Construction machine control device, construction machine, external device, construction machine system, and workability improvement method

Abstract

The construction machine control device (40) has a controller (50) that performs prescribed control that enables acquisition of position information of a work target position (TP) in a work site when the position information cannot be acquired based on work site information input from a position information acquisition device (20) regarding the work site.

Description

Technical Field

[0001] This disclosure relates to technologies used in engineering machinery such as hydraulic excavators. Background Technology

[0002] Patent Document 1 discloses a technology aimed at providing an excavator with high excavation efficiency by appropriately understanding the terrain of the work object. The excavator includes a spatial recognition device and a control device, the control device synthesizing first data obtained by the spatial recognition device positioned at a first viewpoint and second data obtained by the spatial recognition device positioned at a second viewpoint different from the first viewpoint.

[0003] Patent Document 2 discloses a technology for measuring the pile of sand from inside to outside the bucket. The excavator in Patent Document 2 includes: a lower traveling body; an upper slewing body rotatably mounted on the lower traveling body; an auxiliary device mounted on the upper slewing body and including a boom, stick, and bucket; and a distance measuring device for measuring the distance to the ground in the digging direction of the bucket during excavation.

[0004] Patent document 3 discloses an autonomous excavator, the purpose of which is to excavate within a limited excavation depth by sequentially changing the excavation depth. The autonomous excavator includes a hydraulic excavator and an autonomous driving controller built into the hydraulic excavator. This controller repeatedly performs the taught actions from excavation to unloading by repetitive operation. The autonomous driving controller includes a unit for setting different numbers of repeated excavations corresponding to the limited excavation depth, and a unit for increasing the excavation depth according to the cyclical actions during repetition, while simultaneously repeating the cyclical actions the set number of times.

[0005] Construction machinery performs a series of operations using a bucket to excavate sand and move the sand held in the bucket to other locations. For example, during excavation operations where the bucket is brought close to the undercarriage, sometimes some sand may spill from the bucket or fall to the ground. In such cases, sand may accumulate between the undercarriage and the target location of the operation performed by the bucket. This accumulated sand can reduce the productivity of the work performed by the construction machinery.

[0006] The above problems occur not only when the remote attachment is a bucket and the work object is sand, but also when the remote attachment is a forklift, grab bucket, lifting magnet or other device and the work object is wood, waste or other objects.

[0007] Existing technical documents Patent documents Patent Document 1: Japanese Patent Publication No. 2021-008776 Patent Document 2: Japanese Patent Publication No. 2022-059042 Patent document 3: Japanese Patent Publication No. 11-158933. Summary of the Invention

[0008] The purpose of this disclosure is to provide a construction machinery control device, construction machinery, external device, construction machinery system, and workability improvement method that, compared with the past, can suppress the decline in work productivity caused by obstacles such as sand and soil accumulated during operation.

[0009] One aspect of the engineering machinery control device disclosed herein includes a controller that, when it is impossible to obtain the position information of the work target position in the work site based on the work site information input from the position information acquisition device, i.e., work site information, the position information of the work site, performs prescribed control that enables the acquisition of the position information of the work target position.

[0010] Other embodiments of the engineering machinery involved in this disclosure include: a main body of machinery; a working device rotatably supported on the main body of machinery; a position information acquisition device for acquiring information about the work site, i.e., work site information; and the engineering machinery control device.

[0011] Other embodiments of this disclosure involve external devices that include the aforementioned engineering machinery control device.

[0012] Other embodiments of this disclosure refer to engineering machinery systems that include engineering machinery and external devices. The engineering machinery system includes the engineering machinery control device.

[0013] Other aspects of the workability improvement method disclosed herein include the following steps: allowing a controller to obtain location information of a target work location in the work site based on work site information input from a location information acquisition device, i.e., work site information; and, in the event that the controller is unable to obtain the location information, performing prescribed control that enables the acquisition of the location information of the target work location.

[0014] According to this disclosure, a construction machinery control device, construction machinery, external device, construction machinery system, and workability improvement method are provided that, compared with the past, can suppress the decline in work productivity caused by obstacles such as sand and soil accumulated during operation. Attached Figure Description

[0015] Figure 1This is a diagram illustrating an engineering machinery system involved in the implementation method, which includes the engineering machinery involved in the implementation method and external devices.

[0016] Figure 2 It is a block diagram representing the constituent elements of the engineering machinery system.

[0017] Figure 3 This is a flowchart illustrating the computational processing performed by the controller of the engineering machinery control device involved in the implementation method.

[0018] Figure 4 It is a top view used to illustrate the scope of the work objects and the locations of multiple work targets at the work site.

[0019] Figure 5 It is a conceptual diagram used to illustrate the positional relationship between the location information acquisition device of the engineering machinery, the range of the work object, and the specified height.

[0020] Figure 6 It is a conceptual diagram used to illustrate the positional relationship between the location information acquisition device, the target location, the obstacle (accumulation), and the specified height.

[0021] Figure 7 This is a conceptual diagram illustrating the situation where objects other than the pile are located between the location information acquisition device and the target location.

[0022] Figure 8 This is a conceptual diagram illustrating a specified height in a variation of the described embodiment.

[0023] Figure 9 This is a conceptual diagram illustrating, as an example, the excavation, lifting and slewing, soil removal, and resetting and slewing actions performed by the engineering machinery.

[0024] Figure 10 This is a flowchart illustrating the computational processing performed by the controller of the engineering machinery control device involved in a variation of the implementation.

[0025] Figure 11 This is a flowchart illustrating the computational processing performed by the controller of the engineering machinery control device involved in other variations of the implementation. Detailed Implementation

[0026] The embodiments of this disclosure are described with reference to the accompanying drawings. Figure 1 This is a side view showing the construction machinery system 300 according to the embodiment. The construction machinery system 300 includes construction machinery 100 and external devices 200. Figure 2 This is a block diagram representing the constituent elements of the engineering machinery system 300.

[0027] Construction machinery 100 includes: a lower traveling body 1, comprising a traveling device; an upper rotating body 2, supported on the lower traveling body 1 in a manner capable of rotating relative to the lower traveling body 1 about a vertically extending rotating axis Z; a working device 3, supported on the upper rotating body 2; a plurality of actuators; a position information acquisition device 20; a posture detection unit 30; and a construction machinery control device 40. The construction machinery control device 40 includes a controller 50. The controller 50 controls the operation of the construction machinery 100. The lower traveling body 1 and the upper rotating body 2 are examples of the main mechanical components in this disclosure.

