the rotation radius of the upper rotating body 13 excluding the attachment 15 that is closest to the working area A2 to the working area A2. More specifically, the radius of the allowable range A1 may be set to the distance L2. Alternatively, the radius of the allowable range A1 may be set to the distance L2 minus a predetermined margin (not shown).

[0064] Furthermore, although not shown, the controller 50 may evaluate the safety level in stages according to the surrounding conditions detected by the detection unit 31, and set the width of the allowable range A1 to a value corresponding to the safety level. For example, the controller 50 may evaluate the safety level for each direction as seen from the allowable range reference position P1, and set the width of the allowable range A1 for each direction, as shown in Fig. 7.

[0065] Furthermore, although not shown, the controller 50 may set the range of the work machine 10 where the attachment 15 cannot reach the work area A2 to be worked outside the allowable range A1. This makes it possible to reduce the likelihood of the work machine 10 coming into a state where it is unable to proceed with work.

[0066] (Regarding editing (manual setting) of tolerance A1) The controller 50 then edits the allowable range A1 (S50). Note that if the allowable range A1 is set automatically, this process may be skipped. The allowable range A1 is edited by an input operation to the input unit 35. The allowable range A1 may be edited by specifying the allowable range reference position P1 and the radius of the allowable range A1. These specifications may be made by tapping on a touch panel, clicking with a mouse, or drag-and-drop. The allowable range reference position P1 and / or the radius of the allowable range A1 may be specified by inputting numerical values. As shown in FIG. 7, the controller 50 may display on the output unit 60 an interface for equally dividing the periphery of the allowable range reference position P1 (e.g., into 4 to 16 equal parts) and setting the distance from the center coordinates of each part. As shown in FIG. 7, for example, the interface may be configured so that a block of the allowable range A1 at the touched location is missing. The controller 50 then confirms the allowable range A1 (S50).

[0067] Next, an example of a flowchart of the positional deviation allowable range contact determination process executed in the task assistance system 1 will be described with reference to FIG.

[0068] As shown in Fig. 4, first, the controller 50 collects surrounding conditions (S110). Then, the controller 50 identifies the current position of the work machine 10 (work machine reference point P3) based on the collected surrounding conditions (S120). Then, the controller 50 compares this work machine reference point P3 with the initial work machine reference point P3 (when the allowable range reference position P1 was set). Then, the controller 50 identifies, as the position of the current work machine virtual point P2, a position shifted from the initial work machine virtual point P2 by the same direction and amount as the deviation of the position of the current work machine reference point P3 from the initial work machine reference point P3 (S130).

[0069] Then, the controller 50 determines whether the current position of the work machine imaginary point P2 has reached the outside of the allowable range A1 (S140). If the position of the work machine imaginary point P2 is within the allowable range A1 (S140: NO), the controller 50 transitions the processing to step S110. If the position of the work machine imaginary point P2 has reached the outside of the allowable range A1 (S140: YES), the controller 50 determines whether the work machine 10 is operating automatically (S150).

[0070] If the work machine 10 is operating automatically (S150: YES), the controller 50 brings the work machine 10 to an emergency stop (S160) and causes the work machine 10 to automatically travel to its original position (S170). Note that the original position is not limited to the initial position of the work machine 10 (a position that coincides with or nearly coincides with the allowable range reference position P1), but may be any position where the positional deviation of the work machine 10 falls within the allowable range A1. If the work machine 10 is not operating automatically (S150: YES), the controller 50 issues a warning to the output unit 60 (S180).

[0071] During operation of the work machine 10, the controller 50 may display the allowable range A1 on the output unit 60 by superimposing it on data showing the surrounding conditions (for example, a two-dimensional image or a three-dimensional image captured by the imaging device 312). For example, as shown in Fig. 8, the controller 50 may display the allowable range A1 converted into machine coordinates as a machine allowable range A4, superimposed on the surrounding conditions such as the work area A2.

[0072] In this way, the controller 50 allows minor positional deviations that do not impede work, such as when the work machine 10 is within the permissible range A1. If the work machine 10 reaches a position outside the permissible range A1 where a serious danger may occur, the controller 50 issues a warning or performs an emergency stop on the work machine 10, thereby mitigating the occurrence of dangerous situations.

[0073] (Effects of the first invention) The effects of the work assistance system 1 shown in Fig. 2 are as follows: The work assistance system 1 includes a work machine 10 that performs work, and a controller 50.

[0074] [Configuration 1] The controller 50 includes an allowable range setting unit 57 that sets an allowable range A1 for the positional deviation of the work machine 10.

[0075] In the above [Configuration 1], the allowable range A1 of positional deviation is set, so that it is possible to separately control minor positional deviations that do not impede work and positional deviations that may cause serious danger. As a result, it is possible to reduce the occurrence of positional deviations that may cause serious problems while reducing the decrease in work efficiency.

[0076] (Effects of the second invention) [Configuration 2] Further provided is an input unit 35 that accepts input of the allowable range A1.

[0077] In the above [Configuration 2], the allowable range A1 can be set according to the input at the input unit 35. For example, the allowable range A1 can be set according to the on-site environment, thereby preventing unnecessary emergency stops. In places that are deemed more dangerous, the allowable range A1 can be narrowed, thereby improving safety.

[0078] (Effect of the third invention) [Configuration 3] The input unit 35 receives input of the allowable range A1 as a numerical value.

[0079] The above [Configuration 3] allows for accurate settings in accordance with the dimensions determined on-site.

[0080] (Effect of the fourth invention) [Configuration 4] The input unit 35 has an interface for specifying the shape of the allowable range A1 through an input operation.

[0081] In the above [Configuration 4], the allowable range A1 can be intuitively set.

[0082] (Effect of the fifth invention) [Configuration 5] Further provided is a detection unit 31 for detecting the surrounding conditions.

