Work system

Abstract

To provide a work system capable of removing bias from a pile of work objects.SOLUTION: A work system includes a work machine 20 having an attachment 30 for performing work, an imaging device for imaging a pile 75 of scrap 70 on which scrap 70 is piled up, acquisition means for acquiring shape information of the pile 75 of scrap 70 based on the imaging results of the imaging device, and determination means for determining a work position of the attachment 30 based on the shape information acquired by the acquisition means.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a work system including a work machine. [Background technology]

[0002] Patent Document 1 discloses a computing device that uses a sensor to calculate the height distribution of a scrap pile. By detecting the height distribution of the scrap pile, it becomes possible to automatically operate a crane equipped with a lifting magnet. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 7-76488 Summary of the Invention [Problem to be solved by the invention]

[0004] When scrap (work objects) are supplied from outside into a container such as a scrap pit, the pile of scrap inside the container can become uneven. In such a case, if the scrap inside the container is moved evenly by a work machine, there is a risk that the scrap will overflow from the container. Therefore, it is desirable to remove the unevenness from the pile of piled scrap by performing work at an appropriate work position.

[0005] An object of the present invention is to provide a work system capable of removing bias from a pile of work objects. [Means for solving the problem]

[0006] The present invention is characterized by comprising a work machine equipped with an attachment for performing work, an imaging device for imaging a pile of accumulated work objects, an acquisition means for acquiring shape information of the pile based on the imaging results of the imaging device, and a determination means for determining a work position of the attachment based on the shape information acquired by the acquisition means. Effect of the Invention

[0007] According to the present invention, the working position of the attachment is determined based on the shape information of the pile. Therefore, compared to a case where the working position of the attachment is determined without based on the shape information of the pile, a portion of the pile that is appropriate as the working position can be determined as the working position of the attachment. By having the attachment work at an appropriate working position, it is possible to remove bias from the pile. For example, the highest part of the pile can be determined as the working position of the attachment. In this case, the height of the pile can be lowered by having the attachment work to remove the work object at the highest part. [Brief description of the drawings]

[0008] [Figure 1] FIG. [Diagram 2] FIG. [Diagram 3] FIG. 11 is a side view of a modified example of the work machine. [Figure 4] FIG. 2 is a functional configuration diagram of the work system. [Diagram 5] FIG. 1 is a side cross-sectional view of the vessel illustrating the operation of removing the highest portion of the scrap pile. [Figure 6] FIG. 1 is a side cross-sectional view of the vessel illustrating the removal of the bottom portion of the scrap pile. [Figure 7] FIG. [Figure 8] 13 is a flowchart of a work process. [Figure 9] FIG. 13 is a side view of a modified example of the working system. [Figure 10] 13 is a flowchart of a modified example of the work process. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

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

[0010] (Working system configuration) 1, which is a top view of the work system 1, the work system 1 according to this embodiment is equipped with a work machine 20. The work machine 20 is equipped with an attachment 30 that performs work. In this embodiment, the work machine 20 is automatically operated.

[0011] 2, which is a side view of the work machine 20, the work machine 20 is a machine that performs work using an attachment 30, such as a hydraulic excavator. The work machine 20 has a machine body 24 equipped with a lower traveling body 21 and an upper rotating body 22, the attachment 30, and a cylinder 40.

[0012] The lower traveling structure 21 is a portion that causes the work machine 20 to travel, and is equipped with, for example, crawlers. The upper rotating structure 22 is attached to the upper part of the lower traveling structure 21 so as to be able to rotate via a rotating device 25. A cab (operator's compartment) 23 is provided at the front part of the upper rotating structure 22.

[0013] The attachment 30 is attached to the upper rotating body 22 so as to be rotatable in the vertical direction. The attachment 30 includes a boom 31, an arm 32, and a lifting magnet 33. The boom 31 is attached to the upper rotating body 22 so as to be rotatable (raised and lowered) in the vertical direction. The arm 32 is attached to the boom 31 so as to be rotatable in the vertical direction. The lifting magnet 33 is a tip attachment that is the tip of the attachment 30, and is attached to the arm 32 so as to be rotatable in the front-rear direction of the upper rotating body 22. The lifting magnet 33 attracts metals such as scrap (work object) by electromagnetic force.

