Work support systems, work machines, and work support programs

Abstract

To determine in advance whether or not a work object can be stably installed at an installation location.SOLUTION: A work support system 1 used in a work machine 10 equipped with an attachment 15 capable of capturing and transporting a work object S having a rolling direction is configured to: measure an inclination angle and an inclination direction of the work object S at a target installation position; obtain a horizontal angle made by an installation direction of the work object S relative to the inclination direction when viewed from above; and determine a stability when the work object S is installed at the target installation position at the obtained horizontal angle using a preset tolerance range for each inclination angle as a determination reference.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a work support system, a work machine, and a work support program that support work on a work target performed by a tip attachment of a work machine.

Background Art

[0002] For example, Patent Document 1 describes a monitoring device that calculates an inclination angle in a traveling direction of a construction machine from the shape of terrain around the construction machine and an angle of a ground contact surface of the construction machine, and previously determines whether the direction is an unstable state for the construction machine.

Prior Art Literature

Patent Literature

[0003]

Patent Document 1

Summary of the Invention

Problem to be Solved by the Invention

[0004] Although this document describes determining the stability of a construction machine, it does not describe stably arranging a work target, which is an object on which such a work machine performs work.

[0005] Accordingly, an object of the present invention is to provide a work support system, a work machine, and a work support program that can previously determine whether a work target can be stably installed at a target installation position.

Means for Solving the Problem

[0006] The work support system is used in a work machine equipped with an attachment capable of transporting a work object having a rolling direction while it is being held in place, and comprises a tilt measurement unit, a horizontal angle acquisition unit, and a stability determination unit. The tilt measurement unit measures the tilt angle and tilt direction of the work object at the target installation position. The horizontal angle acquisition unit acquires the horizontal angle formed by the installation direction of the work object, which is related to the rolling direction, with respect to the tilt direction when viewed from above. The stability determination unit determines the stability when the work object is installed at the target installation position at the horizontal angle acquired by the horizontal angle acquisition unit, using as a judgment criterion the allowable range of the horizontal angle for stably positioning the work object, which is set in advance for each tilt angle.

[0007] The work machine comprises an attachment, a tilt measuring unit, a horizontal angle acquisition unit, and a stability determination unit. The attachment is capable of transporting a work object having a rolling direction while it is being held in place. The tilt measuring unit measures the tilt angle and tilt direction of the work object at the target installation position. The horizontal angle acquisition unit acquires the horizontal angle formed by the installation direction of the work object, which is related to the rolling direction, with respect to the tilt direction when viewed from above. The stability determination unit determines the stability of the work object when it is installed at the target installation position at the horizontal angle acquired by the horizontal angle acquisition unit, based on a set tolerance range for the horizontal angle required to stably position the work object, which is set for each tilt angle.

[0008] The work support program is used in a work machine equipped with an attachment capable of transporting a work object having a rolling direction while it is being captured, and causes a computer to perform a tilt measurement step, a horizontal angle acquisition step, and a stability determination step. In the tilt measurement step, the tilt angle and tilt direction of the work object at the target installation position are measured. In the horizontal angle acquisition step, the horizontal angle formed by the installation direction of the work object, which is related to the rolling direction, with respect to the tilt direction, when viewed from above, is acquired. In the stability determination step, the stability of the work object when it is installed at the target installation position at the horizontal angle acquired in the horizontal angle acquisition step is determined, based on the tolerance range of the horizontal angle for stably positioning the work object, which is set in advance for each tilt angle. [Effects of the Invention]

[0009] The above-mentioned work support system, work machine, and work support program can each be used to determine in advance whether or not the work object can be stably installed at the installation site. [Brief explanation of the drawing]

[0010] [Figure 1] This is a side view of a work machine to which the work support system 1 is applied. [Figure 2] This is a block diagram of the work support system. [Figure 3] Figure 1 is a top-down view of the work machinery and other equipment shown, and is an explanatory diagram of the horizontal angle formed by the direction of the slope and the direction in which the work object is installed. [Figure 4] This is an explanatory diagram showing an example of criteria for determining the stability of the work object shown in Figure 3. [Figure 5] This is an explanatory diagram showing an example of how to change the judgment criteria shown in Figure 4. [Figure 6] This figure shows an example of how an image indicating the allowable range of the horizontal angle of the workpiece shown in Figure 3 is displayed. [Figure 7]This figure shows an example of how an image is displayed to show the surrounding area, which is divided into stages according to the allowable range of the horizontal angle of the work object shown in Figure 3. [Figure 8] Figure 2 shows a flowchart of the stability determination process performed by the controller. [Figure 9] Figure 2 shows a flowchart of the object placement process performed by the controller. [Modes for carrying out the invention]

[0011] The work support system 1 will be explained with reference to Figures 1 to 9.

[0012] The work support system 1 is a system that predetermines whether the work machine 10 can stably place the work object S at the target installation position. First, with reference to Figure 1, each component of the work machine 10 to which the work support system 1 is applied will be described.

[0013] In this embodiment, the work machine 10 is a machine that performs work. The work machine 10 is a machine that performs the work of transporting the object to be worked on S. The work machine 10 comprises a machine body 10a, an attachment 15, an actuator 21, and a drive control unit 17 (attachment control unit).

[0014] The machine body 10a is the main body of the work machine 10. The machine body 10a comprises a lower traveling body 11 and an upper slewing body 13. The lower traveling body 11 is capable of traveling on a traveling surface (such as the ground). The lower traveling body 11 may be equipped with crawlers or wheels. The upper slewing body 13 is slewingly mounted on the lower traveling body 11. The boom 15b (described later) of the attachment 15 is attached to the upper slewing body 13. The upper slewing body 13 includes a cab 13a. The cab 13a is the part from which a worker (operator) can operate the work machine 10. The work machine 10 may be operated by an operator inside the cab 13a, remotely operated from outside the work machine 10, or automatically operated.