[0028] Although the construction machinery 100 involved in this embodiment is a hydraulic excavator, the construction machinery in this disclosure is not limited to hydraulic excavators, but may also be other construction machinery such as cranes and bulldozers.

[0029] The front-back and left-right directions shown in the figure can each be based on the orientation of the upper rotating body 2, the orientation of the lower walking body 1, or any of the coordinate systems described later (e.g., the reference coordinate system).

[0030] The upper rotating body 2 includes a rotating frame 2A, a cockpit 2B, and a rear outer wall 2C. The rotating frame 2A is a frame that is rotatably supported on the lower traveling body 1, and it constitutes the base part of the upper rotating body 2.

[0031] The cockpit 2B is located, for example, at the left front of the slewing frame 2A. Inside the cockpit 2B are the driver's seat, operating devices, etc. The operating devices include a controller that accepts various operations performed by the operator, such as boom operation for raising and lowering the boom 4, stick operation for rotating the stick 5, remote auxiliary device operation for rotating the remote auxiliary device 6, slewing operation for rotating the upper slewing body 2 relative to the lower traveling body 1, and traveling operation for moving the lower traveling body 1. The controller may also consist of at least one of a joystick, operating pedals, and operating buttons. The operating devices are used when the operator operates the construction machinery 100 from inside the cockpit 2B. The operating devices are not used for automatic driving of the construction machinery 100 or for remote operation of the construction machinery 100.

[0032] The rear outer wall 2C is located at the rear of the cockpit 2B and serves as the outer wall dividing the machinery compartment. The machinery compartment houses various equipment, including power equipment such as engines, batteries, and generators, hydraulic equipment such as hydraulic pumps, and electrical equipment. The hydraulic pumps are driven by the power equipment. A counterweight may also be located at or behind the rear of the rear outer wall 2C. This counterweight is a weight used to maintain the balance of the construction machinery 100.

[0033] The working device 3 includes a boom 4 that is undulatingly mounted on the upper rotating body 2, a stick 5 that is rotatably mounted on the boom 4, and a distal attachment 6 that is rotatably mounted on the stick 5. Although the distal attachment 6 in this embodiment is a bucket 6, the distal attachment may also be other distal attachments such as a grab bucket, forks, or lifting magnet.

[0034] Multiple actuators operate by receiving a supply of working oil injected from the hydraulic pump. The multiple actuators include a boom cylinder 7 for raising and lowering the boom 4, a stick cylinder 8 for rotating the stick 5, a remote accessory cylinder 9 for rotating the remote accessory 6, a slewing motor 11 for rotating the upper slewing body 2 relative to the lower traveling body 1, and a travel motor (not shown) for moving the lower traveling body 1.

[0035] The position information acquisition device 20 acquires the information of the work site WS, i.e., the work site information. The position information acquisition device 20 may also be installed in the cockpit 2B, for example. Specifically, the position information acquisition device 20 may also be installed on the front part of the upper surface of the cockpit 2B.

[0036] The location information acquisition device 20 acquires information about the work site WS, i.e., the work site information, and inputs the acquired work site information into the controller 50. The location information acquisition device 20 can also acquire three-dimensional data (e.g., point cloud data) of objects such as the ground, obstacles, and other construction machinery existing at the work site WS.

[0037] The location information acquisition device 20 can also be a ranging sensor that acquires distance information related to the distance to the object by irradiating light such as laser. The ranging sensor can be, for example, LiDAR (Light Detection and Ranging). Alternatively, the location information acquisition device 20 can be a stereo camera, an ultrasonic sensor, a total station, an infrared sensor, or other sensors capable of acquiring information about the work site. The location information acquisition device 20 can also be a camera device that captures images of the work site (WS) as work site information. Furthermore, the location information acquisition device 20 can also be a device that combines two or more of these devices.

[0038] The posture detection unit 30 acquires posture information, which is related to the posture of the construction machinery 100. The posture detection unit 30 may also include multiple posture detectors. For example... Figure 1 As shown, the multiple posture detectors may also include a boom posture detector 31, a stick posture detector 32, and a remote attachment posture detector 33. The multiple posture detectors may also include a slewing body posture detector 34.

[0039] The boom posture detector 31 can be a sensor that detects the posture of the boom 4, or a sensor that detects the state of the boom cylinder 7 related to the posture of the boom 4. The stick posture detector 32 can be a sensor that detects the posture of the stick 5, or a sensor that detects the state of the stick cylinder 8 related to the posture of the stick 5. The remote attachment posture detector 33 can be a sensor that detects the posture of the remote attachment 6, or a sensor that detects the state of the remote attachment cylinder 9 related to the posture of the remote attachment 6. The slewing body posture detector 34 can be a sensor that detects the posture of the upper slewing body 2, or a sensor that detects the state of the slewing motor 11 related to the posture of the upper slewing body 2.

[0040] Multiple attitude detectors may include, for example, an inertial measurement unit (IMU), a sensor for detecting the extension and retraction of the working cylinder (e.g., a stroke sensor), or other sensors. The rotational body attitude detector 34 may include a sensor for detecting the rotation angle of the upper rotating body 2 relative to the lower traveling body 1, or a sensor for detecting the tilt angle of the upper rotating body 2 relative to the horizontal plane.

[0041] The posture detection unit 30 inputs the acquired posture information to the controller 50 of the construction machinery control device 40. The controller 50 can use the posture information input from the posture detection unit 30 to calculate the posture of the construction machinery 100.

[0042] The controller 50 of the construction machinery control device 40 performs specific controls. These specific controls can be, for example, automatic driving control (automatic driving control) to automate the actions of the construction machinery 100; semi-automatic driving control (semi-automatic driving control) to automate a portion of the actions of the construction machinery 100; remote operation control (remote operation control) to allow the operator to remotely operate the construction machinery 100 using a remote operating device (not shown) located at a distance from the construction machinery 100; or other controls to assist operators, work managers, assistants, and other work-related personnel. That is, the specific controls can be controls to assist the work manager, assistants, and other work-related personnel in monitoring the automatic driving; controls to assist the operator using the remote operating device at a distance; or controls to assist the operator when the operator is riding in the construction machinery 100.

[0043] The controller 50 uses the work site information input from the location information acquisition device 20 to control the engineering machinery 100, such as the specific control.

[0044] The controller 50 uses the work site information input from the position information acquisition device 20 and the posture information input from the posture detection unit 30 to perform the specific control. Specifically, for example, when the specific control is automatic or semi-automatic control, the controller 50 outputs control commands to the controlled object 70 to cause the construction machinery 100 to perform actions corresponding to the automatic driving data pre-stored in the data storage unit 56 (described later).