[0083] In the above [Configuration 5], information on the surrounding conditions can be used to set the allowable range A1.

[0084] (Effect of the sixth aspect of the invention) [Configuration 6] The allowable range setting unit 57 automatically sets the allowable range A1 based on the surrounding conditions.

[0085] In the above [Configuration 6], the allowable range A1 is automatically set based on the surrounding conditions, eliminating the need for setting the allowable range A1. Furthermore, by reducing the setting effort, it is possible to prevent forgetting to set the allowable range A1.

[0086] (Effect of the seventh invention) [Configuration 7] The work machine 10 is equipped with a machine body 10a having a lower body 11 (lower running body) that can move, and the allowable range setting unit 57 sets the allowable range A1 based on the distance from a point on the lower body 11 that is closest to the work area A2 where the work is to be performed to the work area A2.

[0087] In the above [Configuration 7], it is generally possible to reduce the risk of the work machine 10 falling off or climbing up into the work area A2 that has a difference in elevation relative to the ground.

[0088] (Effect of the eighth invention) [Configuration 8] The work machine 10 includes a machine body 10a having an upper rotating body 13 to which an attachment 15, which is the part that performs the work, is attached. The allowable range setting unit 57 sets an allowable range A1 based on a distance L2 from the outer periphery C1 of the rotation radius of the upper rotating body 13 to a work area A2 where the work is to be performed.

[0089] In the above [Configuration 8], it is possible to prevent the upper rotating body 13 from entering the working area A2. For example, it is possible to prevent a part that is in the blind spot of the driver (e.g., counterweight) from coming into contact with the working area A2 (e.g., the bed of the dump truck that is the target of earth removal).

[0090] (Effect of the ninth invention) [Configuration 9] The controller 50 issues a notification when the positional deviation of the work machine 10 falls outside the allowable range A1.

[0091] In the above [Configuration 9], it is possible to prevent the work machine 10 from continuing work without the worker noticing the positional deviation.

[0092] (Effect of the 10th invention) [Configuration 10] The controller 50 automatically controls the work machine 10, and includes an operation control unit 53 that, when the positional deviation of the work machine 10 reaches a position outside the tolerance range A1, moves the work machine 10 to an initial position where the positional deviation of the work machine 10 falls within the tolerance range A1.

[0093] In the above [Configuration 10], it is possible to reduce the effort required for the worker to operate the work machine 10 in order to correct a positional deviation of the work machine 10. When the work machine 10 is in a dangerous state due to a positional deviation, it is possible to omit the effort of boarding the work machine 10, thereby making it possible to avoid dangerous work.

[0094] (Effects of the eleventh invention) [Configuration 11] The controller 50 has an output unit 60 that outputs information, and displays the allowable range A1 on the output unit 60 by superimposing it on the surrounding situation.

[0095] In the above [Configuration 11], the worker can simultaneously check the surrounding situation and the allowable range A1, and therefore can take appropriate action.

[0096] (Variation) The above-described embodiments may be modified in various ways. For example, various examples (including modified examples) of the above-described embodiments may be combined in various ways. For example, the connections of the components shown in FIG. 1 and the like may be changed. For example, the number of components (including modified examples) of the above-described embodiments may be changed, or some of the components may not be provided. For example, the arrangement of the components may be changed. For example, the inclusion relationships of the components may be changed in various ways. For example, a component described as a lower-level component included in a higher-level component may not be included in this higher-level component, but may be included in another component. For example, what is described as multiple different components or parts may be combined into a single component or part. For example, what is described as a single component or part may be provided as multiple different components or parts. For example, the order of the steps in the flowcharts shown in FIGS. 3 and 4 may be changed, or some of the steps may not be performed. For example, each component may have only some of its features (functions, arrangement, shape, operation, etc.). [Explanation of symbols]

[0097] 1: Work assistance system 10: Work machinery 10a: Machine body 15: Attachment 50: Controller 70: External device

Claims

1. A work machine that performs work; A controller; Equipped with The controller a tolerance setting unit that sets a tolerance for positional deviation of the work machine, Work assistance system.

2. The work assistance system according to claim 1, further comprising an input unit that accepts input of the tolerance range; Work assistance system.

3. The work assistance system according to claim 2, the input unit accepts input of the tolerance range as a numerical value; Work assistance system.

4. The work assistance system according to claim 2, the input unit has an interface for specifying the shape of the allowable range by an input operation; Work assistance system.

5. The work assistance system according to claim 1, Further comprising a detection unit for detecting a surrounding situation. Work assistance system.

6. The work assistance system according to claim 5, The tolerance setting unit automatically sets the tolerance based on the surrounding conditions. Work assistance system.

7. The work assistance system according to claim 6, The work machine includes a machine body having a travellable undercarriage, the tolerance setting unit sets the tolerance based on a distance from a point on the lower traveling structure that is closest to a work area where the work is to be performed to the work area. Work assistance system.

8. The work assistance system according to claim 6, The work machine includes a machine body having an upper rotating body to which an attachment that performs the work is attached, the tolerance setting unit sets the tolerance based on a distance from an outer periphery of a rotation radius of the upper rotating body to a work area where the work is to be performed. Work assistance system.

9. The work assistance system according to claim 1, the controller issues a notification when the positional deviation of the work machine reaches outside the tolerance range; Work assistance system.

10. The work assistance system according to claim 1, The controller an operation control unit that automatically controls the work machine and, when a positional deviation of the work machine reaches a position outside the allowable range, moves the work machine to a position where the positional deviation of the work machine falls within the allowable range; Work assistance system.

11. The work assistance system according to claim 5, an output unit that outputs information; The controller and displaying the tolerance range on the output unit by superimposing it on the surrounding situation. Work assistance system.

Images