[0015] (Direction) A direction in which the rotation shaft for the swing of the upper rotating body 13 relative to the lower traveling body 11 extends is defined as the vertical direction Z. In the vertical direction Z, the side (direction) from the lower traveling 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 vertical direction Z does not need to coincide with the vertical direction. A direction orthogonal to both the vertical direction Z and the direction in which the rotation shaft for the derricking of the boom 15b relative to the upper rotating body 13 extends is defined as the front-rear direction X. When viewed from the vertical direction Z, the front-rear direction X is the direction in which the central axis of the attachment 15 extending along the longitudinal direction of the attachment 15 extends (the front-rear direction X of the attachment 15). In the front-rear direction X, the side on which the attachment 15 protrudes relative to the upper rotating body 13 is defined as the front side X1, and the opposite side is defined as the rear side X2. The front-rear direction X does not need to coincide with the horizontal direction.

[0016] As shown in Figure 1, the attachment 15 is a part that performs work, and includes, for example, a boom 15b, an arm 15c, and a tip attachment 15d. The boom 15b is attached to the upper rotating body 13 so as to be capable of derricking (rotatable in the vertical direction Z). The arm 15c is attached to the boom 15b so as to be rotatable (rotatable in the front-rear direction X and the vertical direction Z). The tip attachment 15d is provided at the tip portion of the attachment 15, and is attached so as to be rotatable (rotatable in the front-rear direction X and the vertical direction Z) about an arm top pin 153 provided at the tip portion of the arm 15c. The tip attachment 15d is rotated in the front-rear direction X about the arm top pin 153 by extending and retracting a tip attachment cylinder 21d. As long as the tip attachment 15d can transport the work target S in a captured state, it may be a device (such as a grapple or a nibbler) that clamps the work target S, or a device (such as a lifting magnet) that adsorbs the work target S by a magnet.

[0017] The tip attachment 15d includes a main body portion 151 and a gripping device 152 that can be suspended from the lower end of the main body portion 151.

[0018] The main body portion 151 is supported by the arm 15c so as to be swingable around the arm top pin 153. The main body portion 151 and the arm 15c are connected via the link portion 154. A distal end portion of a cylinder rod 156 of a distal attachment cylinder 21d is connected to the link portion 154. The tilt angle of the distal attachment 15d with respect to the arm 15c is adjusted by swinging the distal attachment 15d via the link portion 154 in association with the expansion and contraction movement of the cylinder rod 156. Further, the main body portion 151 includes a rotation mechanism 157 for rotating the gripping device 152. The rotation mechanism 157 rotates the gripping device 152 in the rotation direction Sw (see FIG. 3) with the swinging direction of the distal attachment 15d as a central axis.

[0019] The gripping device 152 includes a plurality of gripping claws 152a, and an opening / closing cylinder (not shown) that opens and closes each of the gripping claws 152a corresponding to the number of the gripping claws 152a. In the present embodiment, the gripping device 152 is provided with four gripping claws 152a, but the number of gripping claws is not limited thereto. The gripping device 152 is capable of gripping a work object S by expanding and contracting the opening / closing cylinder. The gripping claws 152a close when the opening / closing cylinder extends. On the other hand, the gripping claws 152a open when the opening / closing cylinder contracts.

[0020] The work object S is an object to be worked by the work machine 10. The work object S has a rolling direction. There is no particular limitation on the work object S as long as it has a rolling direction and may fall or slide down when placed on a slope. The work object S may be a stone, wood, metal, resin, waste, scrap, or a structure (such as a block). Specifically, for example, the work object S may be wood having a longitudinal direction orthogonal to the rolling direction.

[0021] The actuator 21 operates the work machine 10. The actuator 21 comprises a slewing motor 21a, a boom cylinder 21b, an arm cylinder 21c, and a tip attachment cylinder 21d. The slewing motor 21a slewing the upper slewing body 13 relative to the lower traveling body 11. The boom cylinder 21b raises and lowers the boom 15b relative to the upper slewing body 13. The boom cylinder 21b is, for example, a hydraulically driven (hydraulic) telescopic cylinder (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 has a front cylinder 155 and a cylinder rod 156, and rotates the tip attachment 15d relative to the arm 15c. If the tip attachment 15d itself is drivable, for example, as a device for gripping objects, a cylinder (for example, the "opening / closing cylinder" described above) or a motor may be provided for driving the tip attachment 15d.

[0022] The drive control unit 17 (see Figure 2) controls the actuator 21. The drive control unit 17 controls the slewing motor 21a, boom cylinder 21b, arm cylinder 21c, and tip attachment cylinder 21d. The drive control unit 17 also controls the drive of the tip attachment 15d. For example, the drive control unit 17 controls the rotation mechanism 157 in the main body 151 and the opening / closing cylinder (not shown) in the gripping device 152. For example, the drive control unit 17 controls the attachment 15 in response to the operation of the attachment 15 received by the operating unit 37. The drive control unit 17 may be controlled by commands from the controller 50 (for example, by automatic operation commands). The drive control unit 17 may include a hydraulic circuit to control the hydraulic actuator 21. The drive control unit 17 may include an electrical circuit to control the electric actuator 21.

[0023] The attitude sensor 31 detects the attitude of the work machine 10. The attitude sensor 31 comprises a reference position sensor 31e, a slewing sensor 31a, a boom sensor 31b, an arm sensor 31c, a tip attachment sensor 31d, and a gripping device angle sensor 36 (see Figure 2). The reference position sensor 31e detects the position and orientation of a reference part of the work machine 10 (for example, the angle of the ground contact surface with respect to the horizontal plane (ground contact angle)). The reference part of the work machine 10 may be, for example, a specific part of the upper slewing body 13 or the lower traveling body 11, for example, the attachment part of the boom 15b to the upper slewing body 13 (boom foot), or for example, the slewing center of the upper slewing body 13 with respect to the lower traveling body 11. The attitude sensor 31 is composed of an inertial measurement unit, and may detect the ground contact angle by a strapdown method or the like based on the detection signals of an inertial sensor having the functions of an acceleration sensor and an angular velocity sensor. Furthermore, the attitude sensor 31 may be detected by a positioning system using light or radio waves. For example, the positioning system may be a satellite positioning system, such as a GNSS (global navigation satellite system), or a system using a (ground-based) transmitter and receiver without using satellites. For example, the positioning system may use a total station.