[0045] Next, an example of the specific control will be described. In Figure 4 In the specific example shown, construction machinery 100 is configured at the work site WS and performs a specified operation within the work object range WR set in the work site WS. The specified operation may be, for example, loading, land preparation, or other operations. Controller 50 performs the specific control to cause construction machinery 100 to perform the specified operation.

[0046] Specifically, for example, the controller 50 uses point cloud data input from the position information acquisition device 20 and posture information input from the posture detection unit 30 to perform, for example, automatic or semi-automatic control. The controller 50 outputs control commands to the controlled object 70 to cause the construction machinery 100 to perform actions corresponding to the automatic control data pre-stored in the data storage unit 56.

[0047] A loading job consists of multiple actions. These actions can also include, for example, […]. Figure 9 (A) shows the excavation action, Figure 9 (B) shows the lifting and rotation movement. Figure 9 (C) shows the soil removal action and Figure 9 The reset rotation action is shown in (D). The excavation action, lifting rotation action, soil removal action, and reset rotation action are performed in sequence.

[0048] The digging action is an action used to excavate the work object area WR within the work site WS. The digging action may also include, for example, the boom raising action (raising the boom 4), the stick retracting action (bringing the stick 5 closer to the boom 4), and the bucket retracting action (bringing the bucket 6 closer to the boom 4). The work object area WR may also be, for example, Figure 4 The target excavation area is represented by a quadrilateral box.

[0049] The lifting and slewing motion is used to move the bucket 6, which holds the excavated sand and soil, from the work area WR to directly above the dumping area. The dumping area can be, for example, the loading platform of a dump truck 400, or a dumping area formed within the work site WS. The lifting and slewing motion may also include raising the boom and rotating the upper slewing body 2 relative to the lower traveling body 1. The lifting and slewing motion may also include pushing the stick 5 away from the boom.

[0050] The soil removal action is the action used to discharge sand and soil from the bucket 6 to the soil removal area. The soil removal action can also include the action of pushing the bucket 6 away from the boom 4 (soil removal action). The soil removal action can also include the action of pushing the stick 5 away from the boom 4.

[0051] The reset slewing action is used to return the bucket 6 from directly above the dumping area to the working area WR. The reset slewing action can also include the boom lowering action (lowering the boom 4) and the slewing action (rotating the upper slewing body 2 relative to the lower traveling body 1). The reset slewing action can also include the bucket retraction action or the bucket push action.

[0052] Teaching data corresponding to loading operations involving multiple actions can be stored in data storage unit 56, or in an external device 200 that is different from the construction machinery 100.

[0053] When performing the specific control, if the position information of the target position TP in the work site WS cannot be obtained based on the work site information (e.g., three-dimensional data such as point cloud data) input from the position information acquisition device 20, the controller 50 outputs a command (shift command) to move the obstacle OB located between the position information acquisition device 20 and the target position TP.

[0054] The controller 50 is unable to obtain the position information of the target position TP based on the work site information, and there is an obstacle OB between the position information acquisition device 20 and the target position TP; these two are correlated. The reason is that the obstacle OB, located between the position information acquisition device 20 and the target position TP, hinders the position information acquisition device 20 from obtaining the position information of the target position TP. In this embodiment, when the controller 50 is unable to obtain the position information of the target position TP based on the work site information, it outputs a displacement command to move the obstacle OB. Therefore, compared to the past, it can suppress the decrease in work productivity caused by obstacles such as sand and soil accumulated during the operation.

[0055] Specifically, the controller 50 can also output a shift command to the control object 70 of the construction machinery 100 when it is unable to obtain the position information of the target position TP based on the work site information. In this case, the control object 70 causes at least one of the working device 3 and the upper rotating body 2 to operate according to the shift command, so as to eliminate the state of the obstacle OB between the position information acquisition device 20 and the target position TP. Thus, the position information acquisition device 20 can obtain the position information of the target position TP.

[0056] The shift command can also be a command that moves the obstacle OB, which is located on the straight line connecting the position information acquisition device 20 and the target position TP, to a position deviating from the straight line. The shift command can also be a command that controls the operation of the working device 3, causing the bucket 6 (far-end attachment) to push the obstacle OB away from the lower traveling body 1. Specifically, the shift command can be a command that controls the operation of the working device 3, causing the bucket 6 (far-end attachment) to push the obstacle OB away from the lower traveling body 1, thereby returning the obstacle OB to the working object range WR. The shift command can also be a command that controls the operation of the working device 3, causing the bucket 6 (far-end attachment) to pull the obstacle OB closer to the lower traveling body 1. The shift command can also be a command that causes the upper slewing body 2 to rotate right or left, causing the bucket 6 (far-end attachment) to push the obstacle OB to the right or left.

[0057] The controller 50 includes a computer comprising a processing unit and memory. For example... Figure 2 As shown, the controller 50 may, for example, include a target setting unit 51, a position information determination unit 52, an obstacle determination unit 53, a control command output unit 54, a target modification unit 55, and a data storage unit 56. The arithmetic processing unit of the controller 50 executes the program stored in the memory, thereby realizing the respective functions of the target setting unit 51, the position information determination unit 52, the obstacle determination unit 53, the control command output unit 54, the target modification unit 55, and the data storage unit 56.

[0058] The target setting unit 51 can set the work object range WR. The target setting unit 51 can also set at least one work target position TP. In this embodiment, the target setting unit 51 sets multiple work target positions TP. The target setting unit 51 can also select from the multiple work target positions TP to set the work target position TP that will be the object of the next action.

[0059] The location information determination unit 52 determines whether the location information of the work target position TP in the work site WS has been obtained based on the work site information about the work site WS input from the location information acquisition device 20.

[0060] If the location information determination unit 52 is unable to obtain the location information of the target location TP based on the work site information, the obstacle determination unit 53 determines whether there is an object (obstacle OB) between the location information acquisition device 20 and the target location TP.

[0061] The control command output unit 54 outputs commands to the control object 70 of the construction machinery 100. Specifically, when there is an obstacle OB between the position information acquisition device 20 and the target work position TP, the control command output unit 54 outputs a displacement command for moving the obstacle OB to the control object 70. Additionally, the control command output unit 54 outputs specific commands, corresponding to specific controls (described later), to the control object 70. Specifically, when the specific control is automatic or semi-automatic driving control, the control command output unit 54 outputs automatic driving commands, corresponding to a series of actions in the automatic or semi-automatic driving control of the construction machinery 100, to the control object 70.