[0014] The end attachment is not limited to the lifting magnet 33, and may be a bucket or the like. The bucket performs tasks such as digging, leveling, and scooping soil and sand.

[0015] The cylinder 40 is capable of hydraulically rotating the attachment 30. The cylinder 40 is a hydraulic telescopic cylinder. The cylinder 40 may be an electric cylinder. The cylinder 40 includes a boom cylinder 41, an arm cylinder 42, and a magnet cylinder 43.

[0016] The boom cylinder 41 rotates the boom 31 relative to the upper rotating body 22. A base end of the boom cylinder 41 is rotatably attached to the upper rotating body 22. A tip end of the boom cylinder 41 is rotatably attached to the boom 31.

[0017] The arm cylinder 42 rotates the arm 32 relative to the boom 31. A base end of the arm cylinder 42 is rotatably attached to the boom 31. A tip end of the arm cylinder 42 is rotatably attached to the arm 32.

[0018] The magnet cylinder 43 rotates the lifting magnet 33 relative to the arm 32. The base end of the magnet cylinder 43 is rotatably attached to the arm 32. The tip end of the magnet cylinder 43 is rotatably attached to a link member 34 that is rotatably attached to the lifting magnet 33.

[0019] The work machine 20 also has a turning angle sensor 52 and a tilt angle sensor 60 .

[0020] The slewing angle sensor 52 detects the slewing angle of the upper rotating body 22 relative to the lower traveling body 21. The slewing angle sensor 52 is, for example, an encoder, a resolver, or a gyro sensor. In this embodiment, the slewing angle of the upper rotating body 22 when the front of the upper rotating body 22 coincides with the front of the lower traveling body 21 is set to 0°.

[0021] The inclination angle sensor 60 detects the attitude of the attachment 30. The inclination angle sensor 60 includes a boom inclination angle sensor 61, an arm inclination angle sensor 62, and a magnet inclination angle sensor 63.

[0022] The boom inclination angle sensor 61 is attached to the boom 31 and detects the attitude of the boom 31. The boom inclination angle sensor 61 is a sensor that acquires the inclination angle of the boom 31 with respect to the horizontal line, and is, for example, an inclination (acceleration) sensor. Note that the boom inclination angle sensor 61 may be a rotation angle sensor that detects the rotation angle of the boom foot pin (boom base end) or a stroke sensor that detects the stroke amount of the boom cylinder 41.

[0023] The arm inclination angle sensor 62 is attached to the arm 32 and detects the posture of the arm 32. The arm inclination angle sensor 62 is a sensor that obtains the inclination angle of the arm 32 with respect to the horizontal line, and is, for example, an inclination (acceleration) sensor. Note that the arm inclination angle sensor 62 may be a rotation angle sensor that detects the rotation angle of the arm connecting pin (base end of the arm) or a stroke sensor that detects the stroke amount of the arm cylinder 42.

[0024] The magnet tilt angle sensor 63 is attached to the link member 34 and detects the attitude of the lifting magnet 33. The magnet tilt angle sensor 63 is a sensor that obtains the tilt angle of the lifting magnet 33 with respect to the horizontal line, and is, for example, an inclination (acceleration) sensor. The magnet tilt angle sensor 63 may be a rotation angle sensor that detects the rotation angle of the magnet connecting pin (the base end of the lifting magnet) or a stroke sensor that detects the stroke amount of the magnet cylinder 43.

[0025] The work machine 20 also has an imaging device 27. The imaging device 27 is provided on the cab 23. In this embodiment, the imaging device 27 is a LiDAR (Light Detection and Ranging or Laser Imaging Detection and Ranging). The scanning direction of the imaging device 27 is fixed so that the scan range is located in front of the cab 23. The imaging device 27 may be provided on the attachment 30 (particularly the boom 31) or the upper rotating body 22.