[0024] The slewing sensor 31a may detect the angle (direction, slewing angle) of the upper slewing body 13 with respect to the horizontal plane or the lower traveling body 11, or it may detect the angular velocity (slewing angular velocity), or it may detect the angular acceleration (slewing angular acceleration). The slewing sensor 31a may also include a sensor capable of detecting the angle of the upper slewing body 13 with respect to the rotation axis or rotation support part, etc., relative to the lower traveling body 11. The boom sensor 31b detects the posture (state) of the boom 15b. The arm sensor 31c detects the posture (state) of the arm 15c. The tip attachment sensor 31d detects the posture (state) of the tip attachment 15d. The boom sensor 31b may detect the angle (tilt, rotation angle) of the boom 15b with respect to the horizontal direction or the upper slewing body 13, or it may detect the rotational angular velocity, or it may detect the rotational angular acceleration. The arm sensor 31c and the tip attachment sensor 31d may also detect angles in the horizontal direction or relative to the components of the work machine 10. The boom sensor 31b may be equipped with a sensor (e.g., a rotary encoder) capable of detecting the angle of the boom's rotation axis or the angle attached to the rotation support part relative to the upper slewing body 13. The arm sensor 31c and the tip attachment sensor 31d may also be equipped with a sensor capable of detecting angles. The boom sensor 31b may be equipped with a tilt sensor (gyro sensor, acceleration sensor, inertial measuring device, etc.) that detects the angle of the boom 15b relative to the horizontal direction. The arm sensor 31c and the tip attachment sensor 31d may also be equipped with a tilt sensor. The boom sensor 31b may be equipped with a stroke sensor that detects the stroke of the cylinder (boom cylinder 21b) that drives the boom 15b. The arm sensor 31c and the tip attachment sensor 31d may also be equipped with a stroke sensor. The boom sensor 31b may detect the posture of the boom 15b based on at least one of a two-dimensional image and a depth image (the same applies to the arm sensor 31c and the tip attachment sensor 31d). In this case, at least one of the two-dimensional image and the depth image may be captured by an imaging device. The posture sensor 31 may be mounted on the work machine 10 or placed outside the work machine 10 (for example, at the work site).

[0025] The gripping device angle sensor 36 detects the orientation (state) of the gripping device 152 relative to the main body 151 at the tip attachment 15d. This allows the gripping device angle sensor 36 to identify the direction of the workpiece S being gripped by the gripping device 152. The gripping device angle sensor 36 may also detect the angle (direction, rotation angle) of the gripping device 152 relative to the main body 151, or it may detect angular velocity (rotational angular velocity), or it may detect angular acceleration (rotational angular acceleration).

[0026] The position sensor 33 detects shape data of the surrounding terrain in the coordinate system of the work machine 10. The shape data is, for example, distance image data in which depth data indicating the depth from the position sensor 33 to the terrain is arranged in a matrix. The position sensor 33 may include, for example, an imaging device. The imaging device may detect two-dimensional information of the object to be imaged (for example, position and shape in the image). The imaging device may include a camera (monocular camera) that detects two-dimensional information. The imaging device may acquire a distance image and detect three-dimensional information of the object to be imaged (for example, three-dimensional coordinates and three-dimensional shape) based on the distance image. The imaging device may include a device that detects three-dimensional information using laser light, for example, a LIDAR (Light Detection and Ranging) sensor, for example, a TOF (Time Of Flight) sensor. The imaging device may include a device that detects three-dimensional information using radio waves (for example, a millimeter-wave radar). The imaging device may include a stereo camera. The imaging device may detect three-dimensional information of the object to be imaged based on the distance image and the two-dimensional image. There may be only one imaging device or there may be multiple imaging devices.

[0027] The operating unit 37 is operated by the operator and is used to operate the work machine 10. For example, the operating unit 37 may be a lever or a pedal. The operating unit 37 outputs a command corresponding to the amount of operation. The operating unit 37 may output pilot hydraulic pressure according to the amount of operation, or it may output an electrical signal according to the amount of operation. The operating unit 37 may be equipped with a hydraulic remote control valve, or it may be equipped with an angle-detecting sensor (for example, a variable resistor). The operating unit 37 may be installed in the control room of the work machine 10, or it may be installed in a remote control unit (not shown) for remotely controlling the work machine 10.

[0028] The input device 35 (input unit) is a device for an operator (e.g., a driver) to input information. The input device 35 gives instructions to the controller 50 based on the operator's actions. If the input device 35 is installed on the work machine 10, it may be a display unit installed in the driver's cab 13a, for example. The input device 35 may be a tablet, a smartphone, or a personal computer. The input device 35 may also be installed on a server.

[0029] The teaching device 40 is a device that teaches information to an operator (e.g., a machine operator). For example, the teaching device 40 teaches the machine operator 10 information indicating whether or not the work object S can be stably installed at a predetermined target installation position. The teaching device 40 is not particularly limited as long as it can present information to the operator, and may be, for example, a display device that displays video or images, a light-emitting device that outputs light, a speaker that outputs sound or a buzzer, or a vibration-generating device that generates vibrations. Also, for example, the teaching device 40 may teach through the operation of the machine 10. Furthermore, the teaching device 40 may be one or more of these.

[0030] Specifically, if the teaching device 40 is a display device, it may or may not be a light-transmitting type. If it is a light-transmitting type, the teaching device 40 may be, for example, a glasses-type device worn by the operator of the work machine 10, or more specifically, AR (Augmented Reality) glasses. AR glasses display an image (superimposed display) by superimposing the image onto the foreground seen by the operator through the glasses. In this case, the operator can see the real image and the image simultaneously. If it is not a light-transmitting type, the teaching device 40 may be, for example, the operator's smartphone or tablet terminal or a display installed in the operator's cab 13a. The teaching device 40 may also be equipped with a camera. In this case, the teaching device 40 displays an image (superimposed display) by superimposing the image onto the video captured by the imaging device. In this case, the operator can see the video captured by the imaging device and the image simultaneously.