[0062] The target change unit 55 changes the currently set work target location TP to another work target location TP. That is, the target change unit 55 changes the work target location TP.

[0063] The data storage unit 56 stores specific data used for specific control. Specific data may, for example, be automatic driving data used for autonomous or semi-autonomous driving. Automatic driving data may be used, for example, to calculate control commands, which are control commands output by the controller 50 to the controlled object 70 to cause the construction machinery 100 to perform a specified action. Automatic driving data may, for example, be teaching data corresponding to operations performed by the operator on the operating devices or remote operating devices in the cockpit 2B, or data generated using various information terminals.

[0064] Various positions necessary for specific control, such as the position of the position information acquisition device 20, the work object range WR, and multiple work target positions TP, can be represented by coordinates in a coordinate system based on the position information acquisition device 20 (acquisition device coordinate system), coordinates based on the construction machinery 100 (machine coordinate system), coordinates based on a specific position of the work site WS (site coordinate system), or coordinates in a global coordinate system. The controller 50 can also convert position information from any of these coordinate systems into position information in other coordinate systems.

[0065] In the following specific example, the controller 50 converts the point cloud data in the acquisition device coordinate system input from the position information acquisition device 20 into point cloud data in a predefined reference coordinate system. The reference coordinate system may be the machine coordinate system, the field coordinate system, the global coordinate system, or other coordinate systems.

[0066] The origin O of the reference coordinate system can, for example, be set at a specific position relative to the engineering machinery 100. Specifically, the origin O of the reference coordinate system can, for example, be any position on the rotation axis Z. More specifically, the origin O of the reference coordinate system can also be the intersection of the rotation axis Z and the ground. Additionally, the origin O of the reference coordinate system can, for example, be the position between the lower traveling body 1 and the upper rotating body 2 on the rotation axis Z. Figure 1 The origin O is shown.

[0067] In this embodiment, the reference coordinate system is a three-dimensional coordinate system. In this case, the reference coordinate system may, for example, be an orthogonal coordinate system defined using an x-axis parallel to the left-right direction, a y-axis parallel to the front-back direction, and a z-axis parallel to the vertical direction. However, the reference coordinate system is not limited to the specific example described above and can be adopted in various ways.

[0068] The coordinates of the position information acquisition device 20 can be, for example, the coordinates of the viewpoint of the position information acquisition device 20, or the coordinates of other parts of the position information acquisition device 20. The controller 50 can also pre-store information related to the relative position of the position information acquisition device 20 with respect to a specific position (e.g., origin O) of the construction machinery 100. Specifically, for example, the controller 50 can also store the coordinates of the position information acquisition device 20 in the reference coordinate system with the specific position of the construction machinery 100 as the origin. The coordinates of the position information acquisition device 20 can be, for example, the coordinates of the viewpoint of the position information acquisition device 20, or the coordinates of other parts of the position information acquisition device 20.

[0069] The controlled object 70 is an object controlled by the controller 50. The output of the controlled object 70 varies according to the operational quantity input from the controller 50, i.e., the control operational quantity (control input). The controlled object 70 may also include a flow regulator and at least one of the plurality of actuators. The flow regulator adjusts the direction and flow rate of the working oil supplied to at least one of the plurality of actuators according to the control operational quantity input from the controller 50. That is, after the controller 50 inputs the control operational quantity to the flow regulator, the flow regulator operates according to the control operational quantity input from the controller 50, thereby supplying working oil from the hydraulic pump to at least one of the plurality of actuators, which then operates.

[0070] The flow regulator may also include, for example, a boom controller 71, a stick controller 72, a remote auxiliary device controller 73, and a slewing controller 74.

[0071] The boom controller 71 may also include a valve core for regulating the direction and flow rate of the working oil supplied to the boom cylinder 7, a pair of pilot ports, and a pair of proportional valves. The stick controller 72 may also include a valve core for regulating the direction and flow rate of the working oil supplied to the stick cylinder 8, a pair of pilot ports, and a pair of proportional valves. The remote attachment controller 73 may also include a valve core for regulating the direction and flow rate of the working oil supplied to the remote attachment cylinder 9, a pair of pilot ports, and a pair of proportional valves. The slewing controller 74 may also include a valve core for regulating the direction and flow rate of the working oil supplied to the slewing motor 11, a pair of pilot ports, and a pair of proportional valves. Each valve core is activated by a pilot pressure input to the pilot port corresponding to that valve core, allowing working oil to be supplied to the actuator corresponding to that valve core.

[0072] Each proportional valve is configured in an oil circuit connecting the pilot port corresponding to its valve spool to an unshown pilot pump, regulating the pilot pressure input to the pilot port. In other words, each proportional valve outputs a secondary pressure corresponding to a control operation quantity (e.g., current value) input from the controller 50, which is then input as a pilot pressure to the pilot port corresponding to that proportional valve. Each proportional valve adjusts the pilot pressure input to its corresponding pilot port to a value corresponding to the control operation quantity input from the controller 50.

[0073] Construction machinery 100 is equipped with a communicator 82, and external device 200 is equipped with a communicator (not shown). Therefore, construction machinery 100 and external device 200 can send and receive data to each other, for example, through wireless or wired communication using various networks such as the Internet and mobile phone networks.

[0074] External device 200 can also be an information terminal such as a tablet computer, smartphone, laptop computer, or desktop computer. External device 200 can also be a remote operation device for remotely operating the construction machinery 100 from a distance. Additionally, external device 200 can be a management device such as a server for managing the operations performed by the construction machinery 100. Furthermore, external device 200 can be an external storage device for storing the teaching data and other data. Additionally, external device 200 can be a computer in a cloud service provided as a service on a network such as the Internet. The construction machinery system 300 can also include multiple external devices 200.

[0075] Figure 3 This is a flowchart illustrating the computational processing performed by the controller 50 of the engineering machinery control device 40. The controller 50 performs specific controls such as automatic driving control, semi-automatic driving control, and remote operation control. Figure 3The computational processing is shown below. Furthermore, the following description illustrates the case where the location information acquisition device 20 acquires LiDAR data (point cloud data) of the work site.

[0076] The target setting unit 51 of the controller 50 performs initial settings (step S11). The initial settings may include setting the work object range WR in the work site WS and setting multiple work target locations TP. The initial settings may also include setting the number of repetitions of the work at the multiple work target locations TP.