[0026] The imaging device 27 captures an image of the pile 75 of scrap 70 in the container 2 (see FIG. 1). The pile 75 of scrap 70 is an example of a pile of accumulated scrap 70. The imaging device 27 acquires point cloud data (three-dimensional point cloud) indicating the distance from the position where the imaging device 27 is attached to each piece of scrap 70 in the pile 75 of scrap 70. From the point cloud data acquired by the imaging device 27, the shape of the pile 75 of scrap 70 is identified.

[0027] The imaging device 27 is not limited to LiDAR, and may be a time-of-flight (TOF) sensor, a stereo camera, or the like.

[0028] The work machine 20 may be, for example, a crane. A work machine 20A that is a crane that hoists and lowers a suspended load (not shown) will be described with reference to Fig. 3. Descriptions of configurations common to the work machine 20, which is a hydraulic excavator, described with reference to Fig. 2 will be omitted.

[0029] As shown in Fig. 3, the work machine 20A has a machine body 24A equipped with a lower traveling body 21A and an upper rotating body 22A. The lower body may be a structure fixed to a fixed surface (e.g., the ground, etc.) or may be capable of traveling on a traveling surface (e.g., the ground, etc.). The crane may be a fixed crane or a mobile crane. The upper rotating body 22A is rotatably attached to the upper part of the lower traveling body 21A via a rotating device 25A. A boom 31A and the like are attached to the upper rotating body 22A.

[0030] The boom 31A is attached to the upper rotating body 22A so as to be able to rise and fall (rotatable in the vertical direction). The boom 31A may be, for example, a lattice boom having a lattice structure. When the boom 31A has a lattice structure, the boom 31A includes a plurality of pipes. When the boom 31A has a lattice structure, the cross-sectional shape of the boom 31A viewed from the longitudinal direction of the boom 31A is a rectangle. The boom 31A can be disassembled in the longitudinal direction of the boom 31A. The boom 31A includes a lower boom 31A1, an intermediate boom 31A2, and an upper boom 31A3. The lower boom 31A1 is disposed at the base end (the end on the upper rotating body 22A side) of the boom 31A. The intermediate boom 31A2 is connected to the tip end (the end on the opposite side to the upper rotating body 22A side) of the lower boom 31A1. The upper boom 31A3 is connected to the tip of the intermediate boom 31A2 and is disposed at the tip of the boom 31A. The upper boom 31A3 may be a substantially hexahedral member (boom head, tower cap) or may be a member that is long in the axial direction of the boom 31A.

[0031] The boom 31A may have a box-shaped structure (hollow structure). The boom 31A may be a telescopic boom that can be extended and retracted. When the boom 31A has a box-shaped structure, the cross-sectional shape of the boom 31A viewed from the longitudinal direction of the boom 31A may be polygonal (more specifically, a polygon with a hollow interior) or approximately polygonal, or may be other shapes. Specifically, for example, the cross-sectional shape of the boom 31A may be quadrilateral (e.g., rectangular), hexagonal (e.g., a shape in which two corners of the lower part of a quadrilateral are chamfered), or a shape similar thereto. For example, the cross-sectional shape of the boom 31A may be round or approximately round. The round shape is a shape composed of a U-shape and straight lines extending left and right that connect the left and right upper ends of the U-shape.

[0032] The boom hoisting device 32A is a device that hoists the boom 31A relative to the upper rotating body 22A. The boom hoisting device 32A includes a gantry 32A1, a boom guy line 32A2, and a boom hoist rope 32A3. The gantry 32A1 includes a compression member 32A1a attached to the upper rotating body 22A, and a tension member 32A1b connected to the tip of the compression member 32A1a and the rear end of the upper rotating body 22A. The boom guy line 32A2 and the boom hoist rope 32A3 are connected to the tip of the compression member 32A1a and the tip of the boom 31A. When a winch (not shown) winds and unwinds the boom hoist rope 32A3, the boom 31A is raised and lowered relative to the upper rotating body 22A. The configuration of the boom hoisting device 32A can be changed in various ways. For example, a mast may be provided instead of the gantry 32A1. In this case, the mast is attached to the upper rotating body 22A so as to be able to be raised and lowered, and is disposed in the same position as the compression member 32A1a. The boom guy line 32A2 is connected to the tip of the mast and the tip of the boom 31A. The boom hoisting rope 32A3 is hung between a sheave provided at the tip of the mast and a sheave provided at the rear end of the upper rotating body 22A. Then, a winch (not shown) winds and unwinds the boom hoisting rope 32A3, causing the mast to be raised and lowered relative to the upper rotating body 22A, and as a result, the boom 31A is raised and lowered relative to the upper rotating body 22A. The work machine 20A may also be provided with multiple masts, or may be provided with the gantry 32A1 and a mast.

