Work machine, and control method of work machine

Abstract

To provide a work machine capable of precisely approaching a joint material grasped by an attachment to a position where to be joined a material to be joined.SOLUTION: A work machine 1 includes: a chassis 2; and a working unit 20 provided to the chassis 2. The work machine 1 includes: an attachment 100 provided to the working unit 20 to grasp a joint material (for example, pipe W1); a first sensing unit 81 that recognizes a position of a joint portion (for example, one end W1b) with respect to a material to be joined (for example, pipe to be jointed W2) in the joint material grasped by the attachment 100; a setting unit 57 that sets a target position PT to which the attachment 100 is to be moved to a joining start position PTw where the joint portion of the joint material to a joining start position PTw which is the position where the material be joined on the basis of the recognition results by the first sensing unit 81; and a control unit 51 that is configured to control the working unit 20 to move the attachment 100 to a target position PT set by the setting unit 57.SELECTED DRAWING: Figure 1A

Description

[Technical field]

[0001] The present invention relates to a work machine and a method for controlling the work machine. [Background technology]

[0002] The working machine disclosed in Patent Document 1 includes a lower traveling body, an upper rotating body, and a working device provided on the upper rotating body. The working device includes a boom that can swing up and down, an arm that is provided at the tip of the boom and can swing back and forth or up and down, and a pipe joining attachment that is connected to the tip of the arm and holds a pipe. In this working machine, an operator operates the pipe held by the pipe joining attachment to bring it sufficiently close to a pipe to be joined that is placed in a trench underground, and then the pipe is joined to the pipe to be joined. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2023-62320 Summary of the Invention [Problem to be solved by the invention]

[0004] In the work machine of Patent Document 1, in order to join one end of the pipe held by the attachment to one end of the joined pipe placed in a trench underground, the operator must bring the ends of both pipes close enough to each other, which requires advanced operating techniques.

[0005] The present invention has been made to solve such problems with the conventional technology, and aims to provide a work machine that can accurately bring a joining member held by an attachment close to a position where it can be joined to the joined member. [Means for solving the problem]

[0006] A working machine according to one embodiment of the present invention is a working machine comprising a body and a working device provided on the body, and further comprising: an attachment provided on the working device and configured to grip a joining member; a first sensing device configured to recognize the position of a joining portion of the joining member held by the attachment relative to a joined member; a setting unit configured to set a target position to which the attachment is to be moved based on the recognition result by the first sensing device, to a position for moving the attachment to a joining start position which is a position for starting a joining operation to join the joining portion of the joining member to the joined member; and a control device configured to control the working device so as to move the attachment to the target position set by the setting unit. Effect of the Invention

[0007] With the above-described work machine, the control device can recognize the position of the joint in the joining member held by the attachment and perform the process of moving the joint to the joining start position, so that the joint of the joining member can be accurately brought close to a position where it can be joined to the joined member. [Brief description of the drawings]

[0008] [Figure 1A] FIG. [Figure 1B] FIG. 2 is a plan view of the working device of the working machine with a portion thereof omitted. [Figure 2A] FIG. 2 is a schematic configuration diagram of a hydraulic system and a control system of the work machine. [Figure 2B] FIG. 2 is an electrical block diagram of the working machine of the first embodiment. [Figure 2C] FIG. 2 is a diagram showing a display example of a display device. [Figure 3A] FIG. 4 is a view of the pipe joining attachment as seen from one side in the width direction. [Figure 3B] FIG. 2 is a plan view of an attachment for connecting pipes. [Figure 3C] FIG. 4 is a view of the attachment for joining pipes as seen from one side in the axial direction. [Figure 4A]1A to 1C are diagrams for explaining various coordinate systems and the operation of gripping and joining pipes using a pipe joining attachment. [Figure 4B] FIG. 2 is a diagram showing the state in which the pipe is joined to the joined pipe. [Figure 4C] 13 is a diagram showing a state in which the pipe joining attachment is positioned in a pre-gripping position. FIG. [Figure 4D] 13A and 13B are diagrams showing how the orientation of the gripping portion is adjusted in the pre-gripping position. [Figure 5A] 10 is a flowchart showing an example of an automatic gripping and joining process of an attachment for joining pipes by a working machine. [Figure 5B] 13 is a flowchart showing an example of tube gripping control. [Figure 5C] 13 is a flowchart showing an example of control of movement to a gripping position. [Figure 5D] 10 is a flowchart showing an example of control of a work start position of a gripped pipe. [Figure 5E] 10 is a flowchart showing an example of speed control of each member of the front. [Figure 5F] 10 is a flowchart showing an example of control of a joining start position of a gripped pipe. [Figure 5G] 10 is a flowchart showing an example of speed control of each member of the front. [Figure 6A] 13 is a diagram showing how the pipe being gripped by the pipe joining attachment is moved from a work start position to a joining start position. FIG. [Figure 6B] 13 is a diagram showing a state in which a pipe held by a pipe joining attachment is positioned at a joining start position. FIG. [Figure 6C] A diagram showing the state in which the pipe held by the pipe joining attachment is joined to the pipe to be joined. [Figure 7A] FIG. 6 is an electrical block diagram of a work machine according to a second embodiment. [Figure 7B] 13 is a flowchart showing an example of a work restriction process during gripping of a pipe in the second embodiment. [Figure 8A] FIG. 13 illustrates an example of a storage table. [Figure 8B] FIG. 13 illustrates an example of a storage table. [Figure 8C] FIG. 13 illustrates an example of a storage table. [Figure 8D] FIG. 13 illustrates an example of a storage table. [Figure 8E] FIG. 13 illustrates an example of a storage table. [Figure 8F] FIG. 13 illustrates an example of a storage table. [Figure 9A] FIG. 11 is an electrical block diagram of a work machine according to a third embodiment. [Figure 9B] 13 is a flowchart showing an example of a surrounding monitoring process while a pipe is being gripped in the third embodiment. [Figure 10] 13 is a flowchart illustrating an example of a pipe position detection process. [Figure 11] 13 is a flowchart showing an example of a process for detecting an object around a pipe. [Figure 12] 13 is a diagram for explaining an allowable range set around the work machine based on the relative position of the gripped pipe and surrounding objects. FIG. [Figure 13] FIG. 11 is a diagram showing an example of display of relative position information on a display device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0010] [First embodiment] First, a description will be given of the overall configuration of a working machine 1. Fig. 1A is an overall side view of the working machine, and Fig. 1B is a plan view in which a part of a working device of the working machine is omitted.

[0011] (Overall configuration of work machine 1) The work machine 1 of the first embodiment is a backhoe, but is equipped with an attachment 100 for pipe connection instead of a bucket. The work machine 1 comprises a body 30 capable of traveling and a The machine body 30 includes a machine body (swivel base) 2 and a traveling device 10 that travels the machine body (swivel base) 2. Provided on the machine body 2 are a driver's seat 4 where a driver sits, and a protection mechanism 6 that protects the driver's seat 4 from the front, rear, left, right, and above.

[0012] The protection mechanism 6 is also called a cabin. The protection mechanism 6 has a frame attached to the fuselage 2, a roof attached to the top of the frame, and a plurality of side walls attached to the front, rear, left and right sides of the frame (details not shown). Each side wall is provided with a transparent portion (so-called a window) that allows the surroundings to be viewed from the driver's seat 4. Such a protection mechanism 6 separates the space around the driver's seat 4 from the outside. That is, the protection mechanism 6 forms a driver's cab 4R having the driver's seat 4. The protection mechanism 6 may be a canopy or the like other than a cabin.

[0013] An operating device 5 for operating the work machine 1 is provided around the driver's seat 4 inside the protection mechanism 6 (driver's cab 4R). The driver can operate the operating device 5 while seated in the driver's seat 4.

[0014] In this embodiment, the direction in which the driver (operator) seated in the driver's seat 4 faces (arrow A1 direction in Figs. 1A and 1B) is the forward direction, the opposite direction (arrow A2 direction in Figs. 1A, 1B, etc.) is the rear direction, the driver's left side (the near side in Fig. 1A, the arrow B1 direction in Fig. 1B) is the left side, and the driver's right side (the far side in Fig. 1A, the arrow B2 direction in Fig. 1B) is the right side. Also, the horizontal direction perpendicular to the front-rear direction A3 is described as the width direction B3 (see Fig. 1B). The direction from the center of the width direction B3 of the aircraft body 2 to the right or left side is described as the width direction outward.

[0015] The traveling device 10 is a device that causes the machine body 2 to travel, and has a traveling frame 11 and a traveling mechanism 12. The traveling frame (track frame) 11 is a structure to which the traveling mechanism 12 is attached around its periphery and which supports the machine body 2 on its upper portion.

[0016] The traveling mechanism 12 is, for example, a crawler type traveling mechanism. The traveling mechanism 12 is provided on each of the left and right sides of the traveling frame 11. The traveling mechanism 12 has an idler 13, a driving wheel 14, a plurality of rollers 15, an endless crawler belt 16, and traveling motors (a left traveling motor ML and a right traveling motor MR).

[0017] The idler 13 is disposed at the front of the traveling frame 11. The drive wheels 14 are disposed at the rear of the traveling frame 11. A plurality of rollers 15 are provided between the idler 13 and the drive wheels 14. The crawler belt 16 is wound around the idler 13, the drive wheels 14, and the rollers 15.

[0018] The left travel motor ML is included in the travel mechanism 12 on the left side of the travel frame 11. The right travel motor MR is included in the travel mechanism 12 on the right side of the travel frame 11. The left travel motor ML and the right travel motor MR are composed of hydraulic motors. In each travel mechanism 12, the drive wheels 14 are rotated by the power of the left travel motor ML and the right travel motor MR, causing the crawler belt 16 to circulate in the circumferential direction.

[0019] A dozer device 18 is attached to the front of the traveling device 10. The dozer device 18 swings up and down by the extension and contraction of a dozer cylinder C3. The dozer cylinder C3 is attached to the traveling frame 11. The dozer cylinder C3 is composed of a hydraulic cylinder.

[0020] The machine body 2 is supported on a traveling frame 11 via a slewing bearing 3 so as to be rotatable about an axis Zm (an axis extending in the vertical direction: the Z-axis). The slewing motor MT is composed of a hydraulic motor (a hydraulic actuator included in hydraulic equipment). The machine body 2 rotates about the axis Zm by the power of the slewing motor MT.

[0021] The working device 20 is provided on the machine body 2. For example, the working device 20 is supported on the front part of the machine body 2. The working device 20 includes a boom 21, an arm 22, a pipe joining attachment 100 (hereinafter, referred to as the attachment 100 as appropriate), and a hydraulic actuator (boom cylinder C1, attachment swing cylinder C2, dozer cylinder C3, swing cylinder C4, arm cylinder C9). The base end of the boom 21 is pivotally attached to the swing bracket 24 so as to be rotatable around a first rotation axis J1 (axis extending in the width direction of the machine body 2). Therefore, the boom 21 can swing in the up-down direction (vertical direction). The arm 22 is pivotally attached to the tip of the boom 21 so as to be rotatable around a second rotation axis J2 (axis extending in the width direction of the boom 21) parallel to the first rotation axis J1. Therefore, the arm 22 can swing in the front-rear direction or the up-down direction.

[0022] The attachment 100 is provided at the tip of the arm 22 in a swingable manner in place of a bucket (working tool). As shown in FIG. 1A, the attachment 100 is a working tool for gripping a joining member (e.g., a pipe W1) which is an example of a gripping target W, and joining the gripped pipe W1 to a joining member (e.g., a joining pipe W2) arranged in a target area (e.g., a trench G). The trench G is a trench (a trench in the ground) formed below the ground surface, for example, a flat-bottomed trench formed by excavating the ground. The target area may be other than a trench, and may be, for example, a support (e.g., a concrete support exposed above ground, a steel support in a work site, etc.) on whose upper surface the joining pipe W2 is arranged and at least a part of which is formed above the ground surface. 1A, the attachment 100 includes an arm connection part 111, a grip part 112, an axial direction movement mechanism 113, a horizontal direction rotation mechanism 114, and a joining function part 115 (joined pipe contact part). Details of the attachment 100 will be described later.

[0023] The work machine 1 can be equipped with a bucket that can be driven by a hydraulic actuator and other working tools (hydraulic attachments) instead of the attachment 100. Examples of such working tools include a hydraulic breaker, a hydraulic crusher, an angle broom, an earth auger, a pallet fork, a sweeper, a mower, and a snow blower.

[0024] The swing bracket 24 swings left and right by rotating around a fourth rotation axis J4 (an axis extending in the up-down direction of the machine body 2) by the extension and contraction of a swing cylinder C4 provided in the machine body 2. The boom 21 swings up and down (front and back) by the extension and contraction of a boom cylinder C1. The arm 22 swings up and down (front and back) by the extension and contraction of an arm cylinder C9. The attachment 100 swings up and down (front and back) by the extension and contraction of an attachment swing cylinder C2. If a bucket is attached to the tip side of the arm 22, the attachment swing cylinder C2 is called a bucket cylinder. The swing cylinder C4, boom cylinder C1, arm cylinder C9, and attachment swing cylinder C2 are configured by hydraulic cylinders.

[0025] (Configuration of hydraulic system and control system of work machine 1) 2A is a schematic diagram of a hydraulic system and a control system of a working machine. The hydraulic system of the working machine 1 has a first hydraulic pump P1, a second hydraulic pump P2, a third hydraulic pump P3, and a plurality of control valves V1 to V10. The first hydraulic pump P1 and the second hydraulic pump P2 are variable displacement hydraulic pumps. The third hydraulic pump P3 is a fixed displacement hydraulic pump. The first hydraulic pump P1, the second hydraulic pump P2, and the third hydraulic pump P3 are driven by the power of a prime mover E1 to discharge hydraulic oil stored in a hydraulic oil tank. In this embodiment, the hydraulic system of the working machine 1 has three hydraulic pumps (the first hydraulic pump P1, the second hydraulic pump P2, and the third hydraulic pump P3), but the number is not limited.

[0026] The control valves V1 to V10 are valves (electromagnetic control valves) that control the flow rate of hydraulic oil supplied to hydraulic actuators (working hydraulic actuators, traveling hydraulic actuators). The control valves V1 to V10 are electromagnetic three-position switching valves in which the position of a spool is switched by the hydraulic oil (pilot oil) supplied from the third hydraulic pump P3. That is, the control valves V1 to V10 each have an electromagnetic valve, and the pressure of the pilot oil acting on the spool changes depending on the opening degree of the electromagnetic valve, so that the position of the spool can be changed. Note that, although an electromagnetic three-position switching valve incorporating an electromagnetic valve is shown in this embodiment, the electromagnetic valve may be configured separately. Also, the control valves V1 to V10 may be two-position switching valves, four-position switching valves, etc. other than the three-position switching valve, and are not limited thereto.

[0027] The boom control valve V1 controls the boom cylinder C1. The swing control valve V2 (=bucket control valve) controls the attachment swing cylinder C2 (=bucket cylinder). The dozer control valve V3 controls the dozer cylinder C3. The swing control valve V4 controls the swing cylinder C4. The right travel control valve V5 controls the travel system hydraulic actuator (right travel motor MR) of the first traveling device 10R. The left travel control valve V6 controls the travel system travel hydraulic actuator (left travel motor ML) of the second traveling device 10L. The first backup control valve V7 controls the backup actuator. In FIG. 2A, the first backup control valve V7 controls the flow rate of hydraulic oil supplied to the attachment 100 (i.e., the hydraulic actuator for pipe connection) as a backup actuator. The second backup control valve V8 controls the backup actuator. The arm control valve V9 controls the arm cylinder C9. The swing control valve V10 controls the swing motor MT.

[0028] The boom control valve V1, the swing control valve V2, the dozer control valve V3, the swing control valve V4, and the right travel control valve V5 are connected to a first discharge oil passage 41 which is connected to the first hydraulic pump P1. The left travel control valve V6, the first auxiliary control valve V7, the second auxiliary control valve V8, the arm control valve V9, and the rotation control valve V10 are connected to a second discharge oil passage 42 which is connected to the second hydraulic pump P2.

[0029] Hereinafter, for ease of explanation, the group of the boom control valve V1, the swing control valve V2, the dozer control valve V3, the swing control valve V4, and the right travel control valve V5 will be referred to as the first block BL1, and the group of the left travel control valve V6, the first backup control valve V7, the second backup control valve V8, the arm control valve V9, and the rotation control valve V10 will be referred to as the second block BL2.

[0030] A communication valve V11 is provided between the first block BL1 and the second block BL2. The communication valve V11 is a switching valve that switches between a first position and a second position, and the first discharge oil passage 41 and the second discharge oil passage 42 are connected to each other. When the communication valve V11 is in the first position, the first discharge oil passage 41 and the second discharge oil passage 42 are connected to each other via the communication valve V11, and when the communication valve V11 is in the second position, the communication between the first discharge oil passage 41 and the second discharge oil passage 42 is blocked by the communication valve V11. The communication valve V11 may be a three-position switching valve, a four-position switching valve, or the like other than a two-position switching valve, and is not limited thereto. The hydraulic system of the work machine may be configured without the communication valve V11.

[0031] The work machine 1 is equipped with a swing device 25 (see FIG. 2A). The swing device 25 is a device including a swing bearing 3, a swing motor MT, and hydraulic pumps (a first hydraulic pump P1 and a second hydraulic pump P2).

[0032] As shown in FIG. 2A, the attachment 100 includes a first control valve V71, a second control valve V72, and a third control valve V73 to which hydraulic oil from a first auxiliary control valve V7 is branched into three and supplied. The first control valve V71 is an electromagnetic control valve for controlling the opening and closing of the gripping portion 112. The second control valve V72 is an electromagnetic control valve for controlling the axial movement mechanism 113. The third control valve V73 is an electromagnetic control valve for controlling the horizontal rotation mechanism 114.

[0033] (Configuration of the control system of the work machine 1) Next, the configuration of the control system of the work machine 1 will be described with reference to Figures 2A and 2B. Figure 2B is an electrical block diagram of the work machine.

[0034] As shown in FIGS. 2A and 2B, the control system of the work implement 1 includes a control device 51. The control device 51 includes a hydraulic control unit 53 that controls the hydraulic system. The hydraulic control unit 53 is a work control device that controls the hydraulic systems of the work implement 20 and the traveling device 10. The hydraulic control unit 53 is configured with a CPU (processor), electronic and electric circuits, programs, etc., provided in the control device 51. The hydraulic control unit 53 controls hydraulic equipment provided in the work implement 1, for example, a plurality of control valves V1 to V10, a communication valve V11, and hydraulic pumps (first hydraulic pump P1, second hydraulic pump P2). Note that the hydraulic control unit 53 may be anything that controls hydraulic equipment, and the controlled objects are not limited to this embodiment.

[0035] The operation device 5 is connected to the control device 51. The operation device 5 includes work operation members (work operation member 19L, work operation member 19R, work operation member 19D) and travel operation members (travel operation member 20L, travel operation member 20R).

[0036] The control device 51 is connected with work operation members (work operation member 19L, work operation member 19R, work operation member 19D). Work operation member 19L is disposed at a position where the driver (operator) can operate it with his / her left hand, work operation member 19R is disposed at a position where the driver can operate it with his / her right hand, and work operation member 19D is disposed separately from work operation member 19R at a position where the driver can operate it with his / her right hand on the right side of the driver's seat 4. Work operation member 19L and work operation member 19R are levers having a potentiometer (detection device) that detects the amount of swing (amount of operation) and are levers that can swing forward, backward, right, and left. Work operation member 19D is a lever having a potentiometer (detection device) that detects the amount of swing (amount of operation) and is a lever that can swing forward and backward.

[0037] When the driver operates the work operation member 19L, the operation amount and operation direction of the work operation member 19L are detected by a potentiometer, and the detected operation amount and operation direction are input to the control device 51. The hydraulic control unit 53 excites the solenoid of the swing solenoid valve of the swing control valve V10 according to the operation amount and operation direction of the work operation member 19L, and controls the opening degree of the swing solenoid valve, or excites the solenoid of the arm solenoid valve of the arm control valve V9, and controls the opening degree of the arm solenoid valve. As a result, pilot pressure acts on the pressure receiving part of the swing control valve V10, the position of the swing control valve V10 is switched, and the rotation direction of the swing motor MT is switched according to the position, or pilot pressure acts on the pressure receiving part of the arm control valve V9, the position of the arm control valve V9 is switched, and the arm cylinder C9 expands and contracts according to the position.

[0038] When the operator operates the work operation member 19R, the operation amount and operation direction of the work operation member 19R are detected by a potentiometer, and the detected operation amount and operation direction are input to the control device 51. The hydraulic control unit 53 excites the solenoid of the boom solenoid valve of the boom control valve V1 according to the operation amount and operation direction of the work operation member 19R to control the opening degree of the boom solenoid valve, or excites the solenoid of the solenoid valve of the swing control valve V2 (called the bucket solenoid valve when the bucket is attached) according to the operation amount and operation direction of the work operation member 19R to control the opening degree of the solenoid valve (bucket solenoid valve). As a result, pilot pressure acts on the pressure receiving part of the boom control valve V1, the position of the boom control valve V1 is switched, and the boom cylinder C1 is extended or retracted according to the position, or pilot pressure acts on the pressure receiving part of the swing control valve V2, the position of the swing control valve V2 is switched, and the attachment swing cylinder C2 is extended or retracted according to the position.

[0039] When the driver operates the work operation member 19D, the operation amount and operation direction of the work operation member 19D are detected by a potentiometer, and the detected operation amount and operation direction are input to the control device 51. The hydraulic control unit 53 excites the solenoid of the dozer solenoid valve of the dozer control valve V3 according to the operation amount and operation direction of the work operation member 19D, and controls the opening degree of the dozer solenoid valve. As a result, pilot pressure acts on the pressure receiving part of the dozer control valve V3, the position of the dozer control valve V3 is switched, and the dozer cylinder C3 expands and contracts according to the position.

[0040] As described above, by operating the work operation members (work operation member 19L, work operation member 19R, work operation member 19D), the machine body 2, the boom 21, the arm 22, the attachment 100 (swing only), and the dozer device 18 can be operated.