[0077] For example, in such Figure 4 As shown, when the work area WR is a quadrilateral, the target setting unit 51 of the controller 50 can also set the work area WR by determining the positions of three or more of the four corners A, B, C, and D of the quadrilateral. For example, the position of the corner can be determined by the operator using the operating device in the cab 2B of the construction machinery 100 or an external device 200 (e.g., a remote operating device) to position the tip of the bucket 6 at the position corresponding to the corner, and the operator can then input the specified information into the input device 81 of the construction machinery 100 or an input device (not shown) of the external device 200 (e.g., a remote operating device). The target setting unit 51 of the controller 50 can calculate the position of the tip of the bucket 6 based on the posture information input from the posture detection unit 30. Alternatively, the position of the corner can be determined by inputting the coordinates of the corner into the external device 200 by a person involved in the operation.

[0078] Within the defined work object range WR, the target setting unit 51 of the controller 50 sets multiple work target positions TP. The multiple work target positions TP set by the target setting unit 51 of the controller 50 can also be the x-coordinate and y-coordinate of the work target position TP.

[0079] The target setting unit 51 of the controller 50 can also set multiple target work positions TP based on inputs from personnel involved in the work, indicating the setting of multiple target work positions TP. This input can be made to an external device 200 or to the input device 81 of the construction machinery 100. Furthermore, the target setting unit 51 of the controller 50 can also set multiple target work positions TP based on algorithms pre-stored for setting the target work positions TP and information about the work object range WR. Figure 4 In the specific example shown, the target setting unit 51 of the controller 50 sets 15 target locations TP within the work target range WR, and sets the sequence of digging operations at these target locations TP. Figure 4In the specific example shown, the target setting unit 51 of the controller 50 sets the sequence of excavation actions according to the numbers 1 to 15 of the 15 target work locations TP. However, the sequence of excavation actions is not limited to... Figure 4 Specific examples shown.

[0080] The position information determination unit 52 of the controller 50 determines whether the position information of the currently set work target position TP (e.g., the first work target position TP) has been obtained based on the three-dimensional data (point cloud data) of the work site WS input from the position information acquisition device 20 (step S12). Specifically, for example, the position information determination unit 52 of the controller 50 may determine whether the ground height (z coordinate) of the currently set work target position TP at the x and y coordinates has been obtained based on the three-dimensional data (point cloud data). The position information determination unit 52 of the controller 50 may also determine whether there is data on the x and y coordinates of the currently set work target position TP.

[0081] In such Figure 5 As shown, when there is no obstacle OB between the location information acquisition device 20 and the first target location TP, the three-dimensional data (point cloud data) includes data corresponding to the first target location TP. On the other hand, in cases such as... Figure 6 As shown, when there is an obstacle OB between the location information acquisition device 20 and the first target position TP, the light emitted from the location information acquisition device 20, such as a LiDAR, will be blocked by the obstacle OB. Therefore, the three-dimensional data (point cloud data) will not contain data corresponding to the first target position TP. Therefore, the location information determination unit 52 of the controller 50 can determine whether the location information of the currently set target position TP has been obtained based on the three-dimensional data (point cloud data) input from the location information acquisition device 20.

[0082] If the position information determination unit 52 of the controller 50 cannot obtain the position information of the first work target position TP (step S12 is "No"), the controller 50 performs the processing after step S18. The processing after step S18 will be described below.

[0083] When the position information determination unit 52 of the controller 50 obtains the position information of the first target work position TP (step S12 is "Yes"), it sets the next target work position in the specific control (e.g., automatic driving control) as the first target work position TP (step S13). Next, the control command output unit 54 of the controller 50 outputs control commands to the controlled object 70, so that the controlled object 70 performs digging operations and associated operations, namely lifting and slewing operations, soil dumping operations, and reset and slewing operations, at the first target work position TP based on the automatic driving data stored in the data storage unit 56 (steps S14 and S15). The digging operation in step S14 is an operation that moves the bucket 6 in a predetermined direction (e.g., backward) within a predetermined range based on the currently set target work position TP (the start point of the operation, the center of the operation, or the end point of the operation).

[0084] The position information determination unit 52 of the controller 50 determines whether a series of operations has been completed (step S16). Determining whether a series of operations has been completed can, for example, involve checking whether the excavation actions and associated actions at the first to fifteenth target positions TP have been repeated a set number of times (e.g., 3 times) as initially set. Alternatively, determining whether a series of operations has been completed can also be based on whether the amount of soil excavated has reached or exceeded a predetermined value.

[0085] If a series of tasks have been completed (step S16 is "Yes"), the controller 50 terminates specific control. Conversely, if a series of tasks have not been completed (step S16 is "No"), the controller 50 changes the setting of the task target position TP (step S17). Specifically, the controller 50 changes the next task target position TP, for example, from the first task target position TP to the second task target position TP. Then, the controller 50 performs the processing from step S12 onwards again.

[0086] On the other hand, if the position information determination unit 52 of the controller 50 cannot obtain the position information of the currently set work target position TP (e.g., the first work target position TP) (step S12 is "No"), the obstacle determination unit 53 of the controller 50 determines whether there is an object (obstacle OB) between the position information acquisition device 20 and the first work target position TP (step S18). Specifically, in step S18, the obstacle determination unit 53 of the controller 50 can determine whether there is an object with a predetermined height Th or higher in the area between the position information acquisition device 20 and the first work target position TP.

[0087] If the controller 50 is unable to obtain the position information of the target position TP based on the three-dimensional data (point cloud data) (step S12 is "No"), and if the position information acquisition device 20 detects an object of a specified height Th or higher in the area between the position information acquisition device 20 and the target position TP (step S18 is "Yes"), the controller 50 outputs the shift command (step S19).

[0088] The control command output unit 54 of the controller 50 can output the following command as a shift command to the controlled object 70. This command controls the operation of the working device 3, causing the bucket 6 to push the obstacle OB away from the lower traveling body 1, thereby returning the obstacle OB to the working object range WR. After the operation of the working device 3 corresponding to the shift command is completed, the controller 50 performs the processing after step S12 again.

[0089] In this embodiment, the controller 50 outputs the shift command when the above two conditions are met (the controller 50 cannot obtain the position information of the target position TP based on the three-dimensional data, and the position information acquisition device 20 detects an object of a specified height Th or higher in the area between the position information acquisition device 20 and the target position TP), and does not output the shift command when the above two conditions are not met. This improves the accuracy of determining the presence of an obstacle OB in the area between the position information acquisition device 20 and the target position TP.