[0033] The jib 33A is attached to the boom 31A so as to be able to rise and fall (to be able to rotate in the up and down direction). The jib 33A may be, for example, a lattice jib having a lattice structure. When the jib 33A has a lattice structure, the jib 33A includes a plurality of pipes. When the jib 33A has a lattice structure, the cross-sectional shape of the jib 33A seen from the longitudinal direction of the jib 33A is a rectangle. The jib 33A may have a box-shaped structure (hollow structure). The jib 33A may be a telescopic jib that is telescopic. An example of the cross-sectional shape of the jib 33A seen from the longitudinal direction of the jib 33A when the jib 33A has a box-shaped structure is similar to the example of the cross-sectional shape of the boom 31A seen from the longitudinal direction of the boom 31A when the boom 31A has a box-shaped structure.

[0034] The jib hoisting device 34A is a device that hoists the jib 33A relative to the boom 31A. The jib hoisting device 34A includes a strut 34A1 (rear strut 34A1a, front strut 34A1b), a jib guy line 34A2, a strut guy line 34A3, and a jib hoisting rope 34A4. The strut 34A1 (rear strut 34A1a, front strut 34A1b) is rotatably attached to the upper boom 31A3. The jib guy line 34A2 is connected to the tip of the front strut 34A1b and the tip of the jib 33A. The strut guy line 34A3 is connected to the tip of the rear strut 34A1a and, for example, the boom 31A. The jib hoisting rope 34A4 is hung on the sheave of the rear strut 34A1a and the sheave of the front strut 34A1b. When a winch (not shown) winds and pays out the jib hoisting rope 34A4, the distance between the rear strut 34A1a and the front strut 34A1b changes, and the jib 33A is raised and lowered relative to the boom 31A. The configuration of the jib hoisting device 34A can be modified in various ways. For example, a strut 34A1 in which the front strut 34A1b and the rear strut 34A1a are fixed to each other may be provided. When a winch (not shown) for raising and lowering the jib hoisting rope 34A4 winds and pays out the jib hoisting rope 34A4, the strut 34A1 rotates relative to the boom 31A, and the jib 33A is raised and lowered relative to the boom 31A. Also, only one strut 34A1 may be provided.

[0035] The attachment hoisting device 35A is a device that hoists and lowers (raises and lowers) the attachment 30A for holding a work object. The attachment hoisting device 35A includes the attachment 30A, a point sheave 35A1, and a hoisting rope 35A2. The point sheave 35A1 is provided at the tip of the jib 33A. The attachment 30A is suspended from the point sheave 35A1 via the hoisting rope 35A2. The attachment 30A is, for example, a hook, and is capable of hanging a suspended load. The hoisting rope 35A2 is hung on the point sheave 35A1. The hoisting rope 35A2 is attached to the attachment 30A. The hoisting rope 35A2 may be hung on a sheave (not shown) provided on the attachment 30A, for example, or may be fixed to the attachment 30A. When a winch (not shown) winds in and pays out the hoisting rope 35A2, the attachment 30A is wound up and lowered.

[0036] Although not shown, a configuration similar to the attachment hoisting device 35A may be provided at the tip of the boom 31A (upper boom 31A3). In this case, the work machine 20A may be configured without the jib 33A, the jib hoisting device 34A, and the attachment hoisting device 35A attached to the jib 33A.