[0041] The control device 51 is connected to the driving operation members (driving operation member 20L, driving operation member 20R). The driving operation member 20L and the driving operation member 20R are disposed in front of the driver's seat 4. The driving operation member 20L and the driving operation member 20R are levers having a potentiometer (detection device) that detects the amount of swing (amount of operation), and are levers that can swing back and forth. Note that the driving operation member 20L and the driving operation member 20R are not limited to levers and may be, for example, pedals.

[0042] When the driver operates the travel operation member 20L and the travel operation member 20R, the operation amount and operation direction of the travel operation member 20L and the travel operation member 20R are detected by a potentiometer, and the detected operation amount and operation direction are input to the control device 51. The hydraulic control unit 53 excites the solenoid of the left travel solenoid valve of the left travel control valve V6 according to the operation amount and operation direction of the travel operation member 20L, and excites the solenoid of the right travel solenoid valve of the right travel control valve V5 according to the operation amount and operation direction of the travel operation member 20R. As a result, pilot pressure acts on the pressure receiving parts of the right travel control valve V5 and the left travel control valve V6, the right travel control valve V5 and the left travel control valve V6 are switched, and the rotation direction of the right travel motor MR and the left travel motor ML is determined.

[0043] As described above, when the work operation members (work operation member 19L, work operation member 19R, work operation member 19D) and the travel operation members (travel operation member 20L, travel operation member 20R) are operated, the control device 51 can control the machine body 2, the boom 21, the arm 22, the attachment 100, the dozer device 18, the first travel device 10R and the second travel device 10L by outputting control signals for energizing and demagnetizing the solenoids.

[0044] (About the attachment 100 for pipe connection) The attachment 100 will be described with reference to Figures 3A to 3C. Figure 3A is a view of the pipe joining attachment as seen from one side in the width direction. Figure 3B is a plan view of the pipe joining attachment. Figure 3C is a view of the pipe joining attachment as seen from one side in the axial direction.

[0045] The pipe W1 and the connected pipe W2 are, for example, earthquake-resistant pipes having earthquake-resistant joints that can be bent at a predetermined angle. Note that the pipe W1 and the connected pipe W2 may be pipes other than earthquake-resistant pipes.

[0046] 3A to 3C, the attachment 100 is configured to be able to grip the pipe W1, and is also able to rotate the gripped pipe W1 in the horizontal direction about a rotation axis Q extending in the vertical direction and move the pipe W1 in the axial direction. The attachment 100 includes an arm connection part 111, a gripping part 112, an axial movement mechanism 113, a horizontal rotation mechanism 114, and a joining function part 115.

[0047] The arm connection part 111 is located at the upper end of the attachment 100, and is connected to the other end of the arm 22 of the work machine 1. The arm connection part 111 may be connected to the other end of the arm 22 by a bolt or a pin, or may be fitted by a fitting part. The arm connection part 111 may be connected to the other end of the arm 22 by any configuration.

[0048] The gripping portion 112 is supported so as to be movable in the axial direction by an axial direction movement mechanism 113. The gripping portion 112 grips the pipe W1. The gripping portion 112 has a pair of gripping claws 121 and a gripping drive portion 122.

[0049] The pair of gripping claws 121 are positioned side by side in the width direction perpendicular to the axial direction so as to be able to grip the pipe W1. The base ends of the pair of gripping claws 121 are connected to a gripping drive unit 122. The pair of gripping claws 121 are rotatable with respect to the gripping drive unit 122, with the base ends as the center, in directions in which the tip ends move toward and away from each other. The pair of gripping claws 121 clamp the pipe W1 in the width direction.

[0050] In this embodiment, the gripping portion 112 has two pairs of gripping claws 121. The two pairs of gripping claws 121 are arranged side by side with respect to the grip driving portion 122 in the axial direction of the pipe W1.

[0051] The grip drive unit 122 applies a drive force to the base ends of the pair of grip claws 121 such that the tip ends of the pair of grip claws 121 rotate around the base ends in directions approaching and separating from each other. The grip drive unit 122 generates the drive force using hydraulic pressure output from the first auxiliary control valve V7 of the work machine 1 via the first control valve V71, for example, but the drive force may also be generated by an electric motor or the like.

[0052] The axial movement mechanism 113 is supported by the horizontal rotation mechanism 114 so as to be rotatable in the horizontal direction about a rotation axis Q. The axial movement mechanism 113 moves the gripping part 112 in the axial direction of the pipe W1 gripped by the gripping part 112. The axial movement mechanism 113 has a guide part 131, a slider 132, and an axial drive part 133.

[0053] The guide portion 131 is connected to the horizontal rotation mechanism 114 so as to be rotatable in the horizontal direction about a rotation axis Q. The guide portion 131 has, for example, a pair of guide rails 131a extending along the axis L of the pipe W1. That is, the pair of guide rails 131a extend in the axial direction. Therefore, in this embodiment, the longitudinal direction of the pair of guide rails 131a coincides with the axial direction. The guide rails 131a are H-shaped steel having flanges protruding in the width direction up and down when viewed in the axial direction. Note that the guide rails 131a may be members other than H-shaped steel.

[0054] The slider 132 is provided to be movable relative to the guide portion 131 in the longitudinal direction of the guide portion 131, i.e., in the axial direction. The slider 132 is formed in a substantially U-shaped cross section so as to cover the lower and side surfaces of the pair of guide rails 131a of the guide portion 131. That is, the slider 132 has a bottom surface 132a and a pair of side surfaces 132b extending upward from the bottom surface 132a. Rollers 132c are rotatably supported on the pair of side surfaces 132b of the slider 132. The rollers 132c move by rolling on the flanges of the pair of guide rails 131a.

[0055] The axial direction drive unit 133 is capable of moving the slider 132 in the longitudinal direction of the guide unit 131, i.e., in the axial direction, relative to the guide unit 131. For example, the axial direction drive unit 133 is a hydraulic cylinder. The hydraulic pressure is supplied via the second control valve V72. Although not particularly shown, the cylinder tube of the hydraulic cylinder is fixed to the guide portion 131 via the support portion 116 that supports the joining function portion 115. The piston rod of the hydraulic cylinder is fixed to the slider 132. The hydraulic cylinder is disposed so as to extend in the longitudinal direction of the guide portion 131, i.e., in the axial direction. Therefore, the piston rod of the hydraulic cylinder moves in the axial direction relative to the cylinder tube, thereby moving the slider 132 relative to the guide portion 131.

[0056] This allows the pipe W1 gripped by the gripping portion 112 of the attachment 100 to be moved in the axial direction. Therefore, the attachment 100 allows the insertion port W1a of the pipe W1 to be easily positioned with respect to the socket W2a of the connected pipe W2 (see FIGS. 6A to 6C), and allows the insertion port W1a of the pipe W1 to be easily inserted into the socket W2a of the connected pipe W2.

[0057] The horizontal rotation mechanism 114 is connected to the arm 22 of the work machine 1 via the arm connection part 111. That is, the arm connection part 111 is fixed to an upper part of the horizontal rotation mechanism 114. The axial drive part 133 is connected to a lower part of the horizontal rotation mechanism 114 so as to be rotatable in the horizontal direction about a rotation axis Q. The horizontal rotation mechanism 114 generates a driving force that rotates the axial drive part 133 in the horizontal direction about the rotation axis Q by using, for example, hydraulic pressure outputted from the first auxiliary control valve V7 through the third control valve V73 of the work machine 1.

[0058] As a result, the horizontal rotation mechanism 114 can rotate the attachment 100 horizontally about the rotation axis Q relative to the arm 22 of the work machine 1. Therefore, the pipe W1 gripped by the gripping portion 112 of the attachment 100 can be moved into a trench G in the ground, for example, without moving or rotating the work machine 1.

[0059] The joining function part 115 is fixed to the axial movement mechanism 113 by a support part 116 so as to be located in the axial direction of the insertion port W1a of the pipe W1 relative to the gripping part 112. As shown in Fig. 6B described later, the joining function part 115 comes into contact with the socket W2a side of the joined pipe W2 when positioning the insertion port W1a of the pipe W1 gripped by the gripping part 112 with respect to the socket W2a of the joined pipe W2.

[0060] The support part 116 is fixed to, for example, the guide part 131 of the axial movement mechanism 113. The support part 116 has a support body 116a and a connection support part 116b. The support body 116a is flat and is fixed to the guide part 131 of the axial movement mechanism 113. The connection support part 116b extends downward from the support body 116a. The connection support part 116b supports the joining function part 115.

[0061] The joining function part 115 is formed in an inverted V shape with the distance between the straight parts 115a increasing downward when viewed in the axial direction. Specifically, the joining function part 115 has a pair of straight parts 115a whose upper ends are connected and whose lower ends are spaced apart in the width direction. The upper ends of the pair of straight parts 115a are fixed to the lower end of the connection support part 116b of the support part 116. By having such a configuration of the joining function part 115, even if the outer diameter of the socket W2a side of the joined pipe W2 is different, the straight parts 115a of the joining function part 115 can be brought into contact with the outer peripheral surface of the socket W2a side of the joined pipe W2.

[0062] The pair of straight portions 115a of the joining function portion 115 contact a portion of the outer circumferential surface of the joining pipe W2 on the side of the receiving port W2a of the joining pipe W2 that is located in a diagonal direction (for example, at 45 degrees to the width direction) with respect to the width direction when the receiving port W2a of the joining pipe W2 is viewed in the axial direction. 100 is positioned in the width direction and in the direction perpendicular to the width direction with respect to the socket W2a of the joined pipe W2.

[0063] The pair of straight portions 115a of the joining function portion 115 may contact a portion of the outer circumferential surface of the joining pipe W2 on the socket W2a side located in one or the other of the width directions, or may contact a portion of the outer circumferential surface of the joining pipe W2 on the socket W2a side located in a direction perpendicular to the width direction. That is, the joining function portion 115 may contact a portion of the outer circumferential surface of the joining pipe W2 on the socket W2a side located in at least one of the width direction and the direction perpendicular to the width direction when the socket W2a is viewed in the axial direction (axis M) of the joining pipe W2. One of the pair of straight portions 115a of the joining function portion 115 may contact the outer circumferential surface of the joining pipe W2 on the socket W2a side.

[0064] As described above, by positioning the attachment 100 in the width direction and in a direction perpendicular to the width direction relative to the joined pipe W2, the insertion port W1a of the pipe W1 held by the holding portion 112 of the attachment 100 can be positioned in the width direction and in a direction perpendicular to the width direction relative to the receiving port W2a of the joined pipe W2.

[0065] (Regarding the gripping operation member of the operation device 5) 2B, the operation device 5 includes gripping operation members (a gripping button 5a, an operation lever 5b, an automatic gripping operation button 5c, a stop button 5d, and a mode setting button 5e). The gripping operation members are connected to a control device 51.

[0066] The operation lever 5b is disposed at a position where the driver can operate it with his / her left hand on the left side of the driver's seat 4, separately from the work operation member 19L. The operation lever 5b is a lever having a potentiometer (detection device) that detects the amount of swing (amount of operation), and is a lever that can swing forward, backward, right and left.

[0067] When the control lever 5b is operated by the driver, the amount and direction of operation of the control lever 5b are detected by a potentiometer, and the detected amount and direction of operation are input to the control device 51. The hydraulic control unit 53 excites the solenoid of the solenoid valve of the second control valve V72 according to the amount and direction of operation (for example, forward or backward) of the control lever 5b, and controls the opening degree of the solenoid valve. As a result, pilot pressure acts on the pressure receiving portion of the second control valve V72, the position of the second control valve V72 is switched, and the axial direction moving mechanism 113 moves forward or backward according to the position. In addition, the hydraulic control unit 53 excites the solenoid of the solenoid valve of the third control valve V73 according to the amount and direction of operation (for example, leftward or rightward) of the control lever 5b, and controls the opening degree of the solenoid valve. As a result, the pilot pressure acts on the pressure receiving portion of the third control valve V73, the position of the third control valve V73 is switched, and the direction of rotation of the horizontal rotation mechanism 114 is switched to left or right depending on the position.

[0068] The gripping button 5a, the automatic gripping operation button 5c, and the stop button 5d are disposed on the upper part of the operation lever 5b, and are push buttons that can be pressed with the thumb of the left hand gripping the operation lever 5b.

[0069] Each time the driver presses the grip button 5a, a grip ON signal or a grip OFF signal is input to the control device 51. In response to the grip ON signal or the grip OFF signal, the hydraulic control unit 53 excites the solenoid of the solenoid valve of the first control valve V71 and controls the opening degree of the solenoid valve. As a result, pilot pressure acts on the pressure receiving portion of the first control valve V71, the position of the first control valve V71 is switched, and the gripping portion 112 (a pair of gripping claws 121) is closed (a state in which the pipe W1 is gripped) or opened (a state in which the pipe W1 is not gripped) depending on the position.

[0070] The mode setting button 5e is a dial switch provided on the upper part of the operation lever 5b. According to the operation by the operator, one of the gripping operation mode, the crane mode, and the bucket mode is selected. A mode signal indicating the mode selected by the mode setting button 5e is input to the control device 51. The gripping operation mode is a mode for performing the joining operation of the pipe W1 to the joined pipe W2 by the attachment 100. The crane mode is a mode in which lifting operation can be performed by the lifting hook provided on the working device 20. The bucket mode is a mode in which work can be performed by a bucket.

[0071] When the driver presses the automatic gripping operation button 5c in the gripping operation mode, an automatic operation signal instructing the automatic gripping operation is input from the automatic gripping operation button 5c to the control device 51. The control device 51 controls the hydraulic control unit 53 to execute the automatic gripping operation of the attachment 100 based on the automatic operation signal. This automatic gripping operation of the attachment 100 is a series of operations that are automatically executed in the following order: gripping the pipe W1 of the attachment 100 (i.e., moving the attachment 100 toward the pipe W1 to be gripped and gripping the pipe W1), moving the attachment 100 to the target position PS (i.e., moving the gripped pipe W1 to the operation start position PSw), moving the attachment 100 to the target position PT (i.e., lowering the gripped pipe W1 from the operation start position PSw to the joining start position PTw), and joining operation of the attachment 100 (i.e., joining the pipe W1 to the joined pipe W2).

[0072] When the gripping operation mode is performed, the first auxiliary control valve V7 is operated to an open state. For example, when the gripping operation mode is selected, the control device 51 may control the first auxiliary control valve V7 to an open state, or the operator may open the first auxiliary control valve V7 by operating a pedal or a slider (not shown) provided on the operation operation member 19.

[0073] When the driver presses the stop button 5d during the automatic gripping operation of the attachment 100, a stop signal is input from the stop button 5d to the control device 51. The control device 51 stops the automatic gripping operation of the attachment 100 in response to the stop signal. Note that the control device 51 may resume the automatic gripping operation of the attachment 100 when the stop button 5d is operated again (i.e., an operation instructing re-execution). In other words, the stopped part of the automatic gripping operation of the attachment 100 can be resumed to complete a series of operations.

[0074] As described above, when the driver manually operates the gripping button 5a and the operating lever 5b, and when automatic gripping operation is performed in the gripping operation mode, the control device 51 outputs control signals for energizing and demagnetizing the solenoids of the first control valve V71, the second control valve V72, and the third control valve V73, thereby controlling the opening and closing of the gripping portion 112 of the attachment 100, the forward and backward movement of the axial movement mechanism 113, and the rotation of the horizontal rotation mechanism 114.

[0075] (Regarding the display device 70 and the notification device 75) As shown in Figs. 2A and 2B, the work machine 1 is equipped with a display device 70. The display device 70 has a display unit 71 and can display information related to the work machine 1 and peripheral information. The display unit 71 is composed of a panel such as a liquid crystal display. For example, as shown in Fig. 2C, the display unit 71 can display an image showing the working state of the work machine 1. When any one of the gripping work mode, the crane mode, and the bucket mode is selected by the mode setting button 5e, the display unit 71 may display the selected mode. In Fig. 2C, the display unit 71 displays a message M2 indicating that the work mode is the gripping work mode.

[0076] As shown in FIG. 2C, when the attachment 100 is in an automatic gripping operation, the display device 70 displays which of the automatic gripping control states is in progress. For example, the display device 70 displays the gripping control of the attachment 100, the movement control to the target position PS, the movement control to the target position PT, and the movement control of the pipe to be joined. 2C, the state display unit 71a is displaceable according to each control state of automatic gripping, and here displays that the attachment 100 is being controlled to move to the target position PS (control to move the pipe W1 to the work start position PSw). Note that when the stop button 5d is operated to stop or resume the operation, the display device 70 may display that fact on the display unit 71.

[0077] The work machine 1 is equipped with an alarm device 75. The alarm device 75 is a device for notifying the driver, and is, for example, a sound output device (speaker, buzzer, etc.), a light (warning light, interior light, boom light, front and rear lights, etc.), etc. The alarm device 75 may be a device that notifies not only the driver, but also people around the work machine 1, etc., by sound or light.

[0078] (Regarding the rotation speed control unit 55 and the speed control unit 56) As shown in Fig. 2A, a first setting member 61 and a second setting member 62 are connected to the control device 51. The first setting member 61 is a member that receives a selection regarding a rotation speed setting of the prime mover E1 (a member that sets the rotation speed of the prime mover E1). The second setting member 62 is a member that receives a selection regarding a speed setting of the hydraulic actuator (a member that sets the speed of the hydraulic actuator). The control device 51 includes a rotation speed control unit 55, a speed control unit 56, and a storage unit 54.

[0079] The rotation speed control unit 55 is composed of a CPU (processor), electronic and electric circuits, programs, etc., provided in the control device 51. The rotation speed control unit 55 sets the rotation speed of the prime mover E1 based on an operation signal of the first setting member 61. That is, the rotation speed control unit 55 increases or decreases the rotation speed of the prime mover E1 based on the operation of the first setting member 61.

[0080] The speed control section 56 is composed of a CPU (processor), electronic and electric circuits, programs, etc. provided in the control device 51, and sets the work speed based on operation signals input from the first setting member 61 and the second setting member 62. The speed control section 56 controls the control valves V1-V10 by exciting control signals corresponding to the operation amounts of the work operation members 19L, 19R, 19D to the solenoid valves of the control valves V1-V10 based on the work speed read from the memory section 54. Specifically, the speed control section 56 controls the maximum speed of the hydraulic actuators connected to each of the control valves V1-V10 by changing the opening degree of the control valves V1-V10.

[0081] (About the coordinate system) 4A is a diagram for explaining a pipe gripping and joining operation using various coordinate systems and attachments. For the work machine 1, there are a global coordinate system, a work machine coordinate system, a coordinate system of a first sensing device 81 (described later), and a coordinate system of an attachment 100.

[0082] The global coordinate system is a three-dimensional coordinate system represented by (Xg, Yg, Zg) with respect to an origin fixed on the earth. The global coordinate system is, for example, a coordinate system in GNSS or GPS.

[0083] The work machine coordinate system is a three-dimensional coordinate system expressed by (Xm, Ym, Zm) with the work machine 1 as the reference. In the embodiment, the origin position PL1 of the work machine coordinate system is, but is not limited to, the intersection of axis Zm, which is the central axis of rotation of the machine body 2, and a plane perpendicular to axis Zm within the swing circle of the machine body 2. Axis Ym is an axis that extends in the fore-aft direction of the machine body 2 and is perpendicular to axis Zm. Axis Ym is a reference axis in the fore-aft direction of the machine body 2. Axis Xm is an axis that extends in the width direction of the machine body 2 and is perpendicular to axis Zm and axis Ym.

[0084] In the embodiment, the coordinate system of the first sensing device 81 (camera coordinate system) is a three-dimensional coordinate system expressed by (Xc, Yc, Zc) with the center of the imaging surface of the camera as the origin. The Zc axis of the coordinate system (Xc, Yc, Zc) passes through the optical center of the first sensing device 81 (camera) and extends in a direction perpendicular to the imaging surface. The Yc axis is an axis perpendicular to the Zc axis. The Xc axis is an axis perpendicular to both the Zc axis and the Yc axis.

[0085] The coordinate system of the attachment 100 is a three-dimensional coordinate system expressed by (Xa, Ya, Za) with the attachment 100 as the reference. In the embodiment, the origin position PL2 of the coordinate system of the attachment 100 is, but is not limited to, the intersection of axis Za, which is the rotation axis Q of the attachment 100, and the center of rotation by the horizontal rotation mechanism 114, which is perpendicular to axis Za. Axis Ya is an axis that extends in the front-rear direction of the attachment 100 and perpendicular to axis Za. Axis Xa is an axis that extends in the width direction of the attachment 100 and is perpendicular to axis Za and axis Ya.

[0086] (Device for detecting the position of pipe W1 and connected pipe W2) As shown in FIG. 2B, the work machine 1 includes a first sensing device 81, a second sensing device 82, and a position acquisition device 83, which are connected to the control device 51.

[0087] 1, the first sensing device 81 is provided on the attachment 100. The first sensing device 81 recognizes the position of a joining portion of a joining member (pipe W1) held by the attachment 100 relative to a joined member (joined pipe W2) (i.e., the position of one end W1b of the pipe W1). In this embodiment, the first sensing device 81 is a camera (e.g., a CCD camera), but may be a LiDAR (Laser Imaging Detection and Ranging) camera, a TOF (Time Of Flight) camera, or the like.

[0088] As shown in FIG. 3A to FIG. 3C, the first sensing device 81 (camera) is provided, for example, on the lower surface of the support body 116a of the support part 116. The imaging range of this camera includes a baseline mark MK (a mark indicating a known length) provided outside the gripping part 112 and at a height position similar to that of the pipe W1, and the position of one end W1b of the pipe W1 gripped by the gripping part 112. That is, the captured image includes an image of the baseline mark MK and an image of one end W1b of the gripped pipe W1. Therefore, the position of one end W1b of the pipe W1 gripped by the gripping part 112 can be detected by a triangulation method using base points located at both ends of the baseline mark MK, the end of the gripping part 112, and the one end W1b of the gripped pipe W1. The position of one end W1b of the gripped pipe W1 may also be detected by calculating the relative distance between the image of the baseline mark MK and the image of the one end W1b of the pipe W1 by image processing. The imaging range of the camera may include the joining function unit 115 and at least a part of the gripping unit 112 (the end portion closer to the joining function unit 115), and the position of one end portion W1b of the pipe W1 gripped by the gripping unit 112 may be detected based on the relationship between the axial length (known length) connecting the imaged joining function unit 115 and the gripping unit 112 and one end portion W1b of the pipe W1 gripped by the gripping unit 112. In this case, it is not necessary to provide a baseline mark MK on the gripping unit 112.