[0090] The specified height Th can be, for example, as follows: Figures 5-7 As shown, the height (pre-set height) of the ground where the construction machinery 100 is positioned can also be as follows: Figure 8 The height specified in the variant examples shown can also be specified by methods other than those described. Figure 8 In the variant shown, the specified height Th corresponds to the height of the virtual straight line connecting the position information acquisition device 20 to the target work position TP. In this case, the area above the specified height Th includes the area on and above the virtual straight line. Figure 8 The area described in the text is the area with the dotted shadow line.

[0091] On the other hand, if the controller 50 is unable to obtain the position information of the target position TP (e.g., the first target position TP) based on the three-dimensional data (point cloud data) (step S12 is "No"), and if the position information acquisition device 20 does not detect an object of a specified height Th or higher in the area between the position information acquisition device 20 and the target position TP (step S18 is "No"), it will not output the shift command and will proceed with the processing of step S20.

[0092] In step S20, the controller 50 also determines whether location information cannot be obtained based on the three-dimensional data (point cloud data) for other target locations TP among the multiple target locations TP (e.g., the second and subsequent target locations TP). If the controller 50 cannot obtain location information based on the three-dimensional data (point cloud data) for all target locations TP (step S20 is "yes"), the operation is terminated.

[0093] If all location information of multiple target work locations TP cannot be obtained, it may be impossible to cope with the situation by changing the target work locations TP. In this embodiment, if the controller 50 cannot obtain all location information of multiple target work locations TP based on the three-dimensional data, it will terminate the operation or change the position of the construction machinery 100. Therefore, it can suppress the continuation of invalid operations, thereby suppressing the decline in the productivity of the operation.

[0094] If the controller 50 is able to obtain the location information of at least one of the multiple target locations TP based on the three-dimensional data (point cloud data) (step S20 is "No"), the controller 50 changes the setting of the target location TP (step S21) and performs the processing after step S12 again.

[0095] Specifically, if the controller 50 cannot obtain the location information of the target location TP based on the three-dimensional data (step S12 is "No"), and if the location information acquisition device 20 does not detect an object above a specified height Th in the area between the location information acquisition device 20 and the target location TP (step S18 is "No"), it is possible that there are no deposits such as sand or soil, i.e., obstacles OB, in the area between the location information acquisition device 20 and the target location TP, or even if such deposits exist, they may not be present in large quantities. In this case, for example, Figure 7As shown, there may be objects other than the accumulated material in the area between the location information acquisition device 20 and the target work location TP. Specifically, for example, as excavation within the work area WR progresses to a certain point, the elevation difference between the set target work location TP (e.g., the first target work location TP) and the ground where the construction machinery 100 is located increases, potentially resulting in the ground being located between the location information acquisition device 20 and the target work location TP. In this case, the controller 50 does not output the shift command (step S19), but instead changes the target work location TP (step S21). Therefore, the work can continue smoothly at the changed target work location TP (e.g., any one of the sixth to tenth target work locations TP).

[0096] As explained above, according to this disclosure, a construction machinery control device 40, construction machinery 100, external device 200, construction machinery system 300, and workability improvement method are provided, which, compared with the past, can suppress the decline in work productivity caused by obstacles such as sand and soil OB accumulating during work. This disclosure includes the following first to ninth aspects.

[0097] [Method 1] The engineering machinery control device 40 involved in the first method includes a controller 50, which performs prescribed control to enable the acquisition of the position information of the target position TP in the work site WS when it is impossible to obtain the position information of the target position TP in the work site WS based on the information about the work site WS input from the position information acquisition device 20.

[0098] In the first mode, the controller 50 performs the prescribed control, thus, compared with the past, it is able to suppress the decline in work productivity caused by obstacles such as sand and soil OB accumulating in the work.

[0099] [Method 2] Ideally, the construction machinery control device 40 of the second embodiment also possesses the following structure compared to the construction machinery control device 40 of the first embodiment. Specifically, ideally, in the construction machinery control device 40 of the second embodiment, the prescribed control is a control that outputs instructions for moving the obstacle OB located between the position information acquisition device 20 and the target work position TP (first control), a control for changing the target work position TP (second control), or a control for changing the position of the construction machinery 100 (third control). In the second embodiment, the first, second, and third controls, as the prescribed controls, can respectively increase the probability of obtaining position information of the target work position TP. Therefore, compared to the past, the decrease in work productivity caused by the obstacle OB can be suppressed.

[0100] The reasons why the first, second, and third controls respectively increase the likelihood of obtaining the position information of the target work position TP are as follows. There is a correlation between the controller 50's inability to obtain the position information of the target work position TP based on work site information such as three-dimensional data of the work site WS, and the existence of an obstacle OB between the position information acquisition device 20 and the target work position TP. When the controller 50 performs the first control, which outputs a command to move the obstacle OB (shift command), in the absence of the ability to obtain the position information of the target work position TP based on the work site information, the obstacle OB between the position information acquisition device 20 and the target work position TP will be removed, or the amount of the obstacle OB will be reduced. This increases the likelihood of obtaining the position information of the target work position TP. Furthermore, when the controller 50 performs the second control, which changes the target work position TP, in the absence of the ability to obtain the position information of the target work position TP based on the work site information, the virtual straight line connecting the position information acquisition device 20 and the newly set target work position TP may sometimes deviate from the position of the obstacle OB. This further increases the likelihood of obtaining the position information of the target work position TP. Furthermore, when the position information of the target work location TP cannot be obtained based on the work site information, and the controller 50 performs a third control to change the position of the construction machinery 100, the position of the position information acquisition device 20 also changes. Therefore, the virtual straight line connecting the position information acquisition device 20 (after the position change) to the target work location TP may sometimes deviate from the position of the obstacle OB. This increases the likelihood of obtaining the position information of the target work location TP. Based on the above, the first control, the second control, and the third control, as the prescribed controls, can each increase the likelihood of obtaining the position information of the target work location TP. Therefore, compared to the past, the decrease in work productivity caused by obstacles such as sand and soil accumulated during work can be suppressed.