[0031] The controller 50 includes a computer that performs signal input / output, calculations (processing), and storage of information (calculation results, etc.). For example, the functions of the controller 50 are realized by the execution of a program stored in the controller 50's storage unit 58 (described later) by the calculation unit (not shown). Specifically, for example, the controller 50 includes a CPU (Central Processing Unit), an EEPROM (Electrically Erasable and Programmable Read Only Memory) that rewrites and stores programs executed by the CPU and data used by these programs, and a RAM (Random Access Memory) that temporarily stores data when programs are executed. The following functions of the controller 50 (such as the tilt measurement unit 51 and the horizontal angle acquisition unit 52) ​​are constructed through the cooperation of this hardware and the program in the EEPROM. This program causes the computer to execute the processing of various programs and controls the operation of the work machine 10. In this way, the processing and operation of the work support system 1 can be replaced with "programs" or "control methods for the work machine 10". The controller 50 may be mounted on the work machine 10, or it may be located outside the work machine 10 (e.g., on a server). The computer included in the controller 50 is not limited to one unit; for example, the functions may be distributed among multiple computers, such as a computer mounted on the work machine 10 or a server. For example, as shown in Figure 2, the controller 50 receives detection results from the attitude sensor 31 and the position sensor 33. The controller 50 receives information operated by the operation unit 37. The controller 50 receives information entered by the input device 35. The controller 50 receives detection results from the gripping device angle sensor 36. The controller 50 outputs commands to the drive control unit 17 to operate the work machine 10. The controller 50 outputs information to be taught to the operator to the teaching device 40.

[0032] The controller 50 comprises, as its components, an inclination measurement unit 51, a horizontal angle acquisition unit 52, a stability determination unit 53, a stability teaching unit 54, a surrounding area display unit 55, an operation limiting unit 56, a mode switching unit 57, and a storage unit 58.

[0033] The memory unit 58 stores information. The memory unit 58 stores in advance judgment criteria for stably positioning the work object S. An example of the reason for setting these judgment criteria is as follows: As shown in Figure 3, the work machine 10 may perform the task of setting the work object S on a slope. In this case, the operator of the work machine 10 prevents the work object S from sliding or falling by, for example, rotating the work object S to the position shown by the dashed line in Figure 3 before setting the work object S on the slope, so that the deviation (horizontal angle θ) between the installation direction Do of the work object S (for example, the longitudinal direction of the wood as shown in the upper part of Figure 3) and the slope direction Ds is eliminated (or reduced). However, the allowable range of deviation (horizontal angle θ) of the longitudinal direction of the work object S with respect to the slope direction Ds differs depending on the slope angle α of the installation position. Therefore, if the operator of the work machine 10 misjudges the situation, there is a risk that the installed work object S may fall. Furthermore, depending on the inclination angle α, the work object S may slide down regardless of how it is positioned. The work support system 1 is used to determine in advance whether there is a possibility of the work object S falling or sliding when it is positioned. This determination criterion is the allowable range of the horizontal angle θ, which is a preset allowable range for each inclination angle α.

[0034] As shown in Figure 4, the criteria for judgment are data showing the relationship between the slope angle α and the horizontal angle ("deviation" from the slope direction Ds) θ. In this data, a dangerous slope angle α1 and a stable slope angle α2 are set. The dangerous slope angle α1 indicates a slope that is steep enough that there is a high probability of the work object S falling regardless of how it is positioned. The stable slope angle α2 indicates the maximum slope angle α within the range of slopes where the gradient of the slope is gentle and there is a high probability of stability regardless of how the work object S is positioned.

[0035] Furthermore, in the range α1 > α ≥ α2, the limit (allowable limit θmax) of the displacement (horizontal angle θ) of the work object S with respect to the inclination direction Ds is expressed in the form of θmax(α), a function of the inclination angle α. For example, at the inclination angle α of the slope at the target installation position, if the installation direction Do of the work object S to be installed is greater than the inclination direction of the slope and θmax(α), it is determined that the work object S cannot be installed stably. For example, at the inclination angle α of the slope at the target installation position, if the displacement (horizontal angle θ) between the installation direction Do of the work object S to be installed and the inclination direction Ds of the slope is less than or equal to θmax(α), it is determined that the work object S can be installed stably.

[0036] For example, consider the case where the workpiece S is placed at an inclination angle αa and an inclination angle αb that is greater than inclination angle αa. In this case, as shown in Figure 4, the limit θa of the horizontal angle θ (deviation from the inclination direction Ds) corresponding to inclination angle αa is wider than the limit θb of the horizontal angle θ (deviation from the inclination direction Ds) corresponding to inclination angle αb. Thus, the memory unit 58 has preset tolerance ranges for the horizontal angle θ (e.g., θa and θb) for each inclination angle α (e.g., αa and αb) as judgment criteria.

[0037] The judgment criteria are preferably created based on actual data from when the work object S was actually installed. Furthermore, the shape of the work object S in the actual data may differ from the shape of the work object S when it is actually applied. In addition, multiple types of judgment criteria may be stored for each environmental condition (mode), depending on the type and shape of the work object S, and the working environment such as the condition of the slope. For example, if the example in Figure 4 is the normal mode, in the case of rain, the road surface is wet and the work object S is more likely to slide or fall, so it is preferable to use stricter judgment criteria. Specifically, as shown in Figure 5, it is preferable to use judgment criteria (dangerous slope angle αa1, stable slope angle αa2, and limit of displacement θamax(α) of the work object S) in which the dangerous slope angle α1, stable slope angle α2, and limit of displacement θamax(α) of the work object S are lowered. Thus, it is preferable that judgment criteria are set in advance for each environmental condition in the storage unit 58.

[0038] At least one of the above judgment criteria may be set in stages. Specifically, for example, thresholds for 80% of the value of θmax(α), 90% of the value, and 100% of the value may be set as thresholds. Alternatively, for example, thresholds for 0% of the value of θmax(α), 10% of the value, and 20% of the value may be set as thresholds. The controller 50 may then, when the value (difference or number of detected values) exceeds the staged thresholds, provide instruction (e.g., a warning) to the operator (see Figure 2) via the teaching device 40 (see Figure 2) or restrict the operation of the work machine 10 in stages. When this instruction or restriction is given, the operator can grasp the status of the work object S before the value (difference or number of detected values) exceeds the "100% threshold" (at an earlier stage). Furthermore, by setting a threshold value close to 100%, such as 80% or 90% of the judgment criterion value, workers can understand the degree of danger within the range where the work object S can be stably installed when actually setting it up. Also, when this instruction or restriction is given, by setting a threshold value close to 0%, such as 10% or 20% of the judgment criterion value, workers can understand the degree of stability to which the work object S can be stably installed in reality.