[0089] Furthermore, when the first sensing device 81 is a Time Of Flight (TOF) camera or LiDAR, a distance measuring function can detect the position of one end W1b of the pipe W1 held by the gripper 112. Note that the first sensing device 81 is provided on the attachment 100, but is not limited thereto, and may be provided on the boom 21 or the arm 22.

[0090] As shown in Figures 1A and 4A, the position acquisition device 83 acquires the position of the joined portion (i.e., one end W2b of the joined pipe W2) to which the joining portion (one end W1b of the pipe W1) of the joined member (joined pipe W2) is joined. The position acquisition device 83 is, for example, a LiDAR, a TOF camera, a camera (CCD camera), etc., and is provided on the attachment 100. For example, the position acquisition device 83 is disposed in the same location as the first sensing device 81 (disposed next to and adjacent to it). Note that although the position acquisition device 83 is provided on the attachment 100, this and may be provided on the boom 21 or the arm 22. The position acquisition device 83 is not limited to a device that acquires the position of one end W2b of the joined pipe W2 based on the imaging result of the imaging means, and may be, for example, a distance measuring sensor that measures distance using laser light, electromagnetic waves such as millimeter waves, or ultrasonic waves.

[0091] The second sensing device 82 detects the attitude of the main body 30 and the attachment 100. The second sensing device 82 is, for example, an inertial measurement unit (IMU) or a potentiometer. Also, a cylinder stroke sensor may be used instead of the potentiometer. The inertial measurement unit (IMU) is, for example, provided in the main body 30, and can obtain the roll angle, pitch angle, and yaw angle of the work implement 1 (main body 30). The potentiometers are a boom angle sensor 91, an arm angle sensor 92, a work implement angle sensor 93, and a swing angle sensor 94, and are provided at each position of the work implement 20 or the machine body 2.

[0092] As shown in FIG. 1A, the boom angle sensor 91 detects a swing angle θ2 (rotation position) of the boom 21. The arm angle sensor 92 detects a swing angle θ3 (rotation position) of the arm 22. The implement angle sensor 93 detects a swing angle θ4 (rotation position) of the attachment 100 (or bucket) about the third rotation axis J3 relative to the tip of the arm 22. The swing angle sensor 94 detects a swing angle θ1 (rotation position) of the swing bracket 24 (see FIG. 4A for the swing angle θ1). As shown in FIG. 2A, the boom angle sensor 91, the arm angle sensor 92, the implement angle sensor 93, and the swing angle sensor 94 are connected to the control device 51.

[0093] In this embodiment, potentiometers are used as the boom angle sensor 91, arm angle sensor 92, work tool angle sensor 93, and swing angle sensor 94, but this is not limiting and other angle sensors may be used. Also, a cylinder stroke sensor may be used to detect the strokes (extended positions) of the boom cylinder C1, arm cylinder C9, attachment swing cylinder C2, and swing cylinder C4, and the swing angles of the boom 21, arm 22, attachment 100 (or bucket), and swing bracket 24 may be calculated from the detection results.

[0094] The storage unit 54 stores data (working machine data) related to the working machine 1. As shown in FIG. 1A, the working machine data includes a length L11 of the boom 21, a length L12 of the arm 22, a length L13 of the attachment 100, and a length L14 of the swing bracket 24. The length L11 of the boom 21 corresponds to the length from the first rotation axis J1 to the second rotation axis J2. The length L12 of the arm 22 corresponds to the length from the second rotation axis J2 to the third rotation axis J3. The length L13 of the attachment 100 corresponds to the length from the third rotation axis J3 to the origin position PL2 of the coordinate system of the attachment 100. The length L14 of the swing bracket 24 corresponds to the length from the first rotation axis J1 to the rotation center of the swing bracket 24. Further, the work machine data includes information on the position from the rotation center of the swing bracket 24 relative to the origin position PL1 (e.g., the rotation axis center position) of the work machine coordinate system, and information on the position from the origin position PL2 of the coordinate system of the attachment 100 to the tip position PR in the axial direction of the gripper 112. The tip position PR of the gripper 112 is the tip close to the joining function part 115. The control device 51 can obtain the tip position PR of the gripper 112 relative to the origin position PL1 using the lengths L11, L12, L13, and L14, the information on each position, the swing angles θ1, θ2, θ3, and θ4, and the origin positions PL1 and PL2. That is, the tip position PR of the gripper 112 in the work machine coordinate system can be obtained.

[0095] In addition, when the swing bracket 24 is used by fixing it to the axis Ym (the front-rear direction of the machine body 2) or when the work machine 1 does not have a swing function, the control device 51 receives the lengths L11, L12, L13, and information on each position (however, the swing bracket relative to the origin position PL1 of the work machine coordinate system). (Instead of information on the position up to the rotation center of the gripper 24, information on the position up to the first rotation axis J1 relative to the origin position PL1 of the work machine coordinate system is used), and the tip position PR of the gripper 112 relative to the origin position PL1 can be obtained using the swing angles θ1, θ2, θ3 and the origin positions PL1 and PL2.

[0096] In detail, the first sensing device 81 recognizes the position of one end W1b of the pipe W1 held by the attachment 100, i.e., the position in the coordinate system of the first sensing device 81, but it may also recognize the position of the one end W1b in the work machine coordinate system based on information on the position from the origin position PL2 shown in Figure 1 to the origin of the coordinate system of the first sensing device 81 and the work machine coordinate system.

[0097] In addition, the position acquisition device 83 recognizes the position of one end W2b of the joined pipe W2, i.e., the position in the coordinate system of the position acquisition device 83 (almost the same as the coordinate system of the first sensing device 81), but it may also recognize the position of one end W2b of the joined pipe W2 in the work machine coordinate system based on position information from the origin position PL2 shown in Figure 1 to the origin of the coordinate system of the position acquisition device 83 (= the coordinate system of the first sensing device 81) and the work machine coordinate system.

[0098] (Regarding the positioning configuration of work unit 1) The working machine 1 is equipped with a positioning device 85. The positioning device 85 can detect its own position (positioning information including latitude and longitude) using a satellite positioning system (positioning satellite) such as D-GPS, GPS, GLONASS, Hokuto, Galileo, and Michibiki. That is, the positioning device 85 is equipped with a receiving device that receives satellite signals (position of the positioning satellite, transmission time, correction information, etc.) transmitted from the positioning satellite by an antenna or the like, and detects the position (e.g., latitude and longitude) of the working machine 1, that is, the vehicle body position, based on the satellite signals. The receiving device of the positioning device 85 is attached to the upper surface of the protection mechanism 6 (for example, a position on the axis Zm shown in FIG. 1B). Note that the mounting location of the receiving device is not limited to the embodiment. Note that, when it is not necessary to acquire (detect) the position of the working machine 1 in the global coordinate system, the working machine 1 does not need to be equipped with the positioning device 85.

[0099] The control device 51 includes a setting unit 57 and a coordinate calculation unit 58. The setting unit 57 includes a relative position calculation unit 59, but the relative position calculation unit 59 may be provided separately from the setting unit 57. The setting unit 57, the coordinate calculation unit 58, and the relative position calculation unit 59 are configured from a CPU (processor), electronic and electrical circuits, programs, etc. provided in the control device 51. The setting unit 57, the coordinate calculation unit 58, and the relative position calculation unit 59 will be described below separately for gripping control of the pipe W1, movement control of the gripped pipe W1 to the work start position PSw, and descent work of the gripped pipe W1 from the work start position PSw to the joining start position PTw.

[0100] (Configuration regarding grip control of pipe W1) Here, as shown in Fig. 4A, when attempting to grasp a pipe W1 placed in a location other than a groove G with the attachment 100, the working implement 20 (e.g., the boom 21 and the arm 22, etc.) and the machine body (swivel base) 2 are driven by the driver's operation, so that the first sensing device 81 is positioned within a range in which the pipe W1 can be recognized, and the pipe W1 is recognized by the first sensing device 81. When the pipe W1 is recognized by the first sensing device 81, no operation by the driver is required. Also, when the first sensing device 81 is a wide-angle camera, a TOF (Time Of Flight) camera, LiDAR, etc., and the recognition area is wide, no operation by the driver is required to position the first sensing device 81 within a range in which the pipe W1 can be recognized.

[0101] For example, the first sensing device 81 recognizes the position PW1b of one end W1b of the pipe W1 to be gripped. The position PW1b is represented by coordinates (Xgw1b, Ygw1b, Zgw1b) in the global coordinate system and by coordinates (Xmw1b, Ymw1b, Zmw1b) in the work machine coordinate system. ) at the same time, the position PW1c of the other end may also be recognized. When attempting to grasp the pipe W1', the first sensing device 81 recognizes the position PW1b' of one end of the pipe W1' to be grasped. At this time, the position PW1c' of the other end may also be recognized.

[0102] The setting unit 57 sets a gripping position PG of the pipe W1 by the attachment 100 based on the recognition result by the first sensing device 81. For example, the setting unit 57 sets a position a predetermined distance away (a position a predetermined distance before) the position of one end W1b of the pipe W1 recognized by the first sensing device 81 as the gripping position PG. In detail, the setting unit 57 sets a position a predetermined distance before the position of one end W1b of the pipe W1 as the gripping position PG using an image captured by the first sensing device 81 (camera).

[0103] The setting unit 57 may set the gripping position PG to a position where the one end W1b of the pipe W1 can be recognized by the first sensing device 81 in a state where the pipe W1 is gripped by the attachment 100.

[0104] The setting unit 57 may set the gripping position PG to a position where, when the gripping unit 112 grips the pipe W1, there is a predetermined distance between the position of one end W1b of the pipe W1 and the joining function unit 115. The distance is shorter than the distance that the slider 132 of the axial movement mechanism 113 moves forward (i.e., the movement distance for joining the pipe W1 to the joined pipe W2).

[0105] The setting portion 57 may set the gripping position PG at a position where, when the gripping portion 112 grips the pipe W1, the distance between the position of one end W1b of the pipe W1 and the joining function portion 115 is a predetermined distance.

[0106] FIG. 4C is a diagram showing a state where the attachment for pipe joining is positioned at a pre-gripping position. FIG. 4D is a diagram showing that the orientation of the gripping part is adjusted at the pre-gripping position. As shown in FIG. 4C, the control device 51 positions the attachment 100 at a pre-gripping position PPG above the set gripping position PG of the pipe W1 to be gripped, acquires the pipe axis direction of the pipe W1 to be gripped based on the recognition result by the first sensing device 81, and controls the horizontal rotation mechanism 114 to rotate the gripping part 112 in the horizontal direction so that the gripping direction GD of the gripping part 112 coincides with the direction AD perpendicular to the acquired pipe axis direction, as shown in FIG. 4D. In other words, the gripping part 112 is rotated horizontally by an angle θ, so that the direction AD perpendicular to the pipe axis direction of the pipe W1 and the gripping direction GD of the gripping part 112 coincide with each other (the state of the gripping part 112 shown by the solid line in FIG. 4D).

[0107] Based on the recognition result from the first sensing device 81 and the detection result from the second sensing device 82, the coordinate calculation unit 58 calculates the coordinates of the position of one end W1b of the pipe W1 to be grasped by the attachment 100 and the coordinates of the position of the attachment 100 in the work machine coordinate system.

[0108] The relative position calculation unit 59 calculates the relative position from the coordinates of the position of the attachment 100 to the coordinates of the position of one end W1b of the pipe W1 to be gripped.

[0109] The setting unit 57 sets the coordinates of a position opposite to the set gripping position PG of the tube W1 to be grasped (e.g., an upper position) to the pre-gripping position PPG, and sets the coordinates of a position a predetermined distance before the position of one end W1b of the tube W1 to be grasped to the gripping position PG.

[0110] For example, the control device 51 controls the attachment 100 to be gripped based on the relative position calculated by the relative position calculation unit 59 and the grip position PG and pre-grip position PPG set by the setting unit 57. In order to move the attachment 100 to the gripping position PG of the pipe W1 to be gripped and to the pre-grip position PPG immediately preceding it, the movement control amount of each actuator of the traveling device 10, the swivel motor MT, the swing cylinder C4, the boom cylinder C1 and the arm cylinder C9 is calculated, and by driving each actuator with the calculated movement control amount, the attachment 100 is moved to the gripping position PG via the pre-grip position PPG of the pipe W1 to be gripped.

[0111] In the case of Fig. 4A, in order to move the attachment 100 from the position shown in Fig. 4A to a pre-gripping position PPG above the gripping position PG of the pipe W1, the control device 51 calculates the extension / retraction control amount (movement control amount) of the swing cylinder C4 for changing the swing angle θ1 of the swing bracket 24 to a swing angle toward the gripping position PG, and the extension / retraction control amount (movement control amount) of each of the boom cylinder C1 and the arm cylinder C9 for positioning the boom 21 and the arm 22 in the state shown in Fig. 4A at the pre-gripping position PPG above the gripping position PG. Here, since it is not necessary to drive the traveling device 10 and the swing motor MT, these movement control amounts are zero. Note that the swing bracket 24 may be changed to a swing angle toward the gripping position PG by driving the swing motor MT instead of the swing cylinder C4.

[0112] The control device 51 controls the attachment 100 and the working device 20 so that the gripping portion 112 is closed and the attachment 100 is moved to the pre-gripping position PPG, the gripping portion 112 is opened when the attachment 100 is moved to the pre-gripping position PPG, the attachment 100 is moved to the gripping position PG when the gripping portion 112 is opened, and the attachment 100 is moved to the gripping position PG and the gripping portion 112 is closed when the attachment 100 is moved to the gripping position PG.

[0113] The closed state of the gripping portion 112 is a state in which the pair of gripping claws 121 are sandwiched between the pair of gripping claws 121 with the distance between them being narrower than in the open state.

[0114] The closed state of the gripping part 112 may be a state in which the pair of gripping claws 121 are completely closed and the pair of gripping claws 121 are able to hold the pipe W1 to be gripped when they are completely closed. The closed state of the gripping part 112 may be a state in which the gripping force of the pair of gripping claws 121 reaches a specified value for holding the pipe W1 to be gripped. The closed state of the gripping part 112 may be a state in which the angle or position of the pair of gripping claws 121 reaches a threshold value for holding the pipe W1 to be gripped.

[0115] Furthermore, when the attachment 100 is moved to the gripping position PG and the gripping portion 112 is in a closed state, the first sensing device 81 recognizes the position of one end W1b of the pipe W1 gripped by the gripping portion 112. If the position of one end W1b of the pipe W1 gripped by the gripping portion 112 recognized by the first sensing device 81 after gripping is deviated by a specified value or more from the position of one end W1b of the pipe W1 when it is gripped at the gripping position PG set by the setting unit 57, the control device 51 executes re-gripping of the pipe W1 by the gripping portion 112.

[0116] The control device 51 opens the gripping portion 112, moves the attachment 100 in a direction that reduces the misalignment, and then closes the gripping portion 112. When the gripping portion 112 is in the closed state, the first sensing device 81 recognizes the position of the one end W1b of the pipe W1 gripped by the gripping portion 112.

[0117] (Configuration regarding control of movement of the gripped pipe W1 to the work start position PSw) 1A and 4A, based on the recognition result by the first sensing device 81, the setting unit 57 sets the target position PS of the attachment 100 above the groove G. Specifically, based on the recognition result by the first sensing device 81, the setting unit 57 sets the target position PS to which the attachment 100 is to be moved so that one end W1b of the pipe W1 held by the attachment 100 is located at a work start position PSw that is set near the pipe to be joined W2. For example, the setting unit 57 sets the target position PS on the ground surface near the to-be-connected pipe W2, on the ground surface near the groove G in which the to-be-connected pipe W2 is disposed, or on a mounting table disposed on the ground surface near the to-be-connected pipe W2.

[0118] 1A and 6A, based on the recognition result by the first sensing device 81, the setting unit 57 sets the work start position PSw of the pipe W1 held by the attachment 100 to a position corresponding to the target area (e.g., groove G) in which the joined pipe W2 is placed. For example, after holding the pipe W1 placed in the temporary placement location shown in Fig. 4A, setting and movement control are performed to move the held pipe W1 to the work start position PSw above the groove G.

[0119] The control device 51 controls the working device 20 so as to move the attachment 100 gripping the pipe W1 to the approach target position PS set by the setting unit 57.

[0120] When the attachment 100 is located at the target position PS, one end W1b of the pipe W1 held by the attachment 100 is located at the work start position PSw above the groove G. The work start position PSw is a position above the target upper position PU, which is above the joining start position PTw, which is a position for starting a joining operation to join the pipe W1 held by the attachment 100 to the pipe to be joined W2. Based on the recognition result by the first sensing device 81 and the position of the one end W2b of the pipe to be joined W2 acquired by the position acquisition device 83, the setting unit 57 sets the work start position PSw to a position where the one end W1b of the pipe W1 is located near the one end W2b of the pipe to be joined W2.

[0121] The position acquisition device 83 detects one end W2b of the to-be-connected pipe W2 in the groove G and acquires the position of the one end W2b of the to-be-connected pipe W2. For example, the position acquisition device 83 acquires the position of the to-be-connected pipe W2 based on the imaging result of the to-be-connected pipe W2 by the imaging means or the distance measurement result by the distance measurement sensor.

[0122] The position acquisition device 83 may acquire the position of the connected pipe W2 based on three-dimensional design data indicating the position of the connected pipe W2. For example, the position acquisition device 83 acquires the position of the one end W2b of the connected pipe W2 by identifying the coordinates of the position of the one end W2b of the connected pipe W2 in the global coordinate system (for example, in FIG. 4A, the coordinates in the global coordinate system are (Xgw2b, Ygw2b, Zgw2b)) using three-dimensional design data that defines the installation of the pipe W1 in the groove G. The position acquisition device 83 may also acquire the position of the connected pipe W2 based on the result of detecting the position of the connected pipe W2 buried in the ground by an underground radar.

[0123] When joining the joined member (previous pipe W1) to a second joined member (joined pipe W2) and joining the joining member (next pipe W1) to the joined member (previous pipe W1) joined to the joined pipe W2, the position acquisition device 83 may acquire the position of the joined portion (previous pipe W1) based on the position of a second joined portion, which is the portion of the second joined member (joined pipe W2) where the joined member (previous pipe W1) is joined, and dimensional information from the second joined portion, which is the portion of the joined member (previous pipe W1) where the second joined member is joined, to the joined portion.

[0124] For example, as shown in FIG. 4, the position acquisition device 83 may acquire the position PB2 of one end W2b of the currently connected pipe W2, which is the position in the global coordinate system of one end W2b of the currently connected pipe W2 (i.e., the position of the second coordinate PB1) plus the pipe axial dimension of the previously connected pipe W1. FIG. 4B is a diagram showing the state in which the pipe is connected to the currently connected pipe. As shown in FIG. 4B, if the pipe axial dimension is the effective pipe axial dimension L3 (=L1-L2), that is, the pipe axial dimension L1 of the pipe W1 minus the pipe axial length L2 of the portion of the pipe W1 inserted into the currently connected pipe W2, the position PB2 of one end W2b of the currently connected pipe W2 is can be calculated more accurately.

[0125] The coordinate calculation unit 58 calculates a first coordinate PA1 (see Figure 1A) indicating the coordinates of the position of one end W1b of the pipe W1 grasped by the attachment 100 in the work machine coordinate system based on the recognition result from the first sensing device 81 and the detection result from the second sensing device 82.

[0126] The position acquisition device 83 acquires a second coordinate PB1 indicating the coordinate of the position of one end W2b of the joined pipe W2 (see FIG. 1A). The setting unit 57 sets the work start position PSw to a third coordinate PC1 (see FIG. 6A) indicating the coordinate of a position above the second coordinate PB1 acquired by the position acquisition device 83. The position acquisition device 83 sets, for example, the second coordinate PB1 and the third coordinate PC1 in the work machine coordinate system.

[0127] The relative position calculation unit 59 calculates the relative position up to the third coordinate PC1 with respect to the first coordinate PA1 as a reference. The setting unit 57 sets the approach target position PS based on the position of the attachment 100 detected by the second sensing device 82 and the relative position. The control device 51 controls the working device 20 to move the attachment 100 to the approach target position PS set by the setting unit 57.

[0128] The control device 51 calculates the movement control amounts of each actuator of the traveling device 10, the swivel motor MT, the swing cylinder C4, the boom cylinder C1 and the arm cylinder C9 in order to move the pipe W1 held by the attachment 100 to the work start position PSw, and drives each actuator with the calculated movement control amount to move the pipe W1 held by the attachment 100 to the work start position PSw.

[0129] When the attachment 100 is moved from the position where the pipe W1 is gripped at the temporary storage site to the target position PS, the control device 51 controls the movement speed of each of the multiple actuators that are the target of driving so that they each operate at the same speed or within a specified range of speeds from the start of movement to the end of movement.

[0130] When the attachment 100 is moved to the target position PS, the control device 51 sets the movement speed of each of the actuators to be driven so that the movement end timings of some or all of the actuators to be driven are approximately the same (included within a predetermined end time range). For example, when the control device 51 moves the pipe W1 held by the attachment 100 to the work start position PSw, if the control device 51 determines that one of the actuators to be driven will end its movement before the other actuators, the control device 51 reduces the movement speed of the one actuator to align the movement periods of the actuators to be driven. For example, the movement control amount of each actuator includes a movement distance and a movement speed (or a movement angle and angular velocity). The control device 51 calculates the movement time (= movement distance ÷ movement speed, or movement angle ÷ angular velocity) for each actuator, determines an actuator with a shorter movement time than the other actuators as the actuator that will end its movement first, and aligns the movement time of the actuator that will end its movement first to the movement time of the other actuators, thereby aligning the movement time of each actuator.