[0101] [Method 3] Ideally, the engineering machinery control device 40 involved in the third method, compared to the engineering machinery control device 40 involved in the first method, also possesses the following structure. That is, ideally, in the engineering machinery control device 40 involved in the third method, the specified control is a control that outputs a command to move an obstacle OB located between the position information acquisition device 20 and the target work position TP. When the controller 50 cannot obtain the position information of the target work position TP based on the work site information such as the three-dimensional data, and when the position information acquisition device 20 detects an object of a specified height Th or higher in the area between the position information acquisition device 20 and the target work position TP, the controller 50 outputs the displacement command. In this third method, the controller 50 outputs the displacement command when both conditions are met (the controller 50 cannot obtain the position information of the target work position TP based on the work site information, and the position information acquisition device 20 detects an object of a specified height Th or higher in the area between the position information acquisition device 20 and the target work position TP), and does not output the displacement command when the two conditions are not met. Compared to the first method, this third method improves the accuracy of determining the presence of an obstacle OB in the area between the location information acquisition device 20 and the target work location TP. The specified height Th can be, for example, the height above the ground where the construction machinery 100 is located, the height specified in the sixth method described later, or a height specified by a method other than these.

[0102] [Method 4] Ideally, the engineering machinery control device 40 involved in the fourth method, in any of the engineering machinery control devices 40 involved in the first to third methods, also possesses the following structure. That is, ideally, in the engineering machinery control device 40 involved in the fourth method, when the controller 50 cannot obtain the position information of the target position TP based on the work site information such as the three-dimensional data, and when the position information obtaining device 20 does not detect an object of a specified height Th or higher in the area between the position information obtaining device 20 and the target position TP, the target position TP is changed. When the above two conditions are met (the controller 50 cannot obtain the position information of the target position TP based on the work site information, and the position information obtaining device 20 does not detect an object of a specified height Th or higher in the area between the position information obtaining device 20 and the target position TP), it is possible that there are no piles of sand or soil, i.e., obstacles OB, in the area between the position information obtaining device 20 and the target position TP, or even if such piles of sand or soil exist, they may not be present in large quantities. In this situation, there may be objects other than the accumulated material in the area between the location information acquisition device 20 and the target work location TP. Specifically, for example, as the excavation work progresses to a certain point, the elevation difference between the target work location TP and the ground where the construction machinery 100 is located increases, potentially resulting in the ground being located between the location information acquisition device 20 and the target work location TP. In this fourth method, if the above two conditions are met, the controller 50 does not output the shift command, but instead changes the target work location TP. Therefore, the work can continue smoothly at the changed target work location TP.

[0103] [Method 5] Ideally, the construction machinery control device 40 in the fifth embodiment, compared to the construction machinery control device 40 in the fourth embodiment, also possesses the following structure: Specifically, ideally, in the construction machinery control device 40 in the fifth embodiment, when all position information of multiple target work positions TP cannot be obtained based on the three-dimensional data, the controller 50 controls the change of the position of the construction machinery 100 or terminates the operation. When all position information of multiple target work positions TP cannot be obtained, it may be impossible to address this situation by changing the target work positions TP. In this fifth embodiment, when all position information of multiple target work positions TP cannot be obtained based on the work site information, the controller 50 terminates the operation, thereby suppressing the continuation of ineffective work and thus preventing a decline in work productivity. Furthermore, if the position information of all 50+ target work locations TP cannot be obtained based on the aforementioned work site information, the position of the position information acquisition device 20 will also change as the position of the construction machinery 100 changes. Therefore, the virtual straight line connecting the position information acquisition device 20 (after its position has been changed) to the target work location TP may sometimes deviate from the position of the obstacle OB. This increases the likelihood of obtaining the position information of the target work location TP.

[0104] [Sixth Method] The engineering machinery control device 40 involved in the sixth method may also include the following structure in the engineering machinery control device 40 involved in any of the third to fifth methods: That is, in the engineering machinery control device 40 involved in the sixth method, the specified height Th may also be the height of the virtual straight line connecting the position information acquisition device 20 and the work target position TP.

[0105] [Seventh Method] The engineering machinery 100 involved in the seventh method includes: a main body of machinery; a working device 3 rotatably supported on the main body of machinery; a position information acquisition device 20 that acquires work site information such as three-dimensional data of the work site WS; and an engineering machinery control device 40 involved in any of the first to sixth methods. In this seventh method, when the controller 50 cannot obtain the position information of the work target position TP based on the work site information, it performs the prescribed controls such as the first control, the second control, and the third control. Therefore, compared with the past, it can suppress the decline in work productivity caused by obstacles such as sand and soil accumulated during the work.

[0106] [Method 8] The external device 200 involved in the eighth method includes the engineering machinery control device 40 involved in any of the first to sixth methods. In this eighth method, when the controller 50 cannot obtain the position information of the target position TP based on the work site information such as three-dimensional data, it performs the prescribed controls such as the first control, the second control, and the third control. Therefore, compared with the past, it is possible to suppress the decline in work productivity caused by obstacles such as sand and soil accumulated during the work.

[0107] [Ninth Method] The engineering machinery system 300 involved in the ninth method includes engineering machinery 100 and external device 200. The engineering machinery system 300 includes the engineering machinery control device 40 involved in any of the first to sixth methods. In the ninth method, when the controller 50 cannot obtain the position information of the target position TP based on the work site information such as three-dimensional data, it performs the prescribed controls such as the first control, the second control, and the third control. Therefore, compared with the past, it can suppress the decline in work productivity caused by obstacles such as sand and soil accumulated during the operation.

[0108] [Method 10] The workability improvement method involved in the 10th method includes the following steps: The controller 50 obtains the location information of the target work location TP in the work site WS based on work site information such as three-dimensional data of the work site WS input from the location information acquisition device 20; and when the controller 50 cannot obtain the location information, the controller performs predetermined control to enable the acquisition of the location information of the target work location. In the 10th method, when the controller 50 cannot obtain the location information of the target work location TP based on the work site information, it performs the predetermined control such as the first control, the second control, and the third control. Therefore, compared with the past, it is possible to suppress the decline in work productivity caused by obstacles such as sand and soil accumulated in the work.

[0109] [Variation Example] While the embodiments of this disclosure have been described above, this disclosure is not limited to the described embodiments, and includes, for example, the following variations.

[0110] (A) Variation Example 1 Although the remote attachment is the bucket 6 in the described embodiment, it could also be a forklift, a grab bucket, a lifting magnet, or other similar device. Each of these remote attachments holds the work object, such as timber or waste, and performs various operations to move it. During these operations, a portion of the work object may sometimes fall from the remote attachment to the ground. The falling work object can cause a decrease in productivity of the work performed by the construction machinery 100.