[0037] Furthermore, the attachment 30A is not limited to a hook. The attachment 30A may be, for example, a lifting magnet or a grab bucket as long as it can hold the work target while being suspended by the hoisting rope 35A2.

[0038] Returning to FIG. 1, the work system 1 has a container 2 and a supply means 3. The container 2 is made of, for example, concrete or iron plate. The container 2 is, for example, a scrap pit. The container 2 contains a pile of scrap 70 as the work object. The area in which the work object is piled up is not limited to an area in the container 2 such as a scrap pit. The work object may be piled up in a predetermined area 2A (see FIG. 9). For example, the predetermined area 2A may be a scan area captured by an imaging device 27 with a fixed scanning direction. Also, for example, the predetermined area 2A may be a range set on map data corresponding to the actual work site by the work system 1. Also, for example, the predetermined area 2A may be a range indicated by a landmark (such as a cone) at the work site.

[0039] Also, in this embodiment, the work object is scrap 70, but is not limited to this. The work object may be a powder material such as soil, granules, chips, or powder, or a powder material placed in a bag (for example, a sandbag filled with soil and sand). Also, in this embodiment, the pile is a mountain 75 of scrap 70, but the shape of the pile is not limited to a mountain shape. For example, the pile may be one or more sandbags arranged in a predetermined area 2A (see FIG. 9). Also, for example, the pile may be multiple.

[0040] The supplying means 3 is a belt conveyor or the like, and supplies work objects such as scrap 70 into the container 2. Specifically, in this embodiment, the supplying means 3 supplies the scrap 70 to a pile 75 of scrap 70 in the container 2. The supplying means 3 may be another work machine equipped with a lifting magnet. For example, the supplying means 3 may be a belt conveyor, a shovel, or a crane. Furthermore, there may be multiple supplying means 3. Specifically, for example, the supplying means 3 may be multiple belt conveyors.

[0041] A suction area 2a and a discharge area 2b are provided within the container 2. A pile 75 of scrap 70 is provided within the suction area 2a. The automatically operated work machine 20 automatically repeats the process of suctioning the scrap 70 with the lifting magnet 33, removing a portion of the scrap 70 from the pile 75 of scrap 70, and discharging it into the discharge area 2b.

[0042] The suction area 2a and the discharge area 2b may be set by teaching or by inputting dimensions. Also, the suction area 2a and the discharge area 2b may be set by inputting a numerical value of the distance from the outer wall of the container 2.

[0043] (Functional configuration of the working system) As shown in FIG. 4, which is a functional configuration diagram of the work system 1, the work machine 20 has a controller 11 and a storage device 13.

[0044] The controller 11 receives input of information relating to the rotation angle (posture) of the upper rotating body 22 relative to the lower traveling body 21 detected by the rotation angle sensor 52. The controller 11 also receives input of information relating to the posture of the boom 31 detected by the boom inclination angle sensor 61. The controller 11 also receives input of information relating to the posture of the arm 32 detected by the arm inclination angle sensor 62. The controller 11 also receives input of information relating to the posture of the lifting magnet 33 detected by the magnet inclination angle sensor 63.

[0045] The controller (control means) 11 controls the operation of the attachment 30. The controller 11 automatically operates the turning device 25 and the attachment 30 to perform a predetermined automatic operation. Specifically, as shown in FIG. 1, the controller 11 automatically operates the turning device 25 and the attachment 30 to turn the upper turning body 22 so that the lifting magnet 33 is located within the attraction area 2a, and after the lifting magnet 33 attracts the scrap 70, turns the upper turning body 22 so that the lifting magnet 33 is located within the release area 2b, and releases the scrap 70 held by the lifting magnet 33 into the release area 2b, repeating this process.