[0131] The control device 51 controls the working device 20 to reduce the movement speed of the attachment 100 (for example, the speed control unit 56 reduces the movement speed of the actuator to be driven) from a front position which is set to a position just before the attachment 100 reaches the approach target position PS, and to stop the attachment 100 at the approach target position PS.

[0132] (Configuration regarding control of movement of the gripped pipe W1 to the joining start position PTw) FIG. 6A shows a state in which a pipe held by a pipe joining attachment is moved from a work start position to a joining start position. 6A shows the attachment 100 being moved from the approach target position PS to the target position PT.

[0133] Based on the recognition result by the first sensing device 81, the setting unit 57 sets the target position PT, which is the movement destination of the attachment 100, to a position for moving to a joining start position PTw, which is a position for starting a joining operation to join one end W1b of the pipe W1 to the joined pipe W2. The joining start position PTw is a position where the slider 132 of the axial movement mechanism 113 moves forward to join one end W1b of the pipe W1 held by the gripping unit 112 to one end W2b of the joined pipe W2. In other words, the joining start position PTw is a position within the movement range of the axial movement mechanism 113 from the one end W2b of the joined pipe W2.

[0134] The coordinate calculation unit 58 calculates a first coordinate PA1 indicating the coordinate of the position of one end W1b of the pipe W1 gripped by the attachment 100 in the work machine coordinate system based on the recognition result by the first sensing device 81 and the detection result by the second sensing device 82. The position acquisition device 83 acquires a second coordinate PB1 indicating the coordinate of the position of one end W2b of the pipe W2 to be joined in the work machine coordinate system. The setting unit 57 sets a joining start position coordinate PA2, which is the coordinate of the joining start position PTw in the work machine coordinate system, based on the second coordinate PB1. The relative position calculation unit 59 of the setting unit 57 calculates the relative position to the joining start position coordinate PA2 based on the first coordinate PA1. The setting unit 57 sets the target position PT of the attachment 100 based on the position of the attachment 100 detected by the second sensing device 82 and the relative position calculated by the relative position calculation unit 59. The target position PT of the attachment 100 is a position where one end W1b of the pipe W1 gripped by the attachment 100 becomes a joining start position PTw.

[0135] The control device 51 calculates the movement control amounts of the actuators of the boom cylinder C1 and the arm cylinder C9 for moving the attachment 100 from the approach target position PS to the target position PT (i.e., moving the pipe W1 held by the attachment 100 from the work start position PSw to the joining start position PTw), and drives each actuator with the calculated movement control amount, thereby moving the attachment 100 from the approach target position PS to the target position PT. In other words, since the pipe W1 held by the attachment 100 is simply lowered from the work start position PSw to the joining start position PTw, the movement control amounts of the actuators of the traveling device 10, the swing motor MT, and the swing cylinder C4 are zero. In other words, these actuators are not driven.

[0136] The control device 51 controls the working device 20 so as to move the attachment 100 from the approach target position PS to the target position PT.

[0137] Furthermore, when moving the attachment 100 from the approach target position PS to the target position PT, the control device 51 controls the movement speeds of the boom 21 and the arm 22 so that they each operate at the same speed or at a speed within a predetermined range from the start of movement to the end of movement. Furthermore, when moving the attachment 100 from the approach target position PS to the target position PT, the control device 51 may control the cylinder speeds of the boom cylinder C1 and the arm cylinder C9, instead of the movement speeds of the boom 21 and the arm 22, so that they each operate at the same speed or at a speed within a predetermined range from the start of movement to the end of movement.

[0138] When moving the attachment 100 to the target position PT, the control device 51 sets the movement speeds of the boom 21 and the arm 22 so that the movement end timings are approximately the same (included within a predetermined end time range). For example, when moving the attachment 100 from the approach target position PS to the target position PT, if the control device 51 determines that one of the boom 21 and the arm 22 will finish moving before the other, it controls the one by reducing the movement speed so that the movement periods of the boom 21 and the arm 22 are aligned. In addition, the control device 51 When moving the attachment 100 from the target position PS to the target position PT, if it is determined that one of the boom cylinder C1 and the arm cylinder C9 will finish moving before the other, the movement speed of that one may be reduced to align the movement periods of the boom cylinder C1 and the arm cylinder C9.

[0139] The setting unit 57 sets a target upper position PU (see FIG. 6A) approximately vertically above the target position PT. For example, the setting unit 57 sets the target upper position PU (see FIG. 6A) to be above the target position PT and higher than the pipe to be joined W2, based on the relative position calculated by the relative position calculation unit 59. The control device 51 controls the working device 20 to lower the attachment 100 in a substantially vertical direction from the target upper position PU to the target position PT. That is, the control device 51 controls the working device 20 to position the pipe W1 held by the attachment 100 at the upper position PUw, and then to lower the pipe W1 from the upper position PUw to the joining start position PTw in a substantially vertical direction.

[0140] The control device 51 gradually reduces the movement speed of the attachment 100 from a front position that is set to a position immediately before the attachment 100 reaches the target position PT, and stops the attachment 100 at the target position PT. For example, the control device 51 controls the working device 20 to reduce the movement speed of the attachment 100 from a predetermined front position of the target position PT and stop the attachment 100 at the target position PT. That is, the control device 51 controls the working device 20 to reduce the movement speed of the pipe W1 held by the attachment 100 (for example, the speed control unit 56 reduces the movement speed of the actuator to be driven) and stop the pipe W1 at the joining start position PTw.

[0141] In addition, when one end W1b of the pipe W1 held by the attachment 100 is located at an excess position PT1w that is closer to one end W2b of the pipe W2 to be joined than the joining start position PTw, the control device 51 controls the working device 20 to move the one end W1b of the pipe W1 in a direction from the excess position PT1w back to the joining start position PTw (the target position PT in terms of the attachment 100) or to stop the one end W1b of the pipe W1 at the excess position PT1w.

[0142] The setting unit 57 may set a preliminary target position that is a position a predetermined distance away from the target position PT with respect to the joined pipe W2, based on the relative position calculated by the relative position calculation unit 59. In this case, the control device 51 controls the working device 20 to position the attachment 100 at the preliminary target position and then move the attachment 100 from the preliminary target position to the target position PT.

[0143] The memory unit 54 stores various positions set by the setting unit 57 (gripping position PG, target approach position PS, target upper position PU, target position PT, etc.), various positions of the pipe W1 (work start position PSw, joining start position PTw, excess position PT1w, etc.), and various coordinate data (first coordinate PA1, second coordinate PB1, third coordinate PC1, joining start position coordinate PA2, etc.).

[0144] (Configuration regarding control of joining of the gripped pipe W1 to the joined pipe W2) FIG. 6B is a diagram showing a state where the pipe held by the pipe joining attachment is positioned at the joining start position. FIG. 6C is a diagram showing a state where the pipe held by the pipe joining attachment is joined to the pipe to be joined. As shown in FIG. 6B, if the held pipe W1 is positioned at the joining start position PTw, the held pipe W1 can be joined to the pipe to be joined W2 from the joining start position PTw by driving only the attachment 100, as shown in FIG. 6C. Specifically, the slider 132 of the axial direction movement mechanism 113 moves forward, so that one end W1b of the pipe W1 held by the gripping part 112 is inserted into one end W2b of the pipe to be joined W2, and the pipe W1 is joined to the pipe to be joined W2.

[0145] Here, the automatic gripping and joining process of the pipe joining attachment 100 by the work machine 1 will be described with reference to Figures 5A to 5G. Figure 5A is a flow chart showing an example of the automatic gripping and joining process of the pipe joining attachment by the work machine. When the automatic gripping operation button 5c is pressed by the driver in the gripping operation mode, the control device 51 executes a series of operations, such as gripping the pipe W1, moving the gripped pipe W1 to the target position PT via the operation start position PSw, and joining the pipe W1 to the pipe to be joined W2, as shown in Figure 5A.

[0146] First, the control device 51 performs gripping control of the tube W1 (S1). The gripping control (S1) is executed according to the flowchart shown in Fig. 5B. Fig. 5B is a flowchart showing an example of the tube gripping control.

[0147] The first sensing device 81 recognizes the position of one end W1b of the pipe W1 to be grasped (S10). If the first sensing device 81 fails to recognize the position of one end W1b of the pipe W1, the notification device 75 notifies the driver by sound, light, or display. In more detail, if the first sensing device 81 is not directed toward the temporary storage area (for example, if the camera image does not include an image showing one end W1b of the pipe W1), if the pipe W1 is included but the one end W1b is hidden and cannot be seen, or if the pipe W1b is not placed in the temporary storage area, the control device 51 causes the notification device 75 or the display device 70 to notify the driver of the same. The control device 51 may then prompt the user to operate the work device 20 (e.g., the boom 21 and the arm 22) and the machine body (rotating base) 2 so that the first sensing device 81 is directed toward the temporary storage area (i.e., drive the work device 20 so that the first sensing device 81 detects the temporary storage area), or may report that the pipe W1 is in the temporary storage area but one end W1b of the pipe W1 is hidden and not visible, or may report that the pipe W1 is not placed in the temporary storage area.

[0148] The second sensing device 82 detects the attitudes of the main body 30 and the attachment 100 (S11). The coordinate calculation unit 58 calculates the coordinates of the position of one end W1b of the pipe W1 to be gripped by the attachment 100 in the work machine coordinate system based on the recognition result of the position of one end W1b of the pipe W1 by the first sensing device 81 and the detection result by the second sensing device 82 (S12).

[0149] The coordinate calculation unit 58 calculates the coordinates of the position of the attachment 100 in the work machine coordinate system based on the detection result of the second sensing device 82 (S13). The relative position calculation unit 59 calculates the relative position from the coordinates of the position of the attachment 100 to the coordinates of the position of one end W1b of the pipe W1 to be gripped (S14).

[0150] The setting unit 57 sets the coordinates of a position above the set gripping position PG of the tube W1 to be gripped to the pre-gripping position PPG, and sets the coordinates of a position a predetermined distance before the position of one end W1b of the tube W1 to be gripped to the gripping position PG (S15).

[0151] Based on the relative position calculated by the relative position calculation unit 59 and the gripping position PG and pre-gripping position PPG set by the setting unit 57, the control unit 51 calculates the movement control amounts of each actuator of the traveling device 10, the swivel motor MT, the swing cylinder C4, the boom cylinder C1 and the arm cylinder C9 to move the attachment 100 to the gripping position PG of the pipe W1 to be gripped and to the pre-gripping position PPG immediately preceding it (S16).

[0152] The control device 51 controls movement to the gripping position PG (S17). The control device 51 controls the attachment 100 and the working device 20 to move the attachment 100 to the gripping position PG via a pre-gripping position PPG of the pipe W1 to be gripped, by driving each actuator with the calculated movement control amount. The control of movement to the gripping position PG is executed according to the flowchart shown in FIG. 5C. FIG. 5C shows an example of the control of movement to the gripping position. 6 is a flowchart.

[0153] 5C, the control device 51 determines whether the grip portion 112 is in a closed state before the attachment 100 starts to move (S171), and if the grip portion 112 is not in a closed state (S171, No), the control device 51 closes the grip portion 112 (S172). On the other hand, if the grip portion 112 is in a closed state (S171, Yes), the control device 51 proceeds to S173.

[0154] The control device 51 closes the gripping portion 112 and moves the attachment 100 to the pre-gripping position PPG (S173). The control device 51 determines whether the attachment 100 has moved to the pre-gripping position PPG (S174). If the attachment 100 has not moved to the pre-gripping position PPG (S174, No), the control device 51 returns to the process of S174. On the other hand, if the attachment 100 has moved to the pre-gripping position PPG (S174, Yes), the control device 51 controls the attitude of the gripping portion 112 (S175). The control device 51 controls the horizontal rotation mechanism 114 so that the direction AD perpendicular to the pipe axial direction of the pipe W1 to be gripped and the gripping direction GD of the gripping portion 112 are aligned.

[0155] The control device 51 opens the gripping portion 112 (S176), and when the gripping portion 112 is opened, moves the attachment 100 to the gripping position PG (S177). The control device 51 determines whether the attachment 100 has moved to the gripping position PG (S178). When the attachment 100 has not moved to the gripping position PG (S178, No), the control device 51 returns to the process of S178. On the other hand, when the attachment 100 has moved to the gripping position PG (S178, Yes), the control device 51 closes the gripping portion 112 (S179) and proceeds to S18 shown in FIG. 5B.

[0156] The control device 51 checks whether the pipe W1 is gripped at the gripping position PG (S18). When the attachment 100 is moved to the gripping position PG and the gripping unit 112 is closed, the first sensing device 81 recognizes the position of one end W1b of the pipe W1 gripped by the gripping unit 112. If the deviation between the position of the one end W1b of the pipe W1 gripped by the gripping unit 112 after gripping and the assumed position of the one end W1b of the pipe W1 corresponding to the gripping position PG set by the setting unit 57 is equal to or greater than a specified value (S18, No), the control device 51 executes re-gripping of the pipe W1 by the gripping unit 112 (S19).

[0157] The control device 51 opens the gripping portion 112, moves the attachment 100 in a direction that reduces the amount of misalignment, and then closes the gripping portion 112. When the gripping portion 112 is in the closed state, the first sensing device 81 recognizes the position of one end W1b of the pipe W1 gripped by the gripping portion 112 (S18).

[0158] When the gripping portion 112 grips the pipe W1 at the gripping position PG (S18, Yes), the control device 51 proceeds to S2 shown in FIG. 5A.

[0159] Next, as shown in Fig. 5A, the control device 51 performs work start position control of the gripped pipe W1 (i.e., control of movement of the pipe W1 at the temporary storage area of ​​the attachment 100 from the gripped state to the approach target position PS) (S2). This work start position control (S2) is executed according to the flowchart shown in Fig. 5D. Fig. 5D is a flowchart showing an example of work start position control of the gripped pipe.

[0160] The first sensing device 81 recognizes the position of one end W1b of the grasped pipe W1 (S20). Note that S20 may be omitted and the position of one end W1b of the grasped pipe W1 recognized in S18 shown in FIG. 5D may be used.

[0161] The second sensing device 82 detects the attitudes of the main body 30 and the attachment 100 (S21). The coordinate calculation unit 58 calculates the coordinates of the position of the one end W1b of the pipe W1 gripped by the attachment 100 in the work machine coordinate system based on the recognition result of the position of the one end W1b of the pipe W1 by the first sensing device 81 and the detection result by the second sensing device 82 (S22).

[0162] The position acquisition device 83 detects one end W2b of the to-be-joined pipe W2 in the groove G and acquires the position of the one end W2b of the to-be-joined pipe W2 (S23). The position acquisition device 83 acquires a second coordinate PB1 indicating the coordinate of the position of the one end W2b of the to-be-joined pipe W2 (S24). The setting unit 57 sets the work start position PSw to a third coordinate PC1 indicating the coordinate of a position above the second coordinate PB1 acquired by the position acquisition device 83 (S25).

[0163] The relative position calculation unit 59 calculates the relative position from the first coordinate PA1 to the third coordinate PC1 (S26).

[0164] Based on the relative position calculated by the relative position calculation unit 59 and the work start position PSw set by the setting unit 57, the control device 51 calculates the movement control amounts of each actuator of the traveling device 10, the swivel motor MT, the swing cylinder C4, the boom cylinder C1 and the arm cylinder C9 to move the pipe W1 held by the attachment 100 to the work start position PSw (S27).

[0165] The control device 51 controls the movement of the attachment 100 to the approach target position PS (S28). The control device 51 controls the working device 20 to move the attachment 100 to the approach target position PS set by the setting unit 57 by driving each actuator with the calculated movement control amount. That is, control is performed to move one end W1b of the pipe W1 gripped by the attachment 100 to the work start position PSw. The movement control to the work start position PSw is executed according to the flowchart shown in FIG. 5E. FIG. 5E is a flowchart showing an example of speed control of each member of the front.

[0166] As shown in FIG. 5E, when the control device 51 moves the attachment 100 to the target position PS, the control device 51 controls the movement speed of each of the actuators to be driven, from the start of the movement to the end of the movement, to the same speed or a speed within a predetermined range (S281).

[0167] The control device 51 determines whether one of the actuators to be driven will finish moving before the other actuators (S282). For example, when the movement control amount of one actuator is smaller than the movement control amount of the other actuator, the control device 51 determines that one actuator will finish moving before the other actuator (Yes in S282), and reduces the movement speed of the one actuator to align the movement period of the one actuator with the movement period of the other actuator (S283). In other words, the control device 51 sets the movement speeds of the multiple actuators (e.g., the boom cylinder C1 and the arm cylinder C9) so that the movement end timings of the actuators are approximately the same.

[0168] After S283, or if No in S282, the control device 51 judges whether or not the attachment 100 is in front of the approach target position PS (S284). If the control device 51 judges that the attachment 100 is in the front position (S284, Yes), the control device 51 reduces the movement speed of the attachment 100 from this front position (S285), and if the attachment 100 is in the approach target position PS (S286, Yes), the process proceeds to S3 shown in Fig. 5A. As shown in Fig. 6A, if the attachment 100 is in the approach target position PS (the tip position PR of the gripping portion 112 shown in Fig. 1A coincides with the approach target position PS), the pipe W1 gripped by the attachment 100 is in the work start position PSw.

[0169] Next, as shown in Fig. 5A, the control device 51 performs joining start position control of the gripped pipe W1 (i.e., movement control of the attachment 100 from the moving target position PS to the target position PT) (S3). This joining start position control (S3) is executed according to the flowchart shown in Fig. 5F. Fig. 5F is a flowchart showing an example of joining start position control of the gripped pipe.

[0170] The first sensing device 81 recognizes the position of one end W1b of the grasped pipe W1 (S30). For example, as shown in Fig. 6A, when the pipe W1 is located at the work start position PSw, the first sensing device 81 recognizes the position of one end W1b of the pipe W1.

[0171] The second sensing device 82 detects the attitudes of the main body 30 and the attachment 100 (S31). The coordinate calculation unit 58 calculates a first coordinate PA1 of the position of the one end W1b of the pipe W1 gripped by the attachment 100 in the work machine coordinate system based on the recognition result of the position of the one end W1b of the pipe W1 by the first sensing device 81 and the detection result by the second sensing device 82 (S32).

[0172] The position acquisition device 83 detects one end W2b of the pipe to be joined W2 in the groove G and acquires the position of the one end W2b of the pipe to be joined W2 (S33). The position acquisition device 83 acquires a second coordinate PB1 indicating the coordinate of the position of the one end W2b of the pipe to be joined W2 (S34). Note that S33 and S34 may be omitted and the second coordinate PB1 acquired in S24 shown in FIG. 5D may be used. The setting unit 57 sets the joining start position coordinate PA2, which is the coordinate of the joining start position PTw in the work machine coordinate system, based on the second coordinate PB1. The relative position calculation unit 59 of the setting unit 57 calculates the relative position to the joining start position coordinate PA2 based on the first coordinate PA1 (S35).

[0173] The setting unit 57 sets a target position PT (see FIG. 6A) of the attachment 100 based on the position of the attachment 100 detected by the second sensing device 82 and the relative position calculated by the relative position calculation unit 59 (S36). In other words, the target position PT is a position for moving one end W1b of the pipe W1 gripped by the attachment 100 to a joining start position PTw, as shown in FIG. 6A.

[0174] The setting unit 57 sets a target upper position PU (see FIG. 6A) approximately vertically above the target position PT (S37) based on the relative position calculated by the relative position calculation unit 59. Note that the setting unit 57 may set a preliminary target position, which is a position spaced a predetermined distance from the target position PT with respect to the joined pipe W2, based on the relative position calculated by the relative position calculation unit 59 (S37).

[0175] The control device 51 calculates the movement control amounts of each actuator of the boom cylinder C1 and the arm cylinder C9 to move the attachment 100 from the approach target position PS to the target position PT (in other words, to move the pipe W1 held by the attachment 100 from the work start position PSw to the joining start position PTw) (S38).

[0176] The control device 51 controls the movement of the attachment 100 to the target position PT (S39). The control device 51 controls the working device 20 to drive each actuator with the calculated movement control amount, thereby moving the attachment 100 to the target position PT set by the setting unit 57. The movement control to the target position PT is executed according to the flowchart shown in Fig. 5G. Fig. 5G is a flowchart showing an example of speed control of each member of the front.

[0177] As shown in FIG. 5G, when the attachment 100 is moved from the approach target position PS to the target position PT, the control device 51 controls the movement of the boom cylinder C1 and the arm cylinder C9. The speed is kept constant or within a predetermined range from the start of movement until the movement ends or a deceleration condition described later is met (S394, Yes) (S391).

[0178] The control device 51 determines whether one of the boom cylinder C1 and the arm cylinder C9 will finish moving before the other (S392). For example, when the movement control amount of one of the boom cylinder C1 and the arm cylinder C9 is smaller than the movement control amount of the other, the control device 51 determines that one will finish moving before the other (S392, Yes), and reduces the movement speed of the one to align the movement period of one with the movement period of the other (S393). In other words, the control device 51 sets the movement speeds of the boom cylinder C1 and the arm cylinder C9 so that the movement end timings are approximately the same.

[0179] After S393, or if No in S392, the control device 51 determines whether the pipe W1 held by the attachment 100 is in a position short of the target position PT (S394). If the control device 51 determines that the pipe W1 is in a short position (S394, Yes), it slows down the movement speed of the pipe W1 held by the attachment 100 from this short position (S395), and determines whether the pipe W1 is in the target position PT (S396).

[0180] If the control device 51 determines that the pipe W1 held by the attachment 100 is not at the target position PT (S396, No), or has not passed the target position PT (S397, No), the process returns to S395. If the target position PT has been passed (S397, Yes), the control device 51 returns the pipe W1 held by the attachment 100 to the target position PT or stops the attachment 100 (S398), and the process returns to S391. If the attachment 100 is stopped at a position other than the target position PT, the control device 51 notifies the driver of this using at least one of the display device 70 and the notification device 75.

[0181] On the other hand, as shown in Fig. 6B, if the attachment 100 is at the target position PT (S396, Yes), the control device 51 proceeds to S4 shown in Fig. 5A. As shown in Fig. 6B, if the attachment 100 is at the target position PT (a state in which the tip position PR of the gripping part 112 shown in Fig. 1A coincides with the target position PT), the pipe W1 gripped by the attachment 100 is at the joining start position PTw.