[0039] The inclination measurement unit 51 (see Figure 2) measures the inclination angle α and inclination direction Ds of the work object S at the target installation position (see step S20 in Figure 8). Specifically, the inclination measurement unit 51 obtains the inclination angle α and the inclination direction Ds of the slope from the shape data detected by the position sensor 33 using regression analysis. If the position sensor 33 is installed on the work machine 10, the shape data may be in a coordinate system (machine coordinate system) based on the work machine 10. In this case, for example, the inclination measurement unit 51 converts the shape data in the machine coordinate system to a coordinate system based on the work site. Specifically, for example, the inclination measurement unit 51 applies the posture of the work machine 10 (e.g., ground contact angle) detected by the posture sensor 31 to the shape data in the machine coordinate system to calculate the inclination angle α and the inclination direction Ds of the slope relative to the horizontal plane.

[0040] Furthermore, the inclination measurement unit 51 identifies the target installation position when measuring the inclination angle α and the inclination direction Ds (see step S10 in Figure 8). The target installation position may be determined from the orientation of the work machine 10 (more specifically, for example, the intersection point P between the rotational center axis of the gripping device 152 and the ground, as shown in Figure 3), or it may be specified from an external source (for example, input from the operator of the work machine 10). Also, there may be one target installation position or multiple target installation positions. The target installation positions may be in the surrounding area (multiple positions) of the work machine 10 on which the work object S is to be installed. For example, the target installation positions may be each position in the matrix-like depth data detected by the position sensor 33.

[0041] The horizontal angle acquisition unit 52 acquires the horizontal angle θ. The horizontal angle θ is the angle formed by the installation direction Do of the workpiece S, which is related to the rolling direction, with respect to the inclination direction Ds when viewed from above. Here, the "installation direction Do of the workpiece S, which is related to the rolling direction" is not limited to being determined based on the actual rolling direction of the workpiece S. As shown in Figure 3, for example, the installation direction Do of the workpiece S in this embodiment is a horizontal direction perpendicular to the gripping direction (opening and closing direction of the gripping claws 152a in the gripping device 152) (which coincides with the front-rear direction X in Figure 3) in which the gripping device 152 grips the workpiece S. For example, in the example shown in Figure 3, the installation direction Do of the workpiece S coincides approximately with the longitudinal direction of the workpiece S.

[0042] For example, the horizontal angle acquisition unit 52 calculates the installation direction Do of the work object S relative to the horizontal plane based on the position information of the work object S. Specifically, the position information of the work object S is calculated from the posture of the work machine 10. More specifically, the posture of the work machine 10 is the slewing angle, boom angle, arm angle, tip attachment angle, and the angle of the gripping device 152, which are detected by the posture sensor 31. The horizontal angle acquisition unit 52 applies the ground contact angle of the work machine 10 detected by the posture sensor 31 to the determined installation direction Do of the work object S to calculate the installation direction Do of the work object S relative to the horizontal plane. Note that the method of calculating the installation direction Do is not limited to this calculation method. For example, the position sensor 33 may detect the coordinates of both ends of the work object S gripped by the gripping device 152, and the horizontal angle acquisition unit 52 may determine the installation direction Do based on the vector direction connecting the coordinates of both ends of the work object S.

[0043] Then, as shown in Figure 3, the horizontal angle acquisition unit 52 calculates the horizontal angle θ (the displacement of the work object S) from the inclination direction Ds of the slope calculated by the inclination measurement unit 51 and the installation direction Do of the work object S relative to the horizontal plane.

[0044] The stability determination unit 53 determines the stability of the work object S when it is installed at the target installation position using the horizontal angle θ acquired by the horizontal angle acquisition unit 52, based on the judgment criteria stored in the memory unit 58 (see steps S40, S50, S60, S70, and S80 in Figure 8). In the flowchart of the stability determination process shown in Figure 8, the stability determination unit 53 only determines whether the object is stable or not, but is not limited to this. For example, the stability determined by the stability determination unit 53 may be information on the horizontal angle θ (for example, the angle from the current angle of the work object S to the allowable limit θmax(α)). The stability determined by the stability determination unit 53 may also be information indicating whether or not it will fall, information indicating whether or not it will slide, a level representing the degree of likelihood of falling, and a level representing the degree of likelihood of sliding. The stability determination unit 53 may also determine the stability in stages based on the thresholds set in stages as described above. For example, the stability determination unit 53 may make a stepwise determination, such as determining that the closer the horizontal angle θ acquired by the horizontal angle acquisition unit 52 is to 0°, the higher the stability.

[0045] Furthermore, if the inclination measurement unit 51 is capable of measuring the inclination angle α in the area surrounding the work machine 10, the stability determination unit 53 may divide the surrounding area into stages according to the allowable range corresponding to the inclination angle α. Dividing the surrounding area into stages means, for example, dividing the inclination of the slope in the area surrounding the work machine 10 according to whether installation is possible or not, and the conditions for installation (for example, the allowable range of the horizontal angle θ). Although not shown in the figures, for example, the stability determination unit 53 causes the inclination measurement unit 51 to detect the inclination angle α for each of the matrix-like depth data detected by the position sensor 33. Then, the stability determination unit 53 divides the surrounding area into stages according to the range of horizontal angle θ that is allowed by the inclination angle α. Specifically, the surrounding area is divided into a region where the horizontal angle θ is not limited (it can be installed at any angle), a region where the horizontal angle θ is allowed from 0° to 70°, a region where the horizontal angle θ is allowed from 0° to 30°, and a region where installation is not permitted.

[0046] The stability teaching unit 54 controls the teaching device 40 to teach the operator of the work machine 10 the stability determined by the stability determination unit 53. The stability taught by the stability teaching unit 54 may also be information on the horizontal angle θ (for example, the angle from the current angle of the work object S to the allowable limit θmax(α)). The stability taught by the stability teaching unit 54 may also be information indicating whether or not the work object S will fall, information indicating whether or not the work object S will slide, a level representing the degree of likelihood of falling, and a level representing the degree of likelihood of sliding, etc. For example, when the work object S is installed at the target installation position, the stability teaching unit 54 may display the work object S at the target installation position and the allowable range of the work object S. Here, the allowable range of the work object S is the allowable range of the horizontal angle θ at the target installation position in which the work object S can be stably installed.