[0046] When the controller (control means) 11 controls the work machine 20A (see FIG. 3), the controller 11 causes the work machine 20A to perform the following operations so as to perform a predetermined automatic driving operation. For example, the controller 11 controls the revolving device 25A to revolve the upper revolving body 22A. For example, the controller 11 controls the boom raising and lowering device 32A to raise and lower the boom 31A. For example, the controller 11 controls the jib raising and lowering device 34A to raise and lower the jib 33A. For example, the controller 11 controls the attachment hoisting device 35 to cause the attachment 30A to perform a hoisting operation and a hoisting operation. For example, the controller 11 controls the attachment 30A to cause the attachment 30A to hold and release a work target. The controller 11 may control these operations one by one in sequence, or may control these operations in parallel.

[0047] 4, the controller (acquisition means) 11 acquires shape information of the pile 75 of scraps 70 based on the imaging result of the imaging device 27. The storage device 13 stores the shape information acquired by the controller (acquisition means) 11.

[0048] The controller (determination means) 11 determines the working position of the attachment 30 based on the shape information acquired by itself. When the shape information includes predetermined information, the controller (determination means) 11 determines the part corresponding to the predetermined information as the working position. The working position may be adjusted according to the type of the end attachment of the work machine 20 or the type of the attachment 30A of the work machine 20A. For example, when the attachment 30A of the work machine 20A is a hook, the worker needs to hang the work object (for example, a sandbag) on ​​the hook. Therefore, the working position may be adjusted to be lower than the work object. Also, when the shape information includes a plurality of pieces of predetermined information, the working position may be determined as follows. For example, the part corresponding to the predetermined information closest to the supply means 3 or the working range of the supply means 3 may be the working position. Also, for example, the part corresponding to the predetermined information farthest from the supply means 3 or the working range of the supply means 3 may be the working position. Also, for example, the predetermined information closest to the release area 2b (see FIG. 1) may be the working position.

[0049] 5, which is a side cross-sectional view of the container 2, the predetermined information is, for example, the highest part of the pile 75 of scrap 70. In this case, the highest part of the pile 75 of scrap 70 is determined as the working position of the attachment 30. The controller 11 causes the attachment 30 to perform the work of removing the scrap 70 from the highest part of the pile 75 of scrap 70. This makes it possible to lower the height of the pile 75 of scrap 70. As a result, it is possible to remove any imbalance from the pile 75 of scrap 70.

[0050] In this case, the controller 11 may cause the attachment 30 to perform an operation of breaking down the highest portion of the pile 75 of scrap 70 by bringing the lifting magnet 33 into contact with the highest portion of the pile 75 of scrap 70. This allows the height of the pile 75 of scrap 70 to be lowered. The controller 11 may also cause the attachment 30 to perform an operation of removing the scrap 70 from the bottom portion of the pile 75 of scrap 70. This allows the pile 75 of scrap 70 to be broken down. As a result, the height of the pile 75 of scrap 70 can be lowered.

[0051] Note that the controller 11 may cause the attachment 30 to perform an operation of removing the scrap 70 from the highest portion of the pile 75 of scrap 70, and then cause the attachment 30 to perform an operation of removing the scrap 70 from the portion surrounding the highest portion. This allows the height of the pile 75 of scrap 70 to be further lowered.

[0052] 5, the predetermined information is, for example, a portion of the pile 75 of scrap 70 that is equal to or greater than a predetermined height. In this case, the portion of the pile 75 of scrap 70 that is equal to or greater than the predetermined height is determined as the work position of the attachment 30. The controller 11 causes the attachment 30 to perform the work of removing the scrap 70 from the portion of the pile 75 of scrap 70 that is equal to or greater than the predetermined height. This makes it possible to make the height of the pile 75 of scrap 70 less than the predetermined height. As a result, it is possible to remove any bias from the pile 75 of scrap 70.

[0053] In this case, the controller 11 may cause the attachment 30 to perform an operation of breaking down the portion of the pile 75 of scrap 70 that is equal to or greater than the predetermined height by bringing the lifting magnet 33 into contact with the portion of the pile 75 of scrap 70 that is equal to or greater than the predetermined height. This allows the height of the pile 75 of scrap 70 to be less than the predetermined height. The controller 11 may also cause the attachment 30 to perform an operation of removing the scrap 70 from the highest portion of the pile 75 of scrap 70. This allows the height of the pile 75 of scrap 70 to be lowered. Then, by removing the highest portion, the height of the pile 75 of scrap 70 can be made less than the predetermined height. The controller 11 may also cause the attachment 30 to perform an operation of removing the scrap 70 from the bottom portion of the pile 75 of scrap 70. This allows the pile 75 of scrap 70 to be broken down. As a result, the height of the pile 75 of scrap 70 can be made less than the predetermined height.