[0182] Next, as shown in Fig. 5A, the control device 51 controls the joining of the held pipe W1 to the joined pipe W2 (S4). Specifically, the control device 51 drives only the attachment 100. That is, as the slider 132 of the axial direction movement mechanism 113 moves forward, one end W1b of the pipe W1 held by the gripping part 112 is inserted from the target position PT (joining start position) shown in Fig. 6B into one end W2b of the joined pipe W2. Therefore, as shown in Fig. 6C, the pipe W1 is joined to the joined pipe W2.

[0183] In the above first embodiment, the working machine 1 is a model having a swing function, but the working machine 1 may not have a swing device (swing cylinder C4), that is, the working machine 1 may be a model not having a swing function (such as a miniature swing machine). Also, the working machine 1 may be a two-piece boom model, regardless of whether it has a swing function or not.

[0184] The main characteristic features and effects of the work machine 1 in the first embodiment described above are as follows.

[0185] <Set the gripping position PG of the pipe W1 to be gripped> (Item A1) A work machine 1 having a machine body 2, a working device 20 provided on the machine body 2, and an attachment 100 provided on the working device 20 for gripping a long object to be gripped W, the work machine 1 having a first sensing device 8 for recognizing the position of one end W1b of the object to be gripped W. 1, a setting unit 57 which sets a gripping position PG of the object W to be grasped by the attachment 100 based on the recognition result by the first sensing device 81, and a control device 51 which controls the work device 20, where the control device 51 controls the work device 20 to cause the attachment 100 to grasp the gripping position PG set by the setting unit 57.

[0186] According to this work machine 1, it is possible to appropriately set the gripping position PG of the gripping object W (e.g., pipe W1) to be gripped, and it is possible to reduce the variation in the gripping operation of the gripping object W (e.g., pipe W1). Note that the control device 51 may control the attachment 100 based on the gripping position PG set by the setting unit 57 to cause the attachment 100 to grip the gripping position PG, or a screen showing the gripping position PG set by the setting unit 57 or an operation guide screen for moving the attachment 100 to the gripping position PG may be displayed on the display device 70, and the operator may manually perform an operation to cause the attachment 100 to grip the gripping position PG.

[0187] (Item A2) The setting unit 57 is a work machine 1 described in Item A1 that sets a position a predetermined distance away from the one end W1b of the object to be grasped W recognized by the first sensing device 81 as the grasping position PG.

[0188] According to this working machine 1, the pipe W1 can always be gripped at a gripping position PG that is a predetermined distance away from one end W1b of the pipe W1, and therefore, variation in the gripping position PG of the pipe W1 can be reduced.

[0189] (Item A3) The setting unit 57 is a work machine 1 described in item A1 or A2 that sets the gripping position PG at a position where the one end W1b of the gripping object W can be recognized by the first sensing device 81 while the gripping object W is gripped by the attachment 100.

[0190] According to this work machine 1, when the attachment 100 is to grip the object W to be gripped, the object W to be gripped can be gripped by the attachment 100 while the position of one end W1b of the object W to be gripped is recognized by the first sensing device 81. Therefore, the gripping operation of the object W to be gripped can be performed more reliably.

[0191] (Item A4) The attachment 100 is a work machine 1 described in any of items A1 to A3, which includes a gripping portion 112 that grips the object to be gripped W, and a joining function portion 115 that is located on an extension line of the one end portion W1b side of the longitudinal direction of the object to be gripped W gripped by the gripping portion 112 and comes into contact with or close to a joined member (e.g., a joined pipe W2) to which the one end portion W1b of the object to be gripped W is joined, and the setting portion 57 sets the gripping position PG to a position where the distance between the one end portion W1b of the object to be gripped W and the joining function portion 115 is a predetermined distance when the object to be gripped W is gripped by the gripping portion 112.

[0192] According to this working machine 1, when the gripping part 112 grips the pipe W1 at the gripping position PG, the position of one end W1b of the pipe W1 is at a predetermined distance from the joining function part 115, so that the gripped pipe W1 can be smoothly joined to the joined pipe W2. The joining operation is an operation of joining the pipe W1 located in the vicinity of the joined pipe W2 to the joined pipe W2, for example, by driving only the attachment 100 to join the pipe W1 gripped by the attachment 100 to the joined pipe W2.

[0193] In addition, the setting unit 57 is configured to set the length of the pipe W1 when the gripping unit 112 grips the pipe W1. The gripping position PG may be set at a position where the position of one end W1b and the joining function portion 115 are spaced a predetermined distance apart and where the position of the one end W1b of the pipe W1 can be recognized by the first sensing device 81.

[0194] In this case, when the gripping portion 112 grips the pipe W1 at the gripping position PG, the position of one end W1b of the pipe W1 is spaced a predetermined distance from the joining function portion 115, so that the joining operation of the gripped pipe W1 to the joined pipe W2 can be performed smoothly. Also, the first sensing device 81 can recognize the position of one end W1b of the gripped pipe W1, so that the position of one end W1b of the gripped pipe W1 can be confirmed at any time, and the gripping state of the pipe W1 can be grasped.

[0195] (Item A5) The attachment 100 is a work machine 1 described in Item A4, which is equipped with a horizontal rotation mechanism 114 that can rotate the gripping portion 112 horizontally, and the control device 51 controls the operation of the horizontal rotation mechanism 114 so as to align the gripping direction GD of the gripping portion 112 with a direction AD perpendicular to the longitudinal direction of the object to be gripped W.

[0196] According to this work machine 1, the direction AD perpendicular to the pipe axis direction of the pipe W1 to be gripped can be set as the gripping direction GD of the gripping part 112, and the pipe W1 can be reduced from being gripped out of position in the pipe axis direction when gripping. Therefore, the pipe W1 can be accurately gripped at the gripping position PG. In addition, the pipe W1 gripped by the gripping part 112 can be reduced from being shaken horizontally, and the pipe W1 can be gripped in the same orientation as before gripping. For example, if the pipe W1 is gripped from a diagonal direction horizontally to the pipe axis direction, the pipe W1 gripped by the gripping part 112 will be accordingly shaken diagonally horizontally, but this can be reduced.

[0197] (Item A6) The working machine 1 is described in any of items A1 to A5, in which the setting unit 57 sets a position opposite the gripping position PG as a pre-gripping position PPG, and the control device 51 controls the attachment 100 to the pre-gripping position PPG, moves the attachment 100 from the pre-gripping position PPG to the gripping position PG with the gripping portion 112 in an open state, and controls the attachment 100 and the working device 20 to close the gripping portion 112 when the attachment 100 moves to the gripping position PG so as to grip the object to be gripped W.

[0198] According to this work machine 1, the gripping portion 112 is opened at a pre-grip position PPG above the set gripping position PG of the pipe W1 to be gripped, and closed at a gripping position PG lowered from the pre-grip position PPG, so that the gripping position PG of the pipe W1 to be gripped can be appropriately gripped by the gripping portion 112. Therefore, regardless of the operating skill of the operator, the attachment 100 can be automatically moved to the gripping position PG of the pipe W1 to be gripped and gripped. Therefore, it is possible to eliminate variation in the operation for gripping the pipe W1 to be gripped depending on the operator, and the operating burden on the operator can be reduced.

[0199] (Item A7) The gripping portion 112 has a pair of gripping claws 121, and the closed state of the gripping portion 112 is a state in which the distance between the pair of gripping claws 121 is narrower than in the open state, and the pair of gripping claws 121 clamp the object to be gripped W. This is a work machine 1 described in any of Items A4 to A6.

[0200] According to this work machine 1, the closed state of the gripping portion 112 is a state in which the pipe W1 to be gripped is sandwiched, and therefore the pipe W1 can be held.

[0201] Moreover, the gripping portion 112 has a pair of gripping claws 121, and the closed state of the gripping portion 112 is a state in which the pair of gripping claws 121 are completely closed, and the pair of gripping claws 121 are completely closed, and thus the pipe W1 to be gripped can be held. According to this configuration, the closed state of the gripping portion 112 holds the pipe W1 to be gripped, and the pair of gripping claws 121 are completely closed, so that the pipe W1 can be securely held.

[0202] Moreover, gripping portion 112 has a pair of gripping claws 121, and the closed state of gripping portion 112 is a state in which the gripping force of the pair of gripping claws 121 has reached a specified value for holding pipe W1 to be gripped. According to this configuration, the closed state of gripping portion 112 is a state in which the gripping force of the pair of gripping claws 121 has reached a specified value for holding pipe W1 to be gripped, so that pipe W1 can be held with an appropriate force.

[0203] Moreover, the gripping portion 112 has a pair of gripping claws 121, and the closed state of the gripping portion 112 is a state in which the angle or position of the pair of gripping claws 121 has reached a threshold value for holding the pipe W1 to be gripped. According to this configuration, the closed state of the gripping portion 112 is a state in which the angle or position of the pair of gripping claws 121 has reached a threshold value for holding the pipe W1 to be gripped, so that the pipe W1 can be held with an appropriate force.

[0204] (Item A8) The working device 20 is a working machine 1 described in any of items A1 to A7, which includes a boom 21 whose base end is rotatably supported on the machine body 2, an arm 22 rotatably supported on the tip of the boom 21, and the attachment 100 provided on the tip of the arm 22.

[0205] This work machine 1, which is equipped with a boom 21, an arm 22, and an attachment 100, can appropriately set the gripping position PG of the object to be gripped W (e.g., a pipe W1), thereby reducing variation in the gripping operation of the object to be gripped W (e.g., a pipe W1).

[0206] (Item A9) The control device 51 is the work machine 1 described in any of items A1 to A8, which controls the work device 20 and the attachment 100 based on the gripping position PG set by the setting unit 57 to grip the gripping object W, and when a deviation amount between the position of the one end W1b of the gripping object W recognized by the first sensing device 81 while gripping the gripping object W and an assumed position of the one end W1b of the gripping object W corresponding to the gripping position PG set by the setting unit 57 is a specified value or more, controls the work device 20 to re-grip the gripping object W so that the deviation amount becomes less than the specified value.

[0207] According to this work machine 1, if the position of the pipe W1 grasped by the gripping portion 112 is different from the gripping position PG, the pipe W1 is re-gripped by the gripping portion 112, thereby ensuring that the pipe W1 is grasped at the gripping position PG.

[0208] (Item A10) The control device 51 is a work machine 1 described in Item A9 that performs the re-gripping by opening the gripping portion 112, moving the attachment 100 in a direction that reduces the amount of deviation, and then closing the gripping portion 112.

[0209] According to this work machine 1, when the position of the pipe W1 gripped by the gripping portion 112 is different from the gripping position PG, the attachment 100 is moved in a direction that reduces the amount of deviation, and then the gripping portion 112 is closed. Therefore, the pipe W1 can be gripped at the gripping position PG. Furthermore, when the gripping portion 112 is closed, the first sensing device 81 recognizes the position of one end W1b of the pipe W1 gripped by the gripping portion 112. Therefore, it is possible to confirm whether the pipe W1 is gripped at the gripping position PG.

[0210] (Item A11) The work machine 1 described in any one of items A1 to A10 is provided with an alarm device 75 that provides an alarm by sound, light, or display when the first sensing device 81 fails to recognize the position of one end W1b of the object to be grasped W.

[0211] This working machine 1 can inform the operator that the position of one end W1b of the object to be grasped W cannot be recognized or that the object to be grasped W is not present, thereby assisting in the automatic grasping operation of the object to be grasped W.

[0212] (Item A12) A control method for a work machine 1 including a machine body 2, a work device 20 provided on the machine body 2, and an attachment 100 provided on the work device 20 for gripping a long object to be grasped W, the control method for the work machine 1 including a position recognition step (S10) for recognizing the position of one end W1b of the object to be grasped W, a gripping position setting step (S15) for setting a gripping position PG of the object to be grasped by the attachment based on the recognition result of the position recognition step, and a gripping step (S17) for gripping the object to be grasped W based on the gripping position PG set in the gripping position setting step.

[0213] According to this control method for the work machine 1, the gripping position PG of the gripping object W (e.g., a pipe W1) to be gripped can be appropriately set, and the variation in the gripping operation of the gripping object W (e.g., a pipe W1) can be reduced.

[0214] <Set the work start position PSw of the gripped pipe W1 to the corresponding position in the target area> (Item B1) A work machine 1 having a body 2, a working device 20 provided on the body 2, and an attachment 100 provided on the working device 20 and holding a joining member (e.g., a pipe W1), the work machine 1 having a first sensing device 81 that recognizes the position of a joining portion (e.g., one end W1b) of the joining member held by the attachment 100 relative to a joined member (e.g., a joined pipe W2), a setting unit 57 that sets a target position PS to which the attachment 100 will move based on the recognition result by the first sensing device 81, to a position to which the joining member will be moved so that the joining portion is positioned at a work start position PSw that is set in the vicinity of the joined members, and a control device 51 that controls the working device 20 to move the attachment 100 to the target position PS set by the setting unit 57.

[0215] According to this work machine 1, the position of a joint (e.g., one end W1b) of a joint member (e.g., a pipe W1) held by the attachment 100 can be recognized, and the control device 51 can be caused to perform processing to move the joint to the work start position PSw, so that processing to move the joint to the work start position PSw can be easily performed. Therefore, the joint member held by the attachment 100 can be easily moved to the work start position PSw.

[0216] More specifically, the control device 51 controls the working device 20 to move the pipe W1 held by the attachment 100 to the work start position PSw. Therefore, regardless of the operating skill of the worker, the held pipe W1 can be automatically and reliably moved to the work start position PSw. Therefore, it is possible to eliminate the variation in the operation of moving the held pipe W1 to the work start position PSw depending on the worker, and the operating burden on the worker can be reduced. In addition, it is possible to always approach the jointed pipe W2 in the target area from the work start position PSw, and the variation in the moving route to the jointed pipe W2 in the target area can be reduced. Therefore, the work of moving the held pipe W1 to the target area can be performed efficiently.

[0217] (Item B2) The workpieces are placed in a groove G formed below the ground surface or in a receiving platform at least partially formed above the ground surface, and the setting unit 57 is The working machine 1 according to item B1 sets the position PS on the ground surface in the vicinity of the workpieces, or on a platform arranged on the ground surface in the vicinity of the workpieces.

[0218] According to this work machine 1, the joining member held by the attachment 100 can be appropriately moved onto the ground surface near the workpieces to be joined, or onto a mounting table arranged on the ground surface near the workpieces to be joined.

[0219] (Item B3) The work machine 1 is described in item B1 or B2, in which the workpieces to be joined are placed in a groove G formed below the ground surface, and the setting unit 57 sets the target position PS on the ground surface near the groove G.

[0220] According to this work machine 1, the joining member held by the attachment 100 can be appropriately moved to the ground surface near the trench G.

[0221] More specifically, the setting unit 57 sets the approach target position PS at an upper position of the target area (groove G). In other words, the work start position PSw is set at an upper position of the target area. Therefore, the pipe W1 held by the attachment 100 can be brought closer to the connected pipe W2 in the target area simply by lowering it, and the variation in the descent route to the connected pipe W2 in the target area can be reduced. Therefore, the descent operation of the held pipe W1 into the target area can be performed efficiently.

[0222] (Item B4) The work machine 1 is described in any of Items B1 to B3 and is equipped with a position acquisition device 83 that acquires the position of the joinable part to which the joining portion of the joinable parts is to be joined, and the setting unit 57 sets the work start position PSw to a position where the joining portion is located in the vicinity of the joinable part based on the recognition result by the first sensing device 81 and the position of the joinable part acquired by the position acquisition device 83.

[0223] According to this work machine 1, the joining member gripped by the attachment 100 can be moved more accurately to the work start position PSw.

[0224] (Item B5) The position acquisition device 83 is the work machine 1 according to item B4, which acquires the position of the part to be joined based on the imaging result of the part to be joined by an imaging means or the distance measurement result by a distance measurement sensor.

[0225] According to this work machine 1, the work start position PSw can be suitably set.

[0226] (Item B6) The position acquisition device 83 is a work machine 1 described in Item B4 that acquires the position of the to-be-joined part based on three-dimensional design data indicating the position of the to-be-joined part, or the results of detecting the position of the to-be-joined part buried in the ground using an underground radar.

[0227] According to this working machine 1, when the position of one end W2b of the joined pipe W2 is obtained using three-dimensional design data, there is no need to perform the work of measuring the one end W2b of the joined pipe W2 in the target area. Therefore, the work efficiency can be improved. Also, when the position of the joined part is obtained based on the result of detecting the position of the joined member buried in the ground by an underground radar, the one end W2b of the actual joined pipe W2 can be identified, and the excavation work for exposing the one end W2b of the actual joined pipe W2 can be efficiently performed. Therefore, the work efficiency can be improved.

[0228] (Item B7) The position acquisition device 83 joins the member to be joined (the previous pipe W1) to a second member to be joined (the second pipe W2), and the member to be joined (the previous pipe W The work machine 1 described in item B4 obtains the position of the to-be-joined portion (previous pipe W1) based on the position of a second to-be-joined portion, which is the portion of the to-be-joined portion (the to-be-joined pipe W2) where the to-be-joined portion (the previous pipe W1) is to be joined, and dimensional information from the second to-be-joined portion, which is the portion of the to-be-joined portion (the previous pipe W1) where the to-be-joined portion is to be joined to the second to-be-joined portion.

[0229] According to this working machine 1, there is no need to measure the position of the part to be joined, and therefore the working efficiency can be improved.

[0230] For example, the position acquisition device 83 may acquire the position of one end W2b of the currently joined pipe W2 by adding the pipe axial dimension of the previously joined pipe W1 to the position of one end W2b of the currently joined pipe W2 in the global coordinate system.

[0231] In this case, the position acquisition device 83 acquires the position of one end W2b of the current connected pipe W2, which is the position of the one end W2b of the connected pipe W2, which was the previous connection destination in the global coordinate system, plus the pipe axis dimension of the previously connected pipe W1. In other words, the position of one end W2b of the current connected pipe W2 can be identified simply by adding the dimension of the pipe W1 connected to the previous connected pipe W2 to the position of one end W2b of the previous connected pipe W2. Therefore, there is no need to perform the task of measuring one end W2b of the connected pipe W2 in the target area. This improves work efficiency.

[0232] (Item B8) The work machine 1 is described in any of items B4 to B7, and is equipped with a second sensing device 82 that detects the attitude of the body 2 and the attachment 100 in a predetermined coordinate system, and a coordinate calculation unit 58 that calculates a first coordinate PA1 indicating the coordinate of the position of the joining part in the predetermined coordinate system based on the recognition result of the first sensing device 81 and the detection result of the second sensing device 82, wherein the position acquisition device 83 acquires a second coordinate PB1 indicating the coordinate of the position of the joined part in the predetermined coordinate system, and the setting unit 57 sets the work start position PSw to a third coordinate PC1 indicating a coordinate in the vicinity of the second coordinate PB1, calculates a relative position to the third coordinate PC1 based on the first coordinate PA1, and sets the approach target position PS based on the position of the attachment 100 detected by the second sensing device 82 and the relative position.

[0233] This work machine 1 calculates the relative position from the grasped pipe W1 to the work start position PSw located above the joined pipe W2, so that the amount of movement from the position of the grasped pipe W1 to the work start position PSw can be identified, and the work machine 1 can be driven and controlled to efficiently move the grasped pipe W1 to the work start position PSw.

[0234] (Item B9) The working device 20 includes a traveling device 10 that supports the machine body 2 so that it can travel, and a rotating device 25 that rotates the machine body 2 relative to the traveling device 10. The working device 20 includes a boom 21 whose base end is pivotally supported on the machine body 2 so as to be rotatable around a first rotation axis, a boom driving device (boom cylinder C1) that rotates the boom 21 around the first rotation axis, an arm 22 pivotally supported on the tip of the boom 21 so as to be rotatable around a second rotation axis, an arm driving device (arm cylinder C9) that rotates the arm 22 around the second rotation axis, and a drive device (arm cylinder C1) that drives the arm 22 around the second rotation axis. The control device 51 calculates the drive amounts of each of the actuators of the traveling device 10, the swivel device 25, the boom drive device (boom cylinder C1) and the arm drive device (arm cylinder C9) in order to move the attachment 100 to the target position PS, and drives each of the actuators based on the calculated drive amounts, thereby moving the attachment 100 to the target position PS. This is the work machine 1 described in any of items B1 to B8.

[0235] According to this work machine 1, the pipe W1 held by the attachment 100 can be appropriately moved to the work start position PSw. For example, in a work machine 1 of a model that does not have a swing function (such as a miniature swing machine), the pipe W1 held by the attachment 100 can be appropriately moved to the work start position PSw.

[0236] (Item B10) The work machine 1 described in Item B9 further includes a swing device (swing cylinder C4) that rotates the work mechanism 20 horizontally relative to the machine body 2, and the control device 51 calculates the drive amounts of each of the actuators of the traveling device 10, the swivel device 25, the swing device (swing cylinder C4), the boom drive device (boom cylinder C1) and the arm drive device (arm cylinder C9) in order to move the attachment 100 to the target position PS, and drives each of the actuators based on the calculated drive amounts, thereby moving the attachment 100 to the target position PS.

[0237] According to this work machine 1, in a model of work machine 1 having a swing function, the pipe W1 gripped by the attachment 100 can be appropriately moved to the work start position PSw.

[0238] (Item B11) The boom 21 comprises a first boom whose base end is pivotally supported on the machine body 2 so as to be rotatable about a first rotation axis, a first boom drive device which rotates the first boom about the first rotation axis, a second boom which is pivotally supported on the tip of the first boom so as to be rotatable about a third rotation axis, and a second boom drive device which rotates the second boom about the third rotation axis, the arm 22 is pivotally supported on the tip of the second boom so as to be rotatable about the second rotation axis, and the control device 51 calculates the drive amounts of each of the actuators of the traveling device 10, the swivel device 25, the first boom drive device, the second boom drive device, and the arm drive device (arm cylinder C9) in order to move the attachment 100 to the target position PS, and drives each of the actuators based on the calculated drive amounts, thereby moving the attachment 100 to the target position PS. This is the work machine 1 described in item B9 or B10.