[0047] As shown in Figure 6, for example, the stability teaching unit 54 displays (superimposes) an image on the teaching device 40, which is a light-transmitting display device, so as to superimpose an image showing the permissible range of the work object S onto the image captured by the imaging device. Specifically, the image showing the permissible range of the work object S includes a tilt direction image 40c, a permissible range image 40a, and an unpermissible range image 40b. The tilt direction image 40c is an image showing the tilt direction Ds of the slope at the target installation position. The permissible range image 40a is an image showing the range of angles that are within the permissible range relative to the tilt direction image 40c. The unpermissible range image 40b is an image showing the range of angles that are outside the permissible range and cannot be stably installed. In addition, as shown in Figure 6, a permissible range explanatory image 40d for distinguishing these images showing the permissible range of the work object S may be displayed on the teaching device 40. Note that in Figure 6, the working machine 10 (including the tip attachment 15d that grips the workpiece S) is not shown.

[0048] The surrounding area display unit 55 controls the teaching device 40 to display the surrounding area divided into stages. The surrounding area display unit 55 displays (superimposes) an image on the teaching device 40 so as to superimpose an image showing the surrounding area divided into stages onto the image captured by the imaging device, for example, as shown in Figure 7. Specifically, the image showing the surrounding area divided into stages includes a first area image 41a, a second area image 41b, a third area image 41c, and a fourth area image 41d. The first area image 41a is an image showing an area where the horizontal angle is not limited (it can be installed at any angle). The second area image 41b is an image showing an area where the horizontal angle is allowed from 0° to 70°. The third area image 41c is an image showing an area where the horizontal angle is allowed from 0° to 30°. The fourth area image 41d is an image showing an area where installation is not permitted. Furthermore, as shown in Figure 7, a surrounding region explanatory image 41e for distinguishing between these steppedly divided surrounding regions may be displayed on the teaching device 40.

[0049] When the operation limiting unit 56 receives an operation to set up the work object S, if the work object S is not within the permissible range, it controls the drive control unit 17 to limit the operation to set up the work object S by the attachment 15. The operation limiting unit 56 may also limit various types of operations of the work machine 10. Specifically, with respect to the operation to set up the work object S by the attachment 15, the operation limiting unit 56 may reduce the operating speed, stop the operation, limit the operating speed to a predetermined speed or less, or limit the operating speed to the current speed or less.

[0050] For example, when the operating limiting unit 56 receives an operation to set up the work object S, if the work object S is not within the allowable range, it may control the drive control unit 17 to prohibit the operation to set up the work object S by the attachment 15. In this case, the teaching device 40 may instruct the operator to rotate the work object S within the allowable range. Furthermore, the teaching device 40 may instruct the operator on the direction in which the work object S will move into the allowable range (for example, the direction with the least operation).

[0051] Furthermore, for example, when the operation limiting unit 56 receives an operation to set up the work object S, if the work object S is not within the allowable range, it may perform the following control. In this case, the operation limiting unit 56 may control the drive control unit 17 to rotate the work object S so that its horizontal angle θ is within the allowable range before setting up the work object S. In this case, the teaching device 40 may teach the operator to rotate the work object S to within the allowable range before starting the rotation control.

[0052] When environmental conditions are input by, for example, the input device 35, the mode switching unit 57 switches the criteria for determining stability in the stability determination unit 53 according to the input environmental conditions.

[0053] (process) Next, the flowchart of the stability determination process performed by the controller 50 will be explained with reference to Figure 8. First, the controller 50 determines whether or not there has been an input for mode switching from the input device 35 (S1). If there has been an input for mode switching (S1: YES), the controller 50 performs a process to change the judgment criteria (S2). For example, if the mode is changed from normal to rainy weather mode, the controller 50 changes the judgment criteria from the judgment criteria shown in Figure 4 to the judgment criteria shown in Figure 5, in which the allowable limit θmax(α) is lowered. Then, the controller 50 identifies the target installation position (S10). For example, the target installation position may be specified by the caller who called this process, or if it is not specified, the target installation position may be determined in this step from the current posture of the work machine 10. After that, the controller 50 measures the inclination angle α and inclination direction Ds at the target installation position determined in step S10 (S20). Then, the controller 50 obtains the horizontal angle θ of the work object S (S30).

[0054] Next, the controller 50 determines whether the inclination angle α is greater than or equal to the dangerous inclination angle α1 (S40). That is, the controller 50 determines whether the target installation position is a slope where stable installation cannot be achieved regardless of how the work object S is installed. If the inclination angle α is not greater than or equal to the dangerous inclination angle α1 (S40: NO), the controller 50 determines whether the inclination angle α is greater than the stable slope angle α2 (S50). The controller 50 may perform steps S40 and S50 before processing step S30.

[0055] If it is determined that the inclination angle α is greater than the stable slope angle α2 (S50: YES), the controller 50 determines whether the horizontal angle θ is greater than or equal to θmax(α) (S60). Specifically, the controller 50 refers to the judgment criteria (see Figure 4) and compares θmax(α) corresponding to the inclination angle α obtained in step S20 with the horizontal angle obtained in step S30. Based on this comparison, the controller 50 determines whether the horizontal angle is greater than or equal to θmax(α).

[0056] The controller 50 then determines that stability is not possible (S70) if it determines that the inclination angle α is greater than or equal to the dangerous inclination angle α1 (S40: YES), or if it determines that the horizontal angle θ is greater than or equal to θmax(α) (S60: YES). The controller 50 also determines that stability is possible (S80) if it determines that the inclination angle α is not greater than the stable slope angle α2 (S50: NO), or if it determines that the horizontal angle θ is not greater than or equal to θmax(α) (S60: NO).

[0057] Next, the flowchart of the object placement process performed by the controller 50 will be explained with reference to Figure 9.

[0058] First, the controller 50 determines whether or not it has detected the operation to set up the work object S by the operation unit 37 (S120). If the operation to set up is not detected (S120: NO), the controller 50 repeats the process in step S120. If the operation to set up is detected (S120: YES), the controller 50 performs the stability determination process described with reference to Figure 8 (S130). Then, based on the result of the stability determination process, the controller 50 displays the allowable range of the work object S at the target installation position on the teaching device 40 (S140). For example, the controller 50 displays an image showing the allowable range of the work object S on the teaching device 40, as shown in Figure 6.