[0054] The controller 11 may control the work machine 20A to cause the work machine 20A (see FIG. 3), which is a crane, to perform an operation of moving the highest part of the pile or a part of the pile that is equal to or higher than a predetermined height to the working position of the attachment 30A. Specifically, for example, the controller 11 rotates the boom 31A. Then, the controller 11 raises and lowers the boom 31A and / or the jib 33A. Then, the controller 11 winds down the attachment 30A and moves the attachment 30A to the working position. The controller 11 may further wind down the attachment 30A and bring the attachment 30A (for example, a lifting magnet) into contact with the highest part of the pile 75 of the scrap 70. The controller 11 may also operate the attachment 30A to perform an operation of removing the highest part of the pile 75 or a part of the pile 75 that is equal to or higher than a predetermined height. Specifically, for example, the controller 11 may turn on the magnetic force of the lifting magnet that is in the working position to remove such a part. More specifically, for example, the controller 11 may close the grab bucket in the open state at the work position to remove the above-mentioned portion. In this way, when controlling the work machine 20A, the controller 11 can approach from above the work position. Note that the controller 11 may simultaneously control a plurality of operations among the above-mentioned swing, hoisting, and lowering operations.

[0055] 6, which is a side cross-sectional view of the container 2, the predetermined information is, for example, a portion of the slope of the pile 75 of scrap 70 where the inclination angle is equal to or greater than a predetermined angle. In this case, the portion of the slope of the pile 75 of scrap 70 where the inclination angle is equal to or greater than the predetermined angle is determined as the working position of the attachment 30. The controller 11 causes the attachment 30 to perform the work of removing the scrap 70 from the portion of the slope of the pile 75 of scrap 70 where the inclination angle is equal to or greater than the predetermined angle. This makes it possible to make the inclination angle of the slope of the pile 75 of scrap 70 less than the predetermined angle. Therefore, it is possible to remove any bias from the pile 75 of scrap 70.

[0056] As shown in FIG. 6, the predetermined information is, for example, a portion at the base of the pile 75 of scrap 70, where the inclination angle of the slope is equal to or greater than a predetermined angle. In this case, the portion at the base of the pile 75 of scrap 70, where the inclination angle of the slope is equal to or greater than a predetermined angle, is determined as the working position of the attachment 30. The controller 11 causes the attachment 30 to perform the work of removing the scrap 70 from this portion. This makes it possible to collapse the pile 75 of scrap 70. As a result, it is possible to make the inclination angle of the slope of the pile 75 of scrap 70 less than the predetermined angle. This makes it possible to remove any bias from the pile 75 of scrap 70.

[0057] 6, the controller 11 may cause the attachment 30 to perform an operation of breaking down the highest part of the scrap 70 by bringing the lifting magnet 33 into contact with the highest part of the pile 75 of the scrap 70. This also makes it possible to make the inclination angle of the slope of the pile 75 of the scrap 70 less than the predetermined angle.

[0058] 7, which is a top view of the container 2, the predetermined information is, for example, the portion of the pile 75 of scraps 70 that protrudes from the suction area (predetermined range) 2a. In this case, the portion of the pile 75 of scraps 70 that protrudes from the suction area 2a is determined as the working position of the attachment 30. The controller 11 causes the attachment 30 to perform the work of removing the portion of the scraps 70 that protrudes from the suction area 2a. This makes it possible to fit the range of the pile 75 of scraps 70 within the suction area 2a. As a result, it is possible to remove any bias from the pile 75 of scraps 70.