[0239] According to this work machine 1, in a work machine 1 of two-piece boom specification, the pipe W1 gripped by the attachment 100 can be appropriately moved to the work start position PSw.

[0240] (Item B12) The control device 51 is a work machine 1 described in any of items B9 to B11, which, when moving the attachment 100 to the target position PS, operates some or all of the actuators that are to be driven, at the same speed or at a speed within a predetermined range, from the start of movement to the end of movement.

[0241] According to this work machine 1, it is possible to reduce the swaying of the pipe W1 when the pipe W1 held by the attachment 100 is moved to the work start position PSw. In this way, since the swaying of the pipe W1 moved to the work start position PSw is reduced, it is not necessary to wait until the swaying of the pipe W1 stops or to take measures to stop the swaying of the pipe W1. Therefore, the descent work toward the jointed pipe W2 in the target area can be quickly performed.

[0242] (Item B13) The control device 51 is a work machine 1 described in any one of items B9 to B11, which, when moving the attachment 100 to the target position PS, sets the movement speed of each of the actuators to be driven so that the movement end timings of some or all of the actuators are approximately synchronized.

[0243] According to this work machine 1, it is possible to reduce the occurrence of vibrations caused by the actuators to be driven stopping separately.

[0244] (Item B14) The control device 51 is a work machine 1 described in any one of items B1 to B13, which controls the work device 20 to reduce the movement speed of the attachment 100 from a front position that is set to a position just before the attachment 100 reaches the approach target position PS, and stop the attachment 100 at the approach target position PS.

[0245] According to this work machine 1, the pipe W1 gripped by the attachment 100 can be stopped gently at the work start position PSw. Therefore, it is possible to reduce the shaking of the pipe W1 when it is stopped at the work start position PSw.

[0246] (Item B15) The working device 20 comprises a boom 21 whose base end is pivotally supported on the body 2 so as to be rotatable around a first rotation axis, an arm 22 pivotally supported at the tip of the boom 21 so as to be rotatable around a second rotation axis, and the attachment 100 provided at the tip of the arm 22, wherein the first sensing device 81 is provided on any of the boom 21, the arm 22, or the attachment 100, and the position acquisition device 83 is provided on any of the boom 21, the arm 22, or the attachment 100. This is a working machine 1 described in any of items B1 to B14.

[0247] According to this work machine 1, when the first sensing device 81 or the position acquisition device 83 is disposed on the boom 21, the first sensing device 81 or the position acquisition device 83 is less affected by vibrations caused by the driving of the work device 20 compared to when they are disposed on the arm 22 and the attachment 100, so the first sensing device 81 or the position acquisition device 83 can perform measurement in a state where the influence of vibrations is small. On the other hand, when the first sensing device 81 or the position acquisition device 83 is disposed on the attachment 100, the influence of vibrations caused by the driving of the work device 20 is greater compared to when they are disposed on the boom 21 and the arm 22, but the first sensing device 81 or the position acquisition device 83 can perform measurement at a position close to the pipe W1 held by the attachment 100 or the joined pipe W2. Furthermore, when the first sensing device 81 or the position acquisition device 83 is arranged on the arm 22, the impact of vibration caused by driving the working device 20 is moderate, and the first sensing device 81 or the position acquisition device 83 can perform measurements at a position moderately close to the pipe W1 held by the attachment 100 or the joined pipe W2.

[0248] (Item B16) A control method for a work machine 1 comprising a body 2, a working device 20 provided on the body 2, and an attachment 100 for gripping a joining member, the control method for a work machine comprising: a position recognition step (S20) for recognizing the position of a joining portion of the joining member gripped by the attachment 100 relative to the members to be joined; and a step (S25) for setting a target position PS to which the attachment 100 is to be moved, based on the recognition result of the position recognition step, to a position for moving the joining member so that the joining portion is positioned at a work start position PSw which is set in the vicinity of the members to be joined.

[0249] According to this control method for the work machine 1, the process of moving the joint to the work start position PSw can be easily performed. Therefore, the joint member gripped by the attachment 100 can be easily moved to the work start position PSw.

[0250] <Automating lowering of the pipe W1 held by the attachment 100> (Item C1) A work machine 1 including a body 2 and a working device 20 provided on the body 2, comprising an attachment 100 provided on the working device 20 and configured to grip a joining member (e.g., a pipe W1), a first sensing device 81 configured to recognize the position of a joining portion (e.g., one end W1b) of the joining member gripped by the attachment 100 relative to a joined member (e.g., a joined pipe W2), and a target position PT to which the attachment 100 is to be moved based on the recognition result by the first sensing device 81, and a position detecting device 82 configured to detect the position of the joining portion of the joining member relative to the joined member based on the recognition result by the first sensing device 81. The working machine 1 is equipped with a setting unit 57 which sets a position for moving the attachment 100 to a joining start position PTw, which is a position for starting a joining operation to join a joining member, and a control device 51 which controls the working device 20 to move the attachment 100 to the target position PT set by the setting unit 57.

[0251] With this work machine 1, the control device 51 can recognize the position of the joint (e.g., one end W1b) of the joining member (e.g., pipe W1) held by the attachment 100 and perform a process to move the joint to the joining start position PTw, so that the joint (e.g., one end W1b) of the joining member (e.g., pipe W1) can be accurately brought close to a position where it can be joined to the joined member (e.g., pipe W2).

[0252] (Item C2) The work machine 1 described in Item C1 is provided with a position acquisition device 83 that acquires the position of the joinable portion (e.g., one end portion W2b) to which the joining portion of the joinable members is joined, and the setting unit 57 sets the joining start position PTw based on the position of the joinable portion acquired by the position acquisition device 83.

[0253] The joining start position PTw can be suitably set by this working machine 1. Also, since one end W1b of the pipe W1 held by the attachment 100 can be positioned at the joining start position PTw, the pipe W1 held by the attachment 100 can be smoothly joined to the joined pipe W2, and the joining operation can be performed easily and reliably.

[0254] (Item C3) The work machine 1 is described in Item C2, and is equipped with a second sensing device 82 that detects the attitude of the body 2 and the attachment 100 in a predetermined coordinate system, and a coordinate calculation unit 58 that calculates a first coordinate PA1 indicating the coordinate of the position of the joining part in the predetermined coordinate system based on the recognition result of the first sensing device 81 and the detection result of the second sensing device 82, wherein the position acquisition device 83 acquires a second coordinate PB1 indicating the coordinate of the position of the joined part in the predetermined coordinate system, and the setting unit 57 sets a joining start position coordinate PA2 which is the coordinate of the joining start position PTw in the predetermined coordinate system based on the second coordinate PB1, calculates a relative position to the joining start position coordinate PA2 based on the first coordinate PA1, and sets the target position PT based on the position of the attachment 100 detected by the second sensing device 82 and the relative position.

[0255] According to this work machine 1, since the relative position from the gripped pipe W1 to the joining start position PTw is calculated, the movement amount from the position of the gripped pipe W1 to the joining start position PTw can be specified, and the drive control can be performed so that the gripped pipe W1 is efficiently moved to the joining start position PTw. In other words, the attachment 100 can be efficiently moved to the target position PT.

[0256] Furthermore, the setting unit 57 may set the target position PT based on the recognition result by the first sensing device 81 and the coordinates of the position of one end W2b of the joined pipe W2 in, for example, a global coordinate system other than the work machine coordinate system. In this case, even if the position acquisition device 83 cannot acquire the position of one end W2b of the joined pipe W2, the target position PT can be set using the coordinates of the position of one end W2b of the joined pipe W2 in the global coordinate system, and the target position PT can be set accurately.

[0257] (Item C4) The working device 20 includes a boom 21 whose base end is rotatably supported on the machine body 2, an arm 22 which is rotatably supported on the tip end of the boom 21, and the attachment 100 which is provided on the tip end of the arm 22. When the attachment 100 is moved to the target position PT, the control device 51 controls the boom 21 and the arm 22 to move at the same speed or at a speed within a predetermined range from the start of movement to the end of movement. The work machine 1 is described in any one of items C1 to C3.

[0258] According to this work machine 1, when the control device 51 moves the attachment 100 to the target position PT, the boom movement speed and the arm movement speed are operated at the same speed or within a predetermined range from the start of movement to the end of movement. Therefore, it is possible to reduce the sway of the pipe W1 held by the attachment 100 when the pipe W1 is moved to the joining start position PTw. In this way, since the sway of the pipe W1 moved to the joining start position PTw is reduced, it is not necessary to wait until the sway of the pipe W1 settles down or to take measures to settle the sway of the pipe W1. Therefore, the joining work to the pipe to be joined W2 can be performed quickly.

[0259] Furthermore, when the control device 51 moves the pipe W1 held by the attachment 100 to the target position PT, the boom cylinder C1 and the arm cylinder C9 may be operated at the same speed or at a speed within a predetermined range from the start to the end of the movement. This also has the same effect as above.

[0260] (Item C5) The working device 20 comprises a boom 21 whose base end is rotatably supported on the machine body 2, an arm 22 which is rotatably supported on the tip of the boom 21, and the attachment 100 which is provided on the tip of the arm 22, and the control device 51 is a working machine 1 described in any of items C1 to C4 which, when moving the attachment 100 to the target position PT, sets the movement speeds of the boom 21 and the arm 22 respectively so that the movement end timings of the boom 21 and the arm 22 approximately coincide.

[0261] According to this work machine 1, it is possible to reduce the occurrence of shaking caused by one of the boom 21 and the arm 22 stopping before the other.

[0262] Furthermore, when the control device 51 moves the attachment 100 to the target position PT, the control device 51 may set the movement speeds of the boom cylinder C1 and the arm cylinder C9 so that the movement end timings of the boom cylinder C1 and the arm cylinder C9 are approximately the same. This also has the same effect as above.

[0263] (Item C6) The setting unit 57 sets a target upper position PU approximately vertically above the target position PT, and the control device 51 moves the attachment 100 to the target upper position PU, and then lowers the attachment 100 in a direction approximately vertically from the target upper position PU to the target position PT. This is the work machine 1 described in any of items C1 to C5.

[0264] According to this work machine 1, the pipe W1 held by the attachment 100 is lowered from the upper position PUw to the joining start position PTw, so that it is possible to reduce the contact of the pipe W1 held by the attachment 100 or the attachment 100 itself with other objects (for example, the joined pipe W2 or the trench G in which the joined pipe W2 is buried). Furthermore, when the pipe W1 held by the attachment 100 is in the upper position PUw, the worker can check whether the pipe W1 or the attachment 100 will come into contact with the other objects and whether the setting of the target position PT is appropriate before lowering the held pipe W1.

[0265] (Item C7) The control device 51 is a work machine 1 described in any one of items C1 to C6, which gradually reduces the movement speed of the attachment 100 from a front position which is set to a position just before the attachment 100 reaches the target position PT, and stops the attachment 100 at the target position PT.

[0266] According to this working machine 1, the attachment 100 grasps the target position PT from a position in front of the target position PT. The movement speed of the pipe W1 being held by the attachment 100 is reduced, and the attachment 100 stops at the target position PT. This allows the pipe W1 being held by the attachment 100 to be stopped gently at the joining start position PTw. This makes it possible to reduce the shaking of the pipe W1 when the attachment 100 stops at the target position PT.

[0267] (Item C8) The control device 51 is a work machine 1 described in any of items C1 to C7, which controls the working device 20 so that, when the joining portion is located at an excess position PT1w that is closer to the joined portion than the joining start position PTw, the joining portion is moved in a direction from the excess position PT1w back to the joining start position PTw or the joining portion is stopped at the excess position PT1w.

[0268] According to this working machine 1, when the pipe W1 is returned from the overshoot position PT1w to the joining start position PTw, the joining operation can be performed appropriately. Also, when the gripped pipe W1 is stopped at the overshoot position PT1w, the contact of the pipe W1 with the pipe to be joined W2 and the like can be reduced.

[0269] (Item C9) The working machine 1 is described in any one of items C1 to C8, wherein the setting unit 57 sets a preliminary target position at a position a predetermined distance away from the target position PT, and the control device 51 moves the attachment 100 to the preliminary target position and then moves the attachment 100 from the preliminary target position to the target position PT.

[0270] According to this work machine 1, the attachment 100 is positioned at a preliminary target position before the target position PT, so that it is possible to reduce the contact of the pipe W1 held by the attachment 100 or the attachment 100 itself with other objects (for example, the jointed pipe W2 or the trench in which the jointed pipe W2 is buried, etc.). Furthermore, when the attachment 100 is in the preliminary target position, the worker can check whether the pipe W1 or the attachment 100 will come into contact with the other objects and whether the setting of the target position PT is appropriate immediately before moving the held pipe W1 to the joining start position PTw.

[0271] (Item C10) The working device 20 comprises a boom 21 whose base end is rotatably supported on the body 2, an arm 22 which is rotatably supported on the tip of the boom 21, and the attachment 100 which is provided on the tip of the arm 22, the first sensing device 81 being provided on any of the boom 21, the arm 22 or the attachment 100, and the position acquisition device 83 being provided on any of the boom 21, the arm 22 or the attachment 100, in the working machine 1 described in item C2 or C3.

[0272] According to this working machine 1, when the first sensing device 81 or the position acquisition device 83 is arranged on the boom, the influence of vibrations caused by the driving of the working device 20 is small compared to when the first sensing device 81 or the position acquisition device 83 is arranged on the arm and the attachment 100, so the first sensing device 81 or the position acquisition device 83 can perform measurements in a state where the influence of vibrations is small. On the other hand, when the first sensing device 81 or the position acquisition device 83 is arranged on the attachment 100, the influence of vibrations caused by the driving of the working device 20 is large compared to when the first sensing device 81 or the position acquisition device 83 is arranged on the boom and the arm, but the first sensing device 81 or the position acquisition device 83 can perform measurements at a position close to the pipe W1 held by the attachment 100 or the pipe to be joined W2. Also, when the first sensing device 81 or the position acquisition device 83 is arranged on the arm, the influence of vibrations caused by the driving of the working device 20 is moderate, and the first sensing device 81 or the position acquisition device 83 can perform measurements at a position close to the pipe W1 held by the attachment 100 or the pipe to be joined W2.

[0273] (Item C11) The joined members are placed in a groove G formed below the ground surface, The control device 51 is a work machine 1 described in any of items C1 to C10 that is positioned above the ground surface, grasps the joining member with the attachment 100, and moves it to the joining start position PTw set within the trench G.

[0274] According to this work machine 1, the pipe W1 gripped by the attachment 100 can be suitably brought close to the joining start position PTw set within the groove G.

[0275] (Item C12) The joining member is a long member, and the joining portion is one end of the joining member in the longitudinal direction, and is positioned at a position separated from the attachment 100 when grasped by the attachment 100, in the work machine 1 described in any of Items C1 to C11.

[0276] According to this working machine 1, the joining portion (eg, one end portion W1b) of the joining member (eg, pipe W1), which is a long member, can be accurately brought close to a position where it can be joined to the joined member (eg, joined pipe W2).

[0277] (Item C13) The control device 51 is a work machine 1 described in any of items C1 to C12, in which the joining portion is engaged with the joining portion by moving the attachment 100 in a direction in which the joining portion approaches the joining start position and then the joining portion moves.

[0278] According to this working machine 1, the pipe W1 held by the attachment 100 can be smoothly joined to the joined pipe W2, and the joining operation can be performed easily and reliably.

[0279] (Item C14) A control method for a work machine 1 comprising a body 2, a working device 20 provided on the body 2, and an attachment 100 that grips a joining member (e.g., a pipe W1), the control method for a work machine including a position recognition step (S30) for recognizing a position of a joining portion (e.g., one end portion W1b) of the joining member gripped by the attachment 100 relative to a joined member (e.g., a joined pipe W2), and a target position setting step (S36) for setting a target position PT to which the attachment 100 is to be moved, based on the recognition result of the position recognition step, to a position for moving the attachment 100 to a joining start position PTw, which is a position for starting a joining operation to join the joining portion (e.g., one end portion W1b) of the joining member to the joined member.

[0280] According to this control method for the work machine 1, the joining portion (eg, one end portion W1b) of the joining member (eg, pipe W1) can be accurately brought close to a position where it can be joined to the joined member (eg, joined pipe W2).

[0281] [Second embodiment] The work machine 1 of the second embodiment differs from the first embodiment in that it is configured to allow work restriction while gripping a gripping object W (e.g., a pipe W1). The same components as those of the first embodiment are given the same reference numerals, and their description will be omitted. In the second embodiment, an example will be described in which the gripping object W is a pipe W1, but the gripping object W may be a pipe of various shapes such as a U-shape, an S-shape, or an L-shape other than a straight pipe, and includes all objects that can be gripped other than a pipe (e.g., wood, iron bars, steel materials, parts, etc.).

[0282] 7A is an electrical block diagram of the working machine of the second embodiment. The control device 51 of the second embodiment performs work limitation to limit one or both of the working range and the working speed of the working machine 1 when performing work to grip a gripping object W (for example, a pipe W1) with an attachment.

[0283] As shown in FIG. 7A, the work machine 1 of the second embodiment includes an attachment 100 (a gripping attachment). The control device 51 is provided with a detection unit 80 that detects the gripping of the pipe W1 by the work tool (a tool holder). When the detection unit 80 detects the gripping of the pipe W1, the control device 51 restricts the work of the work tool 1. The memory unit 54 is provided with six memory tables TB1 to TB6 shown in Figs. 8A to 8F, but may be provided with at least one or more.

[0284] The detection unit 80 has a load sensor 84 that detects a load acting on the working device 20 (for example, a load on the attachment 100 side), and detects the gripping of the gripping object W based on whether the load detected by the load sensor 84 has become a predetermined amount heavier than a state in which the gripping object W is not being gripped. Note that the detection unit 80 is not limited to the load sensor 84, and may have the following configuration.

[0285] The working machine 1 may include an attachment detection unit 80A that detects that the attachment 100 is attached to the working device 20 or detects an instruction to select a gripping work mode, which is a work mode using the attachment 100, and the control device 51 may impose a work restriction when the attachment detection unit 80A detects that an attachment is attached or detects an instruction to select the gripping work mode. For example, the attachment detection unit 80A can detect that the attachment 100 is attached to the working device 20 by being an attachment / detachment detection sensor that detects the attachment / detachment of the attachment 100. Furthermore, the attachment detection unit 80A can detect that the working device is in the gripping work mode by detecting an instruction to select the gripping work mode via the mode setting button 5e.

[0286] Furthermore, the detection unit 80 may detect an instruction to the attachment 100 to perform a gripping operation. Specifically, the attachment 100 includes a hydraulic actuator (e.g., the gripping drive unit 122) for performing the gripping operation. The detection unit 80 detects the presence or absence of an instruction to the attachment 100 to perform a gripping operation based on the pressure of hydraulic oil (pilot pressure to the pressure receiving part of the first control valve V71) supplied to the hydraulic actuator (the gripping drive unit 122) of the attachment 100, or a control signal (electrical signal supplied to the solenoid of the electromagnetic valve of the first control valve V71) to a control valve that supplies hydraulic oil to the hydraulic actuator (the gripping drive unit 122) of the attachment 100. The control device 51 performs the work restriction when the execution instruction is detected by the detection unit 80.

[0287] Furthermore, the detection unit 80 may be a first sensing device 81 that recognizes the pipe W1 being held by the attachment 100. The image captured by the camera, which is the first sensing device 81, is subjected to image analysis processing, and when it is recognized by pattern matching that an image of the attachment 100 holding the pipe W1 is included, the holding of the pipe W1 can be detected.

[0288] The work machine 1 can be switched between a gripping mode in which the attachment 100 grips an object W to be gripped (e.g., a pipe W1) and a crane mode in which the attachment 100 lifts the object W using a lifting hook. In the crane mode, no work restriction is imposed, or the degree of the work restriction in the gripping mode is set to be greater than the work restriction in the crane mode.

[0289] In addition, the work machine 1 may have a weight sensor 80B that detects the weight of the object to be grasped W (e.g., a pipe W1), and the control device 51 may change the degree of the work restriction depending on the weight of the object to be grasped W grasped by the attachment 100.

[0290] The work machine 1 may also have a position detection unit 80C that detects the height position of the attachment 100, and the control device 51 may change the degree of the work restriction in accordance with the height position of the attachment 100. For example, the position detection unit 80C may be a height detection sensor for the attachment 100, or may be a position detection unit that detects the height of the attachment 100 based on a swing angle θ2 of the boom 21 detected by a boom angle sensor 91 and a swing angle θ3 of the arm 22 detected by an arm angle sensor 92. It may be possible to detect a height of 100.

[0291] The process of limiting work while the pipe W1 is being gripped is executed according to the flowchart shown in Fig. 7B, which is a flowchart showing an example of the process of limiting work while the pipe W1 is being gripped in the second embodiment.

[0292] The control device 51 determines whether or not the mode is the crane mode (S61). If the control device 51 determines that the mode is the crane mode (S61, Yes), the control device 51 determines whether or not the detection unit 80 detects that the pipe W1 is being gripped (S62).

[0293] When the detection unit 80 detects that the pipe W1 is being gripped (S62, Yes), the control device 51 restricts the work of the work machine 1 (S63). Specifically, when the detection unit 80 detects that the pipe W1 is being gripped, the control device 51 implements a work restriction that restricts the work range or work speed of the work machine 1, but may also implement a work restriction that restricts both the work range and work speed of the work machine 1.

[0294] The control device 51 changes the working range of the work machine 1 based on the weight of the pipe W1 held by the attachment 100. For example, as shown in FIG. 8A, the control device 51 does not limit the working range when the weight of the pipe W1 held by the attachment 100 is equal to or less than a specified weight, and limits the working range when the weight exceeds the specified weight. In other words, the working range is reduced. Note that the working range (e.g., working radius, working width, etc.) of the work machine 1 may be reduced gradually or in stages as the weight of the pipe W1 increases. In other words, the limited range in the working range of the work machine 1 may be increased gradually or in stages as the weight of the pipe W1 increases.