[0059] The controller 50 then determines whether the result of step S130 is determined to be impossible to install (S150). If it is determined that installation is impossible (S150: YES), the controller 50 executes an operation restriction control process that restricts the operation to install the work object S by the attachment 15 (S160). In this process, for example, the controller 50 prohibits the operation to install the work object S requested by the operation unit 37. Also in this process, for example, the controller 50 rotates the work object S so that the horizontal angle θ is within an acceptable range before installing the work object S.

[0060] (Effects of the first invention) The effects of the work support system 1 shown in Figure 2 are as follows. The work support system 1 is used in a work machine 10 equipped with an attachment 15 that can transport a work object S having a rolling direction while it is being captured. The work support system 1 comprises a tilt measurement unit 51, a horizontal angle acquisition unit 52, and a stability determination unit 53. The tilt measurement unit 51 measures the tilt angle α and tilt direction Ds of the work object S at the target installation position. The horizontal angle acquisition unit 52 acquires the horizontal angle θ formed by the installation direction Do of the work object S, which is related to the rolling direction, with respect to the tilt direction when viewed from above. The stability determination unit 53 determines the stability when the work object S is installed at the target installation position with the horizontal angle acquired by the horizontal angle acquisition unit, based on the allowable range of the horizontal angle θ for stably positioning the work object S, which is a preset allowable range for each tilt angle α. The "stability" mentioned above refers to the stability when the work object S is placed at the target installation position at the horizontal angle θ acquired by the horizontal angle acquisition unit 52.

[0061] According to the above configuration, the inclination angle α and inclination direction Ds of the target installation position are measured, and the horizontal angle θ is obtained from the measured values. The obtained horizontal angle θ is compared with the preset allowable range of horizontal angle θ for each inclination angle α. The stability determination unit 53 can determine the stability of the work object S when it is installed at the target installation position using the obtained horizontal angle θ by this comparison. Therefore, it is possible to determine in advance whether or not the work object S can be stably installed at the target installation position before installation.

[0062] (Effects of the second invention) As shown in Figure 6, the work support system 1 further includes a stability teaching unit 54 that informs the operator of the work machine 10 of the degree of stability. With this configuration, the operator of the work machine 10 can be informed whether or not the work object S can be stably placed at the target installation position.

[0063] (Effects of the third invention) In the work support system 1, the inclination measurement unit 51 can measure the inclination angle α in the area surrounding the work machine 10 on which the work object S is installed. The stability determination unit 53 divides the surrounding area into steps according to the allowable range (allowable range of horizontal angle θ) corresponding to the inclination angle α. With this configuration, information on the division of the surrounding area according to the allowable range of horizontal angle θ can be obtained. For example, this division information can be used for control (e.g., display).

[0064] (Effects of the fourth invention) As shown in Figure 7, the work support system 1 further includes a surrounding area display unit 55 that displays a surrounding area divided into stages (a surrounding area divided into stages according to the allowable range of the horizontal angle θ). With this configuration, information regarding the allowable range of the horizontal angle θ can be taught to the operator of the work machine 10 in a divided state (appearance).

[0065] (Effects of the fifth invention) In the work support system 1, as shown in Figure 9, the stability teaching unit 54 indicates the allowable range of the work object S at the target installation position (allowable range of horizontal angle θ) when the work object S is installed at the target installation position (step S140). With this configuration, when the work object S is installed at the target installation position, the operator of the work machine 10 can be taught whether or not the work object S can be stably installed at this target installation position.

[0066] (Effects of the sixth invention) The work machine 10 includes an operating unit 37 that receives operation of the attachment 15, and a drive control unit 17 that acts as an attachment control unit and controls the attachment 15 in accordance with the operation received by the operating unit 37. When the drive control unit 17 receives an operation to set up the work object S, if the work object S is not within the allowable range (allowable range of horizontal angle θ), it restricts the operation to set up the work object S by the attachment 15. With this configuration, even if the work object S is about to be set up in a state where there is a possibility of the work object S falling or sliding, the operation to set up the work object S can be restricted in response to the operation of the operating unit 37.

[0067] (Effects of the seventh invention) When the drive control unit 17 receives an operation to install the work object S, if the work object S is not within the allowable range (allowable range of horizontal angle θ), it prohibits the operation to install the work object S using the attachment 15. With this configuration, even if the work object S is about to be installed in a state where there is a possibility of it falling or sliding, in response to the operation of the operation unit 37, the operation to install the work object S can be prohibited.

[0068] (Effects of the 8th Invention) When the drive control unit 17 receives an operation to set up the work object S, if the work object S is not within the allowable range, it controls the attachment 15 to rotate the work object S so that the horizontal angle θ is within the allowable range before setting up the work object S. With this configuration, the work object S can be rotated to a state where there is no possibility of falling or sliding before the operation to set up the work object S is performed.

[0069] (Effects of the 9th Invention) The work support system 1 further includes an input device 35 for inputting environmental conditions. As shown in Figures 4 and 5, the stability determination unit 53 acquires judgment criteria in advance for each environmental condition, and as shown in Figure 8, switches the judgment criteria according to the input environmental conditions. With this configuration, it is possible to switch to a more appropriate judgment criterion depending on the environment, and it is possible to further improve the accuracy of determining the risk of falling or slipping.

[0070] (Effects of the 10th Invention) The effects of the work machine 10 are as follows. The work machine 10 comprises an attachment 15, a tilt measuring unit 51, a horizontal angle acquisition unit 52, and a stability determination unit 53. The attachment 15 is capable of transporting a work object S that has a rolling direction while it is captured. The tilt measuring unit 51 measures the tilt angle α and tilt direction of the work object S at the target installation position. The horizontal angle acquisition unit 52 acquires the horizontal angle θ formed by the installation direction Do of the work object S, which is related to the rolling direction, with respect to the tilt direction when viewed from above. The stability determination unit 53 determines the stability based on an allowable range of horizontal angle θ for stably positioning the work object S, which is a preset allowable range for each tilt angle α. The above "stability" is the stability when the work object S is installed at the target installation position with the horizontal angle θ acquired by the horizontal angle acquisition unit 52. With this configuration, the same effects as those of the first invention described above can be obtained.