[0059] In this case, the controller 11 may cause the attachment 30 to perform an operation of removing the scrap 70 from the highest part of the pile 75 of the scrap 70. The controller 11 may also cause the attachment 30 to perform an operation of breaking down the highest part of the scrap 70 by bringing the lifting magnet 33 into contact with the highest part of the pile 75 of the scrap 70. According to these operations, the scrap 70 protruding from the suction area 2a may be moved to the inside of the suction area 2a. In this case, the range of the pile 75 of the scrap 70 may be contained within the suction area 2a. The controller 11 may also cause the attachment 30 to perform an operation of removing the scrap 70 from the bottom part of the pile 75 of the scrap 70. This allows the pile 75 of the scrap 70 to be broken down. As a result, the scrap 70 protruding from the suction area 2a may be contained within the suction area 2a.

[0060] The predetermined information is also the portion to which scrap 70 is supplied from the supplying means 3. In this embodiment, as shown in Fig. 1, a pile 75 of scrap 70 is contained in the container 2, and scrap 70 is supplied from the supplying means 3 to the pile 75 of scrap 70. If scrap 70 continues to be supplied from the supplying means 3, the scrap 70 will overflow from the container 2. In the case where the predetermined information is as described above, the portion to which scrap 70 is supplied from the supplying means 3 is determined as the working position of the attachment 30.

[0061] Usually, the portion where the scrap 70 is supplied from the supply means 3 is higher than the other portions. The controller 11 causes the attachment 30 to perform an operation of removing the scrap 70 from the portion where the scrap 70 is supplied. This makes it possible to lower the height of the pile 75 of the scrap 70. As a result, it is possible to remove any bias from the pile 75 of the scrap 70.

[0062] Also, as shown in FIG. 7, the predetermined information is, for example, the portion of the scrap 70 protruding from the container 2. In this embodiment, as shown in FIG. 7, a pile 75 of scraps 70 is stored in the container 2, and scraps 70 are supplied from the supply means 3 (see FIG. 1) to the pile 75 of scraps 70. If the scraps 70 continue to be supplied from the supply means 3, the scraps 70 will overflow from the container 2. In the case where the predetermined information is as described above, the portion of the scraps 70 protruding from the container 2 is determined as the working position of the attachment 30. The controller 11 causes the attachment 30 to perform the work of removing the portion of the scraps 70 protruding from the container 2. This allows the scraps 70 to be contained within the container 2. As a result, the bias can be removed from the pile 75 of scraps 70.

[0063] As described above, the work position of the attachment 30 is determined based on the shape information of the pile 75 of scrap 70. Therefore, compared to a case where the work position of the attachment 30 is determined without based on the shape information of the pile 75 of scrap 70, a portion of the pile 75 of scrap 70 that is appropriate as the work position can be determined as the work position of the attachment 30. By having the attachment 30 perform work at an appropriate work position, it is possible to remove any bias from the pile 75 of scrap 70.

[0064] Further, scrap 70 is supplied to a pile 75 of scrap 70. Therefore, as scrap 70 is supplied, the shape of the pile 75 of scrap 70 changes. Even if the shape of the pile 75 changes, an appropriate work position can be determined based on the shape information of the pile 75 after the shape has changed. Usually, the height of the portion of the pile 75 of scrap 70 to which the scrap 70 is supplied is the highest. For example, when the portion to which the scrap 70 is supplied is determined as the work position of the attachment 30, the attachment 30 works to remove the scrap 70 from the portion to which the scrap 70 is supplied, thereby making it possible to lower the height of the pile 75 of scrap 70.

[0065] Also, the device has a container 2 that contains a pile 75 of scrap 70. If scrap 70 continues to be supplied to the pile 75 of scrap 70, the scrap 70 will overflow from the container 2. Therefore, by having the attachment 30 perform work at an appropriate work position, the scrap 70 can be prevented from overflowing from the container 2.

[0066] Furthermore, when the shape information includes predetermined information, a portion corresponding to the predetermined information is determined as the work position. For example, when the predetermined information is the highest portion of the pile 75 of scrap 70, this portion is determined as the work position of the attachment 30. In this case, the height of the pile 75 of scrap 70 can be lowered by the attachment 30 