[0295] The control device 51 changes the working speed of the work machine 1 based on the weight of the pipe W1 held by the attachment 100. For example, as shown in FIG. 8B, the control device 51 does not limit the working speed when the weight of the pipe W1 held by the attachment 100 is equal to or less than a specified weight, and limits the working speed when the weight exceeds the specified weight. In other words, the working speed is reduced. Note that the working speed of the work machine 1 may be gradually or stepwise reduced as the weight of the pipe W1 increases. In other words, the limited range of the working speed of the work machine 1 may be gradually or stepwise increased as the weight of the pipe W1 increases.

[0296] The control device 51 changes the working range of the work machine 1 based on the height position of the attachment 100. For example, as shown in Fig. 8C, the control device 51 limits the working radius for a horizontal range where the height position of the attachment 100 is a predetermined distance above or below the horizon, and does not limit the working radius for a range above or below the horizontal range. Note that the limited range in the working range of the work machine 1 may gradually become smaller as the height position of the attachment 100 moves above or below the horizon.

[0297] The control device 51 changes the working speed of the work machine 1 based on the height position of the attachment 100. For example, as shown in Fig. 8D, the control device 51 limits the working speed when the height position of the attachment 100 is in the horizontal range, and does not limit the working speed in an upper range or a lower range. Note that the limited range of the working speed of the work machine 1 may become smaller gradually or in stages as the height position of the attachment 100 moves upward or downward from the horizon. In other words, the working speed may be the slowest at the horizon and the fastest at the top and bottom.

[0298] The control device 51 changes the working range of the work machine 1 based on the gripping position of the pipe W1 by the attachment 100. For example, as shown in FIG. 8E, the control device 51 If the gripping position of the pipe W1 by the attachment 100 is in the end range of the pipe W1 in the pipe axial direction, the working range of the work machine 1 is restricted, and if it is in the central range of the pipe W1 in the pipe axial direction, the working range of the work machine 1 is not restricted. When the gripping position of the pipe W1 by the attachment 100 is an end, the working range may not be restricted when moving toward that end, and the working range may be restricted when moving toward the end opposite to that end. Also, the closer the gripping position of the pipe W1 by the attachment 100 approaches the end of the pipe W1, the greater the restriction in the working range of the work machine 1 may be.

[0299] The control device 51 changes the working speed of the work machine 1 based on the height position of the attachment 100. For example, as shown in Fig. 8F, the control device 51 limits the working speed in a horizontal range where the height position of the attachment 100 is a predetermined distance above or below the horizon, and does not limit the working speed in a range above or below the horizon. Note that the limited range of the working speed of the work machine 1 may gradually become smaller as the height position of the attachment 100 moves above or below the horizon.

[0300] The control device 51 may limit the working range of the work machine 1 so that the movement range of the end W1c of the object to be grasped W falls within a predetermined range. The control device 51 may also limit the upper limit of the working speed of the work machine 1 to a lower value as the length from the attachment 100 to the end W1c of the object to be grasped W becomes longer.

[0301] The main characteristic features and effects of the work machine 1 in the second embodiment described above are as follows. (Item D1) A work machine 1 having a body 2 and a work device 20 provided on the body 2, to which an attachment 100 for grasping an object to be grasped W can be attached, and which is equipped with a control device 51 that performs work limiting to limit one or both of the working range and working speed of the work machine 1 when performing work of grasping an object to be grasped W with the attachment 100.

[0302] According to this work machine 1, safety when performing work using the attachment 100 that grips the object to be gripped W can be improved.

[0303] (Item D2) The work machine 1 is the one described in Item D1, which is equipped with a detection unit 80 that detects the grasping of the object to be grasped W by the attachment 100, and the control device 51 performs the work restriction when the grasping of the object to be grasped W is detected by the detection unit 80.

[0304] According to this work machine 1, when the detection unit 80 detects that the attachment 100 is gripping the object to be gripped W (i.e., the attachment 100 is in a gripping state), the work of the work machine 1 can be automatically restricted without the operator of the work machine 1 performing any particular operation. Therefore, the safety of the work performed by the work machine 1 while gripping the object to be gripped W can be ensured, regardless of the operator of the work machine 1.

[0305] (Item D3) The detection unit 80 has a load sensor 84 that detects the load acting on the working device 20, and is the working machine 1 described in Item D2 that detects the gripping of the object to be grasped W based on whether the load has become heavier than a predetermined value compared to a state in which the object to be grasped W is not being grasped.

[0306] According to this work machine 1, when the load on the attachment 100 side becomes a predetermined amount heavier than the attachment 100, it can be determined that the attachment 100 is gripping the object to be gripped W. Therefore, gripping of the object to be gripped W by the attachment 100 can be indirectly detected.

[0307] (Item D4) The attachment 100 is attached to the working device 20. The work machine 1 is provided with an attachment detection unit 80A that detects whether the attachment 100 is attached or detects an instruction to select a gripping work mode, which is a work mode in which the attachment is used, and the control device 51 is configured to perform the work restriction when the attachment detection unit 80A detects that the attachment 100 is attached or detects an instruction to select the gripping work mode.

[0308] According to this work machine 1, when the attachment detection unit 80A detects that the attachment 100 is attached or detects an instruction to select the gripping operation mode, it is determined that the attachment 100 is likely to grip the object to be gripped W, and therefore it is determined that the object to be gripped W has been detected. Therefore, the work of the work machine 1 can be restricted immediately before the attachment 100 actually grips the object to be gripped W and while the object to be gripped W is being gripped.

[0309] (Item D5) The detection unit 80 detects an instruction to perform a gripping operation on the attachment 100, and the control device 51 performs the work restriction when the execution instruction is detected by the detection unit 80, which is the work machine 1 described in item D2.

[0310] According to this work machine 1, when an instruction to execute a gripping operation is given to the attachment 100, the attachment 100 grips the gripping object W. Therefore, instead of directly detecting a state in which the attachment 100 actually grips the gripping object W, it is possible to indirectly detect the gripping of the gripping object W.

[0311] (Item D6) The attachment 100 is a work machine 1 described in Item D5 that is equipped with a hydraulic actuator (gripping drive unit 122) for performing the gripping operation, and the detection unit 80 determines the presence or absence of the execution instruction based on the pressure of hydraulic oil supplied to the hydraulic actuator or a control signal to a control valve that supplies hydraulic oil to the hydraulic actuator.

[0312] According to this work machine 1, the presence or absence of a gripping command to the attachment 100 is determined based on the pressure of hydraulic oil supplied to the hydraulic actuator (gripping drive unit 122) of the attachment 100 or a control signal to a control valve that supplies hydraulic oil to the hydraulic actuator (gripping drive unit 122) of the attachment 100, so that gripping of the object to be gripped W can be detected in an ideal manner.

[0313] (Item D7) The work machine 1 is described in Item D2, which is equipped with a first sensing device 81 that recognizes the object to be grasped W that is being grasped by the attachment 100, and the detection unit 80 detects the grasping of the object to be grasped W based on the recognition result of the first sensing device 81.

[0314] According to this work machine 1, the first sensing device 81 can directly detect the state in which the attachment 100 is actually gripping the object to be gripped W, and the gripping of the object to be gripped W by the attachment 100 can be detected in an ideal manner.

[0315] (Item D8) The work machine 1 is capable of switching between a gripping mode in which the attachment 100 grips the object to be gripped W, and a crane mode in which lifting work is performed, and is described in any of Items D1 to D7 in which the work restriction is not imposed in the crane mode, or the degree of the work restriction in the gripping mode is greater than the work restriction in the crane mode.

[0316] According to this working machine 1, in the crane mode in which the lifting work by the lifting hook is possible, the gripping of the object to be gripped W is not detected, and the work of the working machine 1 is not restricted based on the gripping of the object to be gripped W. Therefore, the crane mode can be separated from the gripping work mode, and the crane mode can be used for the gripping work. The lane mode can be appropriately executed. Also, in the grip mode, the degree of work restriction can be made greater than that in the crane mode, and safety in the grip mode can be improved.

[0317] (Item D9) The work machine 1 is described in any one of items D1 to D8, which has a weight sensor 80B that detects the weight of the object to be grasped W, and the control device 51 changes the degree of the work restriction depending on the weight of the object to be grasped W grasped by the attachment 100.

[0318] According to this work machine 1, the degree of the work restriction is changed according to the weight of the object W to be grasped by the attachment 100, so that safety can be set in consideration of the weight of the object W to be grasped by the attachment 100. For example, as the weight of the object W to be grasped increases, the degree of the work restriction of the work machine 1 can be increased, and work safety can be ensured even when the weight of the object W to be grasped increases.

[0319] For example, one or both of the working range (e.g., working radius, working width, etc.) and working speed of the work machine 1 can be changed based on the weight of the pipe W1 held by the attachment 100. Therefore, one or both of the working range and working speed can be set appropriately according to the weight of the pipe W1. For example, as the weight of the pipe W1 increases, the working range of the work machine 1 can be reduced or the working speed of the work machine 1 can be reduced. Therefore, one or both of the working range and working speed can be set appropriately according to the weight of the pipe W1.

[0320] (Item D10) The work machine 1 is described in any one of items D1 to D9, and is equipped with a position detection unit 80C that detects the height position of the attachment 100, and the control device 51 changes the degree of the work restriction depending on the height position of the attachment 100.

[0321] According to this work machine 1, the degree of work restriction is changed depending on the height position of the object W to be grasped by the attachment 100, so that the safety of the work can be ensured by taking into account the height of the object W to be grasped.

[0322] For example, the working range of the work implement 1 is changed based on the height position of the attachment 100. Therefore, the working range can be set appropriately according to the height position of the attachment 100. Also, the working speed of the work implement 1 is changed based on the height position of the attachment 100. Therefore, the working speed can be set appropriately according to the height position of the attachment 100.

[0323] (Item D11) The first sensing device 81 recognizes the end W1c of the portion of the object to be grasped W held by the attachment 100 that protrudes from the attachment 100, and the control device 51 limits the working range of the work machine 1 so that the movement range of the end W1c of the object to be grasped W falls within a predetermined range. This is the work machine 1 described in Item D7.

[0324] According to this work machine 1, the movement of the object W to be grasped by the attachment 100 is restricted within a predetermined range, so that the area outside the predetermined range can be set as a safety zone. Therefore, the safety of the work performed by the work machine 1 while grasping the object W to be grasped can be ensured.

[0325] (Item D12) The first sensing device 81 recognizes an end W1c of the part of the object W to be grasped that protrudes from the attachment 100, and the control device 51 limits the upper limit value of the working speed of the work machine 1 to a lower value as the length from the attachment 100 to the end W1c of the object W to be grasped becomes longer. This is the work machine 1 described in item D7.

[0326] According to this work machine 1, the safety of the work can be ensured even when the length of the object to be grasped W protruding from the attachment 100 is long. In other words, the safety of the work can be ensured regardless of the length of the object to be grasped W protruding from the attachment 100.

[0327] (Item D13) A control method for a work machine 1 having a body 2 and a work device 20 provided on the body 2, and capable of attaching an attachment 100 for grasping an object to be grasped W to the work device 20, the control method for the work machine 1 limiting (S63) one or both of the working range and working speed of the work machine 1 when performing work of grasping an object to be grasped W using the attachment 100.

[0328] According to this control method for the work machine 1, the safety when performing work using the attachment 100 that grips the object to be gripped W can be improved.

[0329] [Third embodiment] The work machine 1 of the third embodiment differs from that of the second embodiment in that it is configured to be capable of monitoring the surroundings while gripping a gripping object W (e.g., a pipe W1). Note that the same components as those of the second embodiment are given the same reference numerals and their description will be omitted.

[0330] 9A is an electrical block diagram of the work machine of the third embodiment. The first sensing device 81 recognizes the position of an end (at least the end W1c) of a portion of a gripping object W (e.g., a pipe W1) gripped by the attachment 100 that protrudes from the attachment 100.

[0331] The work machine 1 of the third embodiment is provided with a periphery monitoring device 88 that detects the position of a contact avoidance target located around a gripping object W (e.g., a pipe W1) gripped by the attachment 100. The "contact avoidance target" referred to here is, as described later, a person HM or an obstacle, the work machine 1 itself, a work prohibited area IA, etc., and includes an object, area, or space that is not permitted for the gripping object W gripped by the attachment 100 to contact, approach, or enter. The periphery monitoring device 88 is, for example, a camera, a TOF (Time Of Flight) camera, a LiDAR, a millimeter wave radar sensor, etc., and is capable of detecting the person HM or an obstacle, and the work machine 1 itself. In addition, position data indicating the work prohibited area IA in the global coordinate system, the work machine coordinate system, etc. is stored in advance in the storage unit 54. The periphery monitoring device 88 is capable of acquiring the work prohibited area IA in the global coordinate system, the work machine coordinate system, etc., based on the position data indicating the work prohibited area IA stored in the storage unit 54.

[0332] The relative position calculation unit 59 of the third embodiment further calculates the relative position between the position of the end W1c of the pipe W1 recognized by the first sensing device 81 and the position of the contact avoidance target detected by the periphery monitoring device 88. The relative position calculation unit 59 calculates the relative position when the detection unit 80 detects that the pipe W1 is being grasped.

[0333] 12 is a diagram for explaining an allowable range set around the work machine based on the relative position between the pipe being gripped and the contact avoidance target in the vicinity thereof. The control device 51 of the third embodiment sets an allowable range WA within which the pipe W1 being gripped by the attachment 100 does not contact the contact avoidance target based on the relative position calculated by the relative position calculation unit 59. The allowable range WA is basically a workable area including land, roads, and work sites for performing work on the gripping target W gripped by the attachment 100, roads and alleys through which the work machine 1 gripping the gripping target W can move, a waiting area for the work machine 1 to wait, and the like.

[0334] The control device 51 detects that the pipe W1 held by the attachment 100 is within the allowable range WA. The operation of the work machine 1 is controlled so as to achieve this.

[0335] The display device 70 displays relative position information indicating the relative position. The notification device 75 notifies the relative position information indicating the relative position. The notification device 75 issues a notification when the relative position becomes less than a predetermined distance.

[0336] The periphery monitoring device 88 detects the position PH1 of a person HM or an obstacle located around the pipe W1 held by the attachment 100 as the position of a contact avoidance target. For example, the position PH1 is a coordinate (Xmh1, Ymh1, Zmh1) in the work machine coordinate system, or may be a coordinate in a global coordinate system. The relative position calculation unit 59 calculates the relative position between the position of the pipe W1 recognized by the first sensing device 81 and the position PH1 of the person HM or the obstacle detected by the periphery monitoring device 88. A circular area with the position PH1 as the origin and a radius RK1 (the radius RK1 is, for example, 1 m) may be set as the prohibited area FA1.

[0337] Further, the periphery monitoring device 88 detects the position of the work machine 1 located around the pipe W1 held by the attachment 100 as the position of a contact avoidance target. The relative position calculation unit 59 calculates the relative position between the position of the pipe W1 recognized by the first sensing device 81 and the position of the work machine 1 detected by the periphery monitoring device 88.

[0338] As shown in FIG. 12, the periphery monitoring device 88 detects the position of the boundary BD (plural positions PBD1 to PBDn constituting the boundary BD) of the work prohibited area IA by the work machine 1, which is located around the pipe W1 held by the attachment 100, as the position of the contact avoidance target. For example, the positions PBD1 and PBDn are coordinates (Xmb1, Ymb1, Zmb1) and coordinates (Xmbn, Ymbn, Zmbn) in the work machine coordinate system, and may be coordinates in the global coordinate system. The work prohibited area IA is the pipe W1 held by the attachment 100 and the prohibited area FA2 into which the work machine 1 cannot enter. The relative position calculation unit 59 calculates the relative position between the position of the pipe W1 recognized by the first sensing device 81 and the position of the boundary BD (positions PBD1 to PBDn) detected by the periphery monitoring device 88.

[0339] The periphery monitoring device 88 may detect the position of the boundary of the work-prohibited space for the work machine 1, which is located around the pipe W1 held by the attachment 100, as the position of the contact avoidance target. The work-prohibited space is a space into which the pipe W1 held by the attachment 100 and the work machine 1 must not enter, and is a space including the work-prohibited area IA. The permitted space (space including the permitted range WA) is a workable space including, for example, a space extending above and below the land, road, and work site for performing work on the gripped object W (e.g., the pipe W1) held by the attachment 100, a space extending above and below the road and alley where the work machine 1 can move while gripping the gripped object W (e.g., the pipe W1), and a space extending above and below the waiting place where the work machine 1 is waiting. The relative position calculation unit 59 calculates the relative position between the position of the pipe W1 recognized by the first sensing device 81 and the position of the boundary of the work-prohibited space detected by the periphery monitoring device 88.

[0340] The first sensing device 81 recognizes a position PM12 of the end of the pipe W1 gripped by the attachment 100. For example, the position PM12 is a coordinate (Xmw2, Ymw2, Zmw2) in the work machine coordinate system, or may be a coordinate in the global coordinate system. The relative position calculation unit 59 calculates the relative position between the position PM12 of the end W1c that is closest to the contact avoidance target among the ends of the pipe W1 recognized by the first sensing device 81, and the position of the contact avoidance target located in the periphery of the pipe W1.

[0341] The first sensing device 81 recognizes the positions PM11, PM12 of both ends W1b, W1c in the longitudinal direction of the long pipe W1 held by the attachment 100. For example, the positions PM 11 is a coordinate (Xmw1, Ymw1, Zmw1) in the work machine coordinate system, and may be a coordinate in the global coordinate system. The relative position calculation unit 59 calculates the relative positions PM11, PM12 of both ends W1b, W1c of the pipe W1 recognized by the first sensing device 81 and the positions of the contact avoidance targets located around the pipe W1.

[0342] The first sensing device 81 recognizes multiple outer surface positions including both ends W1b, W1c of the pipe W1 held by the attachment 100 (for example, multiple positions lined up in the longitudinal direction on the outer circumferential surface of the pipe W1, multiple intermediate positions between the both ends W1b, W1c, etc.). The relative position calculation unit 59 calculates the relative position between each of the positions recognized by the first sensing device 81 and the position of the contact avoidance target. The relative position calculation unit 59 may also calculate the relative position between each of the positions of the line segment connecting both ends W1b, W1c of the pipe W1 recognized by the first sensing device 81 and the position of the contact avoidance target.

[0343] The relative position calculation unit 59 may calculate the relative positions between each position of the line segment connecting both ends W1b, W1c of the pipe W1 recognized by the first sensing device 81 plus a predetermined thickness of the pipe W1 and the positions of contact avoidance targets located around the pipe W1.

[0344] The memory unit 54 prestores a setting for detecting one end W1b of the gripped pipe W1, a setting for detecting both ends W1b, W1c, a setting for detecting a line segment between both ends W1b, W1c when detecting both ends W1b, W1c, and a setting for adding a thickness to the line segment when detecting the line segment. In addition, the driver can appropriately change these settings stored in the memory unit 54 by operating the operation device 5 or the setting unit 57.

[0345] The surroundings monitoring process while the pipe W1 is being gripped is executed according to the flowchart shown in Fig. 9B. Fig. 9B is a flowchart showing an example of the surroundings monitoring process while the pipe W1 is being gripped.

[0346] The control device 51 determines whether or not the gripping of the tube W1 is detected by the detection unit 80 (S71). If the gripping of the tube W1 is detected (S71, Yes), the control device 51 recognizes the position of the gripped tube W1 by the first sensing device 81 (S72).

[0347] The process of identifying the position of the pipe W1 (S72) is executed according to the flowchart shown in Fig. 10. Fig. 10 is a flowchart showing an example of the process of identifying the position of the pipe.

[0348] When the setting for detecting only one end W1b of the pipe W1 is stored in the memory unit 54 (S721, Yes), the control device 51 detects only the position of one end W1b of the pipe W1 (S722). On the other hand, when the setting for detecting only one end W1b of the pipe W1 is not stored in the memory unit 54 (S721, No), the control device 51 detects the positions of both ends W1b, W1c of the pipe W1 (S723).

[0349] If the setting for detecting the line segment between both ends W1b, W1c of the pipe W1 is stored in the memory unit 54 (S724, Yes), the control device 51 detects each position of the line segment between both ends W1b, W1c of the pipe W1 (S725).

[0350] After S725, if a setting for adding thickness to the line segment between both ends W1b, W1c of the pipe W1 is stored in the memory unit 54 (S726, Yes), the control device 51 adds thickness to the line segment between both ends W1b, W1c of the pipe W1 (S727). After S727, after S722, if No in S724, or if No in S726, the control device 51 ends this process and proceeds to S73 in FIG. 9B.

[0351] The periphery monitoring device 88 detects the positions of contact avoidance targets located around the gripping object W (eg, pipe W1) gripped by the attachment 100 (S73).

[0352] The process of detecting a contact-avoidance target in the vicinity of the pipe W1 (S73) is executed according to the flowchart shown in Fig. 11. Fig. 11 is a flowchart showing an example of the process of detecting a contact-avoidance target in the vicinity of the pipe.

[0353] When the periphery monitoring device 88 detects that there is a contact avoidance target around the pipe W1 held by the attachment 100 (S731, Yes), the control device 51 determines whether the contact avoidance target is a person HM or an obstacle (S732). When the control device 51 determines that the contact avoidance target is a person HM or an obstacle (S732, Yes), the control device 51 stores the position PH1 of the person HM or the obstacle in the memory unit 54 (S733).

[0354] The control device 51 determines whether the target of contact avoidance is the work machine itself (e.g., the boom 21, the main body 30, the protection mechanism 6, etc.) (S734). When the control device 51 determines that the target of contact avoidance is the work machine itself (S734, Yes), it stores the position of the work machine 1 in the memory unit 54 (S735).

[0355] The control device 51 determines whether the contact avoidance target is the work improper area IA or the work improper space (S736). When the control device 51 determines that the contact avoidance target is the work improper area IA or the work improper space (S736, Yes), the control device 51 stores the position of the work improper area IA or the work improper space in the storage unit 54 (S737).

[0356] If the result is No in S731, if the result is No in S732, if the result is No in S736, or after S737, the control device 51 ends this process and proceeds to S74 in FIG. 9B.

[0357] The relative position calculation unit 59 calculates the relative position between the position of the pipe W1 recognized by the first sensing device 81 and the position of the boundary BD (positions PBD1 to PBDn) detected by the periphery monitoring device 88 (S74).