[0071] (Effects of the 11th Invention) The effects of the work support program are as follows. The work support program is used in a work machine 10 equipped with an attachment that can transport a work object S having a rolling direction while it is being captured. The work support program causes the computer to perform a tilt measurement step, a horizontal angle acquisition step, and a stability determination step. In the tilt measurement step, the tilt angle and tilt direction of the work object S at the target installation position are measured. In the horizontal angle acquisition step, the horizontal angle formed by the installation direction of the work object S, which is related to the rolling direction, with respect to the tilt direction, when viewed from above, is acquired. In the stability determination step, the stability is determined based on the allowable range of the horizontal angle for stably positioning the work object S, which is a preset allowable range for each tilt angle. The above "stability" is the stability when the work object S is installed at the target installation position at the horizontal angle acquired in the horizontal angle acquisition step. With this configuration, the same effects as those of the first invention described above can be obtained.

[0072] (modified version) The above embodiments may be modified in various ways. For example, the number of components (including modified versions) of the above embodiments may be changed, and some components may not be provided. For example, the connections between the components shown in Figure 2 may be changed. For example, the inclusion relationships of the components may be changed in various ways. For example, a component described as being included in a higher-level component may not be included in this higher-level component, but may be included in other components. For example, what was described as multiple different members or parts may be treated as a single member or part. For example, what was described as a single member or part may be divided and provided as multiple different members or parts. For example, various parameters may be pre-set in the controller 50, or they may be directly set by manual operation by an operator (operation of the input device 35). Various parameters may be calculated by the controller 50 based on information set by manual operation by an operator, or they may be calculated by the controller 50 based on information detected by a sensor (imaging device, etc.). For example, various parameters may not be changed, may be changed by manual operation, or may be automatically changed by the controller 50 according to some conditions. For example, the order of the steps in the flowcharts shown in Figures 8 and 9 may be changed, and some steps may not be performed. For example, each component may have only a part of each characteristic (such as function, arrangement, shape, operation, etc.). [Explanation of Symbols]

[0073] 1. Work support system 10 Working Machines 15 Attachments 15d Tip Attachment 17. Drive Control Unit (Attachment Control Unit) 31. Posture Sensor 33 Position Sensor 35 Input device (input section) 36 Gripping device angle sensor 40 Teaching device 50 Controllers 51 Inclination Measurement Unit 52 Horizontal angle acquisition section 53 Stability Determination Unit 54 Stability Teaching Unit 55 Surrounding area display section 56 Operating limiting unit 57 Mode switching section 58 Memory section

Claims

1. A work support system used in a work machine equipped with an attachment capable of transporting a work object having a rolling direction while it is being held in place, An inclination measuring unit that measures the inclination angle and inclination direction at the target installation position of the work object, A horizontal angle acquisition unit that acquires the horizontal angle formed by the installation direction of the work object related to the rolling direction with respect to the inclination direction when viewed from above, A stability determination unit determines the stability when the work object is placed at the target installation position with the horizontal angle acquired by the horizontal angle acquisition unit, based on the tolerance range of the horizontal angle for stably positioning the work object, which is set in advance for each inclination angle, and the stability determination unit determines the stability when the work object is placed at the target installation position with the horizontal angle acquired by the horizontal angle acquisition unit. Equipped with, Work support system.

2. A work support system according to claim 1, The system further includes a stability teaching unit that teaches the operator of the work machine the aforementioned stability, Work support system.

3. A work support system according to claim 1, The inclination measuring unit is capable of measuring the inclination angle in the area surrounding the work machine on which the work object is to be installed. The stability determination unit divides the surrounding region into steps according to the allowable range corresponding to the inclination angle. Work support system.

4. A work support system according to claim 3, It further has a surrounding area display unit that displays the surrounding area divided into stages, Work support system.

5. A work support system according to claim 2, The stability teaching unit indicates the allowable range of the work object at the target installation position when the work object is installed at the target installation position. Work support system.

6. A work support system according to claim 1, The aforementioned work machine is An operating unit that receives operation of the aforementioned attachment, An attachment control unit controls the attachment in accordance with the operation received by the operation unit, Equipped with, When the attachment control unit receives an operation to install the work object, if the work object is not within the allowable range, it restricts the operation to install the work object using the attachment. Work support system.

7. A work support system according to claim 6, When the attachment control unit receives an operation to install the work object, if the work object is not within the allowable range, it prohibits the operation to install the work object using the attachment. Work support system.

8. A work support system according to claim 6, When the attachment control unit receives an operation to set up the work object, if the work object is not within the allowable range, it controls the attachment to rotate the work object so that the horizontal angle is within the allowable range before setting up the work object. Work support system.

9. A work support system according to claim 1, It further includes an input section for entering environmental conditions, The stability determination unit is, The aforementioned judgment criteria are obtained in advance for each environmental condition, The judgment criteria are switched according to the input environmental conditions. Work support system.

10. An attachment capable of transporting a work object with a rolling direction while it is being held in place, An inclination measuring unit that measures the inclination angle and inclination direction at the target installation position of the work object, A horizontal angle acquisition unit that acquires the horizontal angle formed by the installation direction of the work object related to the rolling direction with respect to the inclination direction when viewed from above, A stability determination unit determines the stability when the work object is placed at the target installation position with the horizontal angle acquired by the horizontal angle acquisition unit, based on the tolerance range of the horizontal angle for stably positioning the work object, which is set in advance for each inclination angle, and the stability determination unit determines the stability when the work object is placed at the target installation position with the horizontal angle acquired by the horizontal angle acquisition unit. Equipped with, A type of machinery used for industrial work.

11. A work support program used in a work machine equipped with an attachment capable of transporting a work object having a rolling direction while it is being held in place, A tilt measurement step for measuring the tilt angle and tilt direction at the target installation position of the work object, A horizontal angle acquisition step to acquire the horizontal angle formed by the installation direction of the work object related to the rolling direction with respect to the inclination direction when viewed from above, A stability determination step that determines the stability when the work object is placed at the target installation position with the horizontal angle acquired in the horizontal angle acquisition step, based on the tolerance range of the horizontal angle for stably positioning the work object, which is predetermined for each inclination angle, Make the computer execute it. Work support program.

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