[0111] (B) Variation Example 2 Although in the described embodiment, the construction machinery control device 40 is installed on the construction machinery 100, the construction machinery control device 40 may also be installed on an external device 200. Furthermore, although in Figure 2 In the specific example shown, the controller 50 of the construction machinery control device 40 includes a target setting unit 51, a position information determination unit 52, an obstacle determination unit 53, a control command output unit 54, a target modification unit 55, and a data storage unit 56, and the construction machinery 100 is equipped with the controller 50. However, it is also possible that the construction machinery 100 includes only a portion of the target setting unit 51, position information determination unit 52, obstacle determination unit 53, control command output unit 54, target modification unit 55, and data storage unit 56, and the external device 200 includes the remaining portion of the target setting unit 51, position information determination unit 52, obstacle determination unit 53, control command output unit 54, target modification unit 55, and data storage unit 56. Alternatively, the controller 50 of the construction machinery control device 40 may not include the data storage unit 56.

[0112] (C) Variation Example 3 The autonomous driving data may not be stored in the construction machinery 100, but may be stored in an external device 200 different from the construction machinery 100. In this case, the controller 50 of the construction machinery 100 may also obtain the autonomous driving data stored in the external device 200 through wireless or wired communication via the communicator 82, and use the obtained autonomous driving data to perform the specific control.

[0113] (D) Variation Example 4 The controller 50 can also output a shift command to an auxiliary machine (not shown) in the work site WS (work site WS) that assists the engineering machinery 100 when the position information of the target position TP cannot be obtained based on work site information such as three-dimensional data. In this case, the auxiliary machine operates according to the shift command to eliminate the state of the obstacle OB between the position information acquisition device 20 and the target position TP. Thus, the position information acquisition device 20 is able to obtain the position information of the target position TP.

[0114] (E) Variation Example 5 The construction machinery 100 may also be equipped with an antenna 83 for a satellite positioning system. The satellite positioning system may be, for example, GPS (Global Positioning System), GNSS (Global Navigation Satellite System), or other satellite positioning systems. The antenna 83 can detect the attitude of the upper rotating body 2 relative to the lower traveling body 1, and can also obtain the position information of the construction machinery 100 in the work site WS (e.g., the coordinates of the construction machinery 100 in the global coordinate system).

[0115] (F) Variation Example 6 In the engineering machinery system 300, the external device 200 can be omitted.

[0116] (G) Variation Example 7 The accumulation area of ​​obstacle OB may be outside the work object range WR or inside the work object range WR.

[0117] (H) Modified Example 8 Figure 10 This is a flowchart illustrating the computational processing performed by the controller 50 of the engineering machinery control device 40 according to the modified example 8 of the implementation. Figure 10 The flowchart shown contains steps S11 to S21 of the processing and... Figure 3 The processes in steps S11 to S21 of the flowchart shown are the same, therefore, the description of these processes is omitted. Figure 10 The flowchart shown involves the calculations and processing. Figure 3 The difference in the computational processing involved in the flowchart shown is that it also includes step S22.

[0118] exist Figure 10 In the computational processing involved in the modified example 8 shown, when all position information cannot be obtained based on the three-dimensional data (point cloud data) (step S20 is "Yes"), the controller 50 outputs a command to change the position of the construction machinery 100 to the controlled object 70 (step S22). Then, after changing the position of the construction machinery 100, the controller 50 performs the processing after step S12 again.

[0119] (I) Variation Example 9 Figure 11 This is a flowchart illustrating the computational processing performed by the controller 50 of the engineering machinery control device 40 according to the modified example 9 of the implementation. Figure 11 The flowchart shown contains steps S11 to S17 of the processing and... Figure 3 The processes in steps S11 to S17 of the flowchart shown are the same, therefore, the description of these processes is omitted. Figure 11 The flowchart shown involves the calculations and processing. Figure 3 The difference in the computational processing involved in the flowchart shown is that it also includes step S23, and does not include... Figure 3 The flowchart shown contains steps S18 to S21.

[0120] exist Figure 11 In the computational processing involved in the modified example 9 shown, if the controller 50 cannot obtain the position information of the currently set target position TP (e.g., the first target position TP) (step S12 is "No"), the controller 50 performs a pre-defined control that enables the acquisition of the position information of the target position TP (step S23). Then, after the pre-defined control is completed, the controller 50 performs the processing after step S12 again.

[0121] The specified control is a control that outputs instructions to move the obstacle OB located between the position information acquisition device 20 and the target position TP, controls to change the target position TP, or controls to change the position of the construction machinery 100. The specified control can also be preset to the controller 50 before the operation begins.

Claims

1. A control device for engineering machinery, characterized in that, The controller, when unable to obtain the location information of the target location in the work site based on the information about the work site input from the location information acquisition device (i.e., work site information), performs prescribed control to enable the acquisition of the target location.

2. The engineering machinery control device according to claim 1, characterized in that, The specified control is a control that outputs instructions for moving obstacles located between the location information acquisition device and the target location, a control that changes the target location, or a control that changes the location of the construction machinery.

3. The engineering machinery control device according to claim 1 or 2, characterized in that, The specified control is a control that outputs instructions for moving obstacles located between the location information acquisition device and the target location. When the controller is unable to obtain the location information of the target location based on the work site information, and when the location information obtaining device detects an object above a specified height in the area between the location information obtaining device and the target location, the controller outputs the instruction.

4. The engineering machinery control device according to any one of claims 1 to 3, characterized in that, If the controller is unable to obtain the location information of the target location based on the work site information, and if the location information obtaining device does not detect an object above a specified height in the area between the location information obtaining device and the target location, the controller will control the change of the target location.

5. The engineering machinery control device according to claim 4, characterized in that, If all location information of multiple target locations including the target location cannot be obtained based on the work site information, the controller may control the termination of the operation or control the change of the position of the construction machinery.

6. The engineering machinery control device according to any one of claims 3 to 5, characterized in that, The specified height corresponds to the height of the virtual straight line connecting the location information acquisition device to the target location.

7. An engineering machinery, characterized in that... include: Mechanical body; The working device is rotatably supported on the mechanical body; Location information acquisition device, which acquires information about the work site, i.e., work site information; as well as The engineering machinery control device according to any one of claims 1 to 6.

8. An external device, characterized in that, Includes the engineering machinery control device according to any one of claims 1 to 6.

9. An engineering machinery system, comprising engineering machinery and external devices, characterized in that, The engineering machinery system includes an engineering machinery control device according to any one of claims 1 to 6.

10. A method for improving work performance, characterized in that... It includes the following steps: The controller, based on the information about the work site input from the location information acquisition device (i.e., work site information), obtains the location information of the work target within the work site; and If the controller is unable to obtain the location information, the controller performs prescribed control that enables the acquisition of the location information of the target work location.

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