[0358] If the relative position calculation unit 59 is set to detect one end W1b of the held pipe W1, it calculates the relative position between the position PM12 of the end W1c of the pipe W1 that is the farthest from the attachment 100 and the position of the contact avoidance target located around the pipe W1. If the relative position calculation unit 59 is set to detect both ends W1b, W1c, it calculates the relative positions between the positions PM11, PM12 of both ends W1b, W1c of the pipe W1 and the position of the contact avoidance target located around the pipe W1. If the relative position calculation unit 59 is set to detect the line segment between both ends W1b, W1c when detecting both ends W1b, W1c, it calculates the relative positions between each position of the line segment connecting both ends W1b, W1c of the pipe W1 and the position of the contact avoidance target located around the pipe W1. If the relative position calculation unit 59 is set to add thickness to the line segments when detecting the line segments, it calculates the relative positions between each position of the line segment connecting both ends W1b, W1c of the pipe W1 added with a predetermined thickness of the pipe W1 and the positions of contact avoidance targets located around the pipe W1.

[0359] Based on the relative position calculated by the relative position calculation unit 59, the control device 51 sets an allowable range WA within which the pipe W1 gripped by the attachment 100 does not come into contact with the contact avoidance target (S75).

[0360] FIG. 13 is a diagram showing an example of relative position information displayed on a display device. The display device 70 displays the relative position information indicating the relative position on the display unit 71 (S75). The display unit 71 displays, as the relative position information, information indicating the relative positional relationship between the pipe W1 gripped by the attachment 100 of the work machine 1 and the prohibited areas FA1 and FA2 existing around it, and a message M1 saying "Be careful of your surroundings." The notification device 75 reports the relative position information indicating the relative position. For example, the notification device 75 outputs a notification voice saying "Please be careful of your surroundings."

[0361] The control device 51 controls the working machine 1 so that the pipe W1 gripped by the attachment 100 is located within the permitted range WA (S77). For example, when the pipe W1 gripped by the attachment 100 is located within the permitted range WA, the control device 51 performs manual operation of the grip button 5a and the operation lever 5b by the driver, or automatic gripping operation of the attachment 100 in the grip operation mode. The control device 51 may limit the working speed of the working machine 1 when the relative position calculated by the relative position calculation unit 59 becomes less than a predetermined distance. For example, the working speed of at least one of the working device 20 (boom cylinder C1, attachment swing cylinder C2, swing cylinder C4, arm cylinder C9, etc.), the traveling device 10 (left traveling motor ML, right traveling motor MR), the turning device 25 (turning motor MT), etc. is limited. When the relative position becomes less than the predetermined distance, the control device 51 limits the upper limit value of the working speed of the working machine 1 to a lower value as the relative position becomes closer.

[0362] The control device 51 determines whether the position of the contact avoidance target has changed (S78), and if it has changed (S78, Yes), proceeds to S72. On the other hand, if the control device 51 determines that the position of the contact avoidance target has not changed (S78, No), it determines whether the gripping of the pipe W1 has ended (S79). If the gripping of the pipe W1 has not ended (S79, No), the control device 51 returns to S72. On the other hand, if the gripping of the pipe W1 has ended (S79, Yes), the control device 51 ends this process.

[0363] The main characteristic features and effects of the work machine 1 in the third embodiment described above are as follows.

[0364] (Item E1) A work machine 1 having a body 2 and a working device 20 provided on the body 2, to which an attachment 100 for grasping an object to be grasped W can be attached, the work machine 1 being equipped with a first sensing device 81 that recognizes the position of an end of a portion of the object to be grasped W that protrudes from the attachment 100 grasped by the attachment 100, a periphery monitoring device 88 that detects the position of a contact avoidance target located in the periphery of the object to be grasped W, and a relative position calculation unit 59 that calculates the relative position between the position of the end of the object to be grasped W recognized by the first sensing device 81 and the position of the contact avoidance target detected by the periphery monitoring device 88.

[0365] According to this work machine 1, the relative position between the object to be grasped W and the contact avoidance target can be easily grasped, so that the safety can be improved when performing work using the attachment 100 that grasps the object to be grasped W. More specifically, the relative position calculation unit 59 calculates the relative position between the position of the object to be grasped W grasped by the attachment 100 and the position of the contact avoidance target located around the object to be grasped W. Therefore, when the attachment 100 grasps a different type of object to be grasped W, even if the gripping state of the object to be grasped W by the attachment 100 is different from the previous gripping state or the specified state, the relative position between the position of the object to be grasped W grasped by the attachment 100 and the position of the contact avoidance target located around the object to be grasped W can be accurately acquired. Therefore, based on the actual state of gripping by the attachment 100, the relative positional relationship between the object to be grasped W grasped by the attachment 100 and the contact avoidance target located around the object to be grasped W can be accurately grasped.

[0366] (Item E2) The work machine 1 described in Item E1 is equipped with a control device 51 that controls the operation of the work machine 1 based on the relative position so that the object to be grasped W is positioned within an allowable range WA where it does not come into contact with the contact avoidance target.

[0367] According to this working machine 1, it is possible to prevent the object W to be grasped by the attachment 100 from contacting or entering into contact avoidance objects around the object to be grasped W. Therefore, the drive control of the working device 20 in the state where the object to be grasped W is being grasped can be safely performed.

[0368] (Item E3) The work machine 1 according to item E1 or E2, further comprising a display device 70 that displays relative position information indicating the relative position.

[0369] According to this work machine 1, the display device 70 displays relative position information indicating the relative position, thereby making it possible to inform the operator of the work machine 1 of the relative positional relationship between the object to be grasped W grasped by the attachment 100 and a contact avoidance target located in the vicinity thereof.

[0370] (Item E4) The work machine 1 according to any one of items E1 to E3, further comprising an alarm device 75 that issues an alarm when the relative position becomes less than a predetermined distance.

[0371] According to this work machine 1, the notification device 75 notifies the operator of the work machine 1 of the relative positional relationship between the object to be grasped W grasped by the attachment 100 and a contact avoidance target located in the vicinity thereof, as the notification device 75 notifies the operator of the work machine 1 of the relative positional relationship between the object to be grasped W grasped by the attachment 100 and a contact avoidance target located in the vicinity thereof.

[0372] (Item E5) The surroundings monitoring device 88 is the work machine 1 described in any one of items E1 to E4, which detects the position PH1 of a person HM or an obstacle located in the vicinity of the object to be grasped W as the position of the contact avoidance target.

[0373] According to this work machine 1, it is possible to acquire the relative positional relationship between the gripping object W gripped by the attachment 100 and the person HM or obstacle located around the gripping object W. Therefore, based on the actual gripping state by the attachment 100, it is possible to accurately grasp the relative positional relationship between the gripping object W gripped by the attachment 100 and the person HM or obstacle located around the gripping object W.

[0374] (Item E6) The periphery monitoring device 88 is the work machine 1 according to any one of items E1 to E5 that detects the position of the work machine 1 as the position of the contact avoidance target.

[0375] According to this work machine 1, it is possible to acquire the relative positional relationship between the object to be grasped W grasped by the attachment 100 and the work machine 1 located around the object to be grasped W. Therefore, based on the actual state of grasping by the attachment 100, it is possible to accurately grasp the relative positional relationship between the object to be grasped W grasped by the attachment 100 and the work machine 1 located around the object to be grasped W.

[0376] (Item E7) The surroundings monitoring device 88 is a work machine 1 described in any of items E1 to E6 that detects the position of the boundary BD (positions PBD1 to PBDn) of the area IA in which work cannot be performed by the work machine 1, which is set around the object to be grasped W, as the position of the object to be contacted.

[0377] According to this work machine 1, it is possible to acquire the relative positional relationship between the object to be grasped W held by the attachment 100 and the boundary BD of the area where work cannot be performed by the work machine 1, which is located around the object to be grasped W. Therefore, it is possible to accurately grasp the relative positional relationship between the object to be grasped W held by the attachment 100 and the boundary BD of the area where work cannot be performed by the work machine 1, which is located around the object to be grasped W, based on the actual state of gripping by the attachment 100. The workable area includes, for example, land, roads, and work sites for performing work related to the object to be grasped W held by the attachment 100, roads and alleys where the work machine 1 can move while gripping the object to be grasped W, and waiting areas where the work machine 1 is kept waiting.

[0378] In addition, it is possible to acquire the relative positional relationship between the object to be grasped W held by the attachment 100 and the boundary BD of the space where work cannot be performed by the work machine 1, which is located around the object to be grasped W. Therefore, it is possible to accurately grasp the relative positional relationship between the object to be grasped W held by the attachment 100 and the boundary BD of the space where work cannot be performed around the object to be grasped W, taking into account the actual state of gripping by the attachment 100. The workable space includes, for example, a space extending above and below the land, road, and work site where work on the object to be grasped W held by the attachment 100 is performed, a space extending above and below the road and alley where the work machine 1 can move while gripping the object to be grasped W, and a space extending above and below the waiting place where the work machine 1 is waiting.

[0379] (Item E8) The relative position calculation unit 59 is a work machine 1 described in any of items E1 to E7 that calculates the relative position between the position PM12 of the end W1c of the object to be grasped W that is closest to the contact avoidance target among the ends recognized by the first sensing device 81, and the position of the contact avoidance target.

[0380] According to this work machine 1, it is only necessary to calculate the relative position between the end W1c of the object W to be grasped by the attachment 100 that is closest to the contact avoidance target and the contact avoidance target. In other words, it is only necessary to calculate the minimum necessary relative position. Therefore, it is possible to reduce the processing load for calculating the relative position.

[0381] (Item E9) The first sensing device recognizes the positions of both longitudinal ends W1b, W1c of the elongated object to be grasped W, and the relative position calculation unit 59 calculates the relative positions PM11, PM12 of both ends W1b, W1c recognized by the first sensing device 81 and the position of the object to be contacted, which is a work machine 1 described in any of items E1 to E8.

[0382] This work machine 1 can acquire the relative positions between the positions PM11, PM12 of both ends W1b, W1c of the gripping object W gripped by the attachment 100 and the positions of contact avoidance targets located around the gripping object W. In other words, two relative positions can be acquired, and the calculation of only two relative positions is limited, so that the calculation processing load of the relative positions can be kept low.

[0383] (Item E10) The first sensing device 81 recognizes the positions of multiple outer surfaces including both ends W1b, W1c of the object to be grasped W, and the relative position calculation unit 59 calculates the relative position between each of the positions recognized by the first sensing device 81 and the position of the object to be avoided, which is the work machine 1 described in item E9.

[0384] According to this work machine 1, the relative positions of each of the positions of the multiple outer surfaces including both ends W1b, W1c of the object to be grasped W grasped by the attachment 100 and the position of the contact avoidance target are calculated. The relative positions of each of the positions of the multiple outer surfaces including both ends W1b, W1c of the object to be grasped W and the contact avoidance target can be obtained. Therefore, the relative positions can be obtained in more detail.

[0385] For example, the relative position of each position of the line segment connecting both ends W1b, W1c of the grasp target W and the contact avoidance target may be acquired. In this case, the relative position can be acquired for each position of the line segment connecting both ends W1b, W1c of the grasp target W grasped by the attachment 100. Therefore, the relative position can be acquired in more detail.

[0386] In addition, the relative position calculation unit 59 calculates each position of the line segment connecting both ends W1b, W1c of the object to be grasped W recognized by the first sensing device 81 by adding a predetermined thickness of the object to be grasped W. The relative positions of the gripping target W and the positions of contact avoidance targets located around the gripping target W may be calculated.

[0387] In this case, the relative positions between each position of the line segment connecting both ends W1b, W1c of the object to be grasped W grasped by the attachment 100 and the position of the contact avoidance target located around the object to be grasped W are calculated. That is, the relative positions between each position of the line segment connecting both ends W1b, W1c of the object to be grasped W, taking into account the thickness of the object to be grasped W, and the contact avoidance target can be obtained. That is, the relative positions can be obtained for each position of the line segment connecting both ends W1b, W1c of the object to be grasped W grasped by the attachment 100, taking into account the thickness of the object to be grasped W. Therefore, the relative positions can be obtained in more detail.

[0388] (Item E11) The work machine 1 is a work machine 1 described in any of items E1 to E10, which is equipped with a detection unit 80 that detects the gripping of the object to be gripped W by the attachment 100, and the relative position calculation unit 59 calculates the relative position when the detection unit 80 detects the gripping of the object to be gripped W.

[0389] According to this work machine 1, the relative position calculation unit 59 calculates the relative position when the detection unit 80 detects that the gripping object W is being gripped (i.e., when the attachment 100 is gripping the gripping object W). Therefore, during work by the work device 20 in which the attachment 100 is gripping the gripping object W, the relative position between the gripping object W gripped by the attachment 100 and a contact avoidance target located in the vicinity thereof can be obtained. In other words, the relative position can be obtained at an appropriate timing.

[0390] (Item E12) The work machine 1 according to any one of items E1 to E11, further comprising a control device that limits a work speed of the work machine when the relative position becomes less than a predetermined distance.

[0391] According to this work machine 1, the work performed by the attachment 100 gripping the object to be gripped W can be restricted at an appropriate timing.

[0392] (Item E13) The control device is the work machine 1 according to item E12, wherein the closer the relative position is, the lower the upper limit value of the work speed of the work machine is limited to.

[0393] According to this work machine 1, the safety of work performed by the attachment 100 gripping the object to be gripped W can be appropriately ensured according to the distance from the relative position.

[0394] (Item E14) A method for controlling a work machine 1 including a machine body 2, a working device 20 provided on the machine body 2, and an attachment 100 for holding an object to be grasped W on the working device 20, the work machine 1 including a first sensing device 81 for recognizing the position of the object to be grasped W held by the attachment 100, a surroundings monitoring device 88 for detecting the position of a contact avoidance target located in the periphery of the object to be grasped W, and a relative position calculation unit 59 for calculating the relative position between the object to be grasped W and the contact avoidance target, and the first sensing device 81 is provided with a sensing device for detecting the position of the attachment 100. The control method for the work machine 1 includes a first step (S72) of causing the attachment 100 to recognize the position of an end of a portion of the object to be grasped W that is gripped by the attachment 100 and that protrudes from the attachment 100; a second step (S73) of causing the periphery monitoring device 88 to detect the position of a contact avoidance target that is located in the periphery of the object to be grasped W; and a third step (S74) of causing the relative position calculation unit 59 to calculate the relative position between the position of the object to be grasped W recognized in the first step and the position of the contact avoidance target detected in the second step.

[0395] According to the control method of the working machine 1, the relative position of the object to be grasped W and the contact avoidance object can be easily determined. Since the attachment 100 can be grasped, the safety when performing work using the attachment 100 for gripping the object to be gripped W can be improved.

[0396] In each embodiment, the coordinate calculation unit 58 and the relative position calculation unit 59 may use a position in the coordinate system of the first sensing device 81 or a position in the global coordinate system, without being limited to a position in the work machine coordinate system. The coordinate systems can be mutually changed by a known coordinate conversion calculation.

[0397] In addition, in each embodiment, the first sensing device 81 and the position acquisition device 83 are provided, but the first sensing device 81 may also serve as the position acquisition device 83. In other words, the first sensing device 81 may also detect (acquire) the position of one end W2b of the joined pipe W2.

[0398] In addition, in each embodiment, the work machine 1 is configured to drive the first hydraulic pump P1, the second hydraulic pump P2, and the third hydraulic pump P3 by the power of the prime mover E1, but the work machine may be an electric type or hybrid type that is equipped with a drive battery and an electric motor instead of or in addition to the prime mover E1. In this case, the work machine 1 drives the electric motor with power from the drive battery, drives the first hydraulic pump P1, the second hydraulic pump P2, and the third hydraulic pump P3 with the power of the electric motor, drives the hydraulic actuators (boom cylinder C1, attachment swing cylinder C2, dozer cylinder C3, swing cylinder C4, arm cylinder C9), left travel motor ML, right travel motor MR, and swing motor MT with hydraulic oil discharged from the first hydraulic pump P1 and the second hydraulic pump P2, and can drive the work device 20 and the traveling device 10 with the power of the hydraulic actuators (boom cylinder C1, attachment swing cylinder C2, dozer cylinder C3, swing cylinder C4, arm cylinder C9), left travel motor ML, right travel motor MR, and swing motor MT.

[0399] Also, some or all of the actuators provided in the working device 20 and the traveling device 10 may be configured as electric actuators, and the electric actuators may be driven by battery power to drive the working device 20 and the traveling device 10 using the power of the electric actuators. For example, in addition to a configuration in which all actuators are electric actuators, a configuration may be possible in which at least one of an electric motor for driving a hydraulic pump and an electric swing motor is provided.

[0400] Although the present invention has been described above, the embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present invention is indicated by the claims, not by the above description, and is intended to include all modifications within the meaning and scope of the claims.

[0401] In each of the above-described embodiments, an example has been described in which the present invention is applied to a work machine 1 such as a backhoe, but the application of the present invention is not limited to this, and the present invention may be applied to other construction machines such as a wheel loader, a compact track loader, and a skid steer loader. [Explanation of symbols]

[0402] 1 Work equipment 2. Aircraft 10 Running gear 20 Working Equipment 21 Boom 22 Arm 24 Swing bracket 25 Swivel 30 Main unit 51 Control device 57 Setting section 58 Coordinate calculation section 59 Relative position calculation unit 80 Detection unit 80A Attachment detection unit 80B Weight Sensor 80C Position detection unit 81 First sensing device (detection unit) 82 Second sensing device 83 Location acquisition device 84 Load sensor (detection part) 100 Attachments 112 Gripping part 114 Horizontal rotation mechanism 115 Joining function section 121 Gripping claw C1 Boom Cylinder C2 Attachment Swing Cylinder C4 Swing Cylinder C9 Arm Cylinder MT Swing Motor W Object to be gripped (joint member) W1 pipe (joint material) W2 Pipe to be joined (part to be joined)

Claims

1. A work machine including a machine body and a work device provided on the machine body, an attachment provided to the working device and configured to grip a joining member; a first sensing device that recognizes a position of a joining portion of the joining member held by the attachment relative to the workpieces; a setting unit that sets a target position to which the attachment is to be moved to a joining start position, which is a position for starting a joining operation of joining the joining portion of the joining member to the workpiece, based on a recognition result by the first sensing device; and a control device that controls the working device so as to move the attachment to the target position set by the setting unit.

2. a position acquisition device for acquiring a position of a join portion to which the joining portion is joined in the join member, The work machine according to claim 1 , wherein the setting unit sets the welding start position based on the position of the part to be welded acquired by the position acquisition device.

3. A second sensing device that detects the attitude of the aircraft and the attachment in a predetermined coordinate system; a coordinate calculation unit that calculates a first coordinate indicating a coordinate of a position of the joint in the predetermined coordinate system based on a recognition result of the first sensing device and a detection result of the second sensing device, the position acquisition device acquires second coordinates indicating coordinates of a position of the welded portion in the predetermined coordinate system; The working machine according to claim 2, wherein the setting unit sets a joining start position coordinate, which is the coordinate of the joining start position in the specified coordinate system, based on the second coordinate, calculates a relative position to the joining start position coordinate based on the first coordinate, and sets the target position based on the position of the attachment detected by the second sensing device and the relative position.

4. The working device includes a boom having a base end portion rotatably supported on the machine body, an arm rotatably supported on a tip end portion of the boom, and the attachment provided on the tip end portion of the arm, The work machine according to claim 1 , wherein the control device, when moving the attachment to the target position, operates the boom and the arm at the same speed or at a speed within a predetermined range from the start of movement to the end of movement.

5. The working device includes a boom having a base end portion rotatably supported on the machine body, an arm rotatably supported on a tip end portion of the boom, and the attachment provided on the tip end portion of the arm, The work machine according to claim 1 , wherein the control device, when moving the attachment to the target position, sets the movement speeds of the boom and the arm so that the movement end timings of the boom and the arm are substantially the same.

6. the setting unit sets a target upper position substantially vertically above the target position, The work machine according to claim 3 , wherein the control device moves the attachment to the target upper position, and then lowers the attachment from the target upper position to the target position in a substantially vertical direction.

7. The work machine according to claim 1 , wherein the control device gradually reduces the movement speed of the attachment from a front position that is set to a position immediately before the attachment reaches the target position, and stops the attachment at the target position.

8. The work machine described in claim 1, wherein the control device controls the work device so that, when the joining portion is located at an excess position closer to the joined portion than the joining start position, the joining portion moves in a direction from the excess position back to the joining start position or the joining portion stops at the excess position.

9. The setting unit sets a preliminary target position at a position spaced a predetermined distance from the target position, The work machine according to claim 1 , wherein the control device moves the attachment to the preliminary target position, and then moves the attachment from the preliminary target position to the target position.

10. The working device includes a boom having a base end portion rotatably supported on the machine body, an arm rotatably supported on a tip end portion of the boom, and the attachment provided on the tip end portion of the arm, the first sensing device is provided on any one of the boom, the arm, and the attachment, The work machine according to claim 2 , wherein the position acquisition device is provided on any one of the boom, the arm, and the attachment.

11. The work machine according to claim 1, wherein the members to be joined are placed in a groove formed below the ground surface, and the control device is arranged above the ground surface, and grasps the joining member with the attachment and moves it to the joining start position set in the groove.

12. 2. The work machine according to claim 1, wherein the joint member is an elongated member, and the joint portion is one end of the joint member in the longitudinal direction, and is positioned at a position spaced apart from the attachment when gripped by the attachment.

13. The work machine of claim 1, wherein the control device moves the joining portion to the joining start position and then moves the attachment in a direction in which the joining portion approaches the joining portion, thereby engaging the joining portion with the joining portion.

14. A control method for a work machine including a machine body, a work device provided on the machine body, and an attachment that grips a joining member, comprising: a position recognition step of recognizing a position of a joining portion of a joining member held by the attachment with respect to a workpiece; a target position setting step of setting a target position to which the attachment is to be moved based on a recognition result of the position recognition step, to a position for moving the attachment to a joining start position, which is a position for starting a joining operation of joining the joining portion of the joining member to the joined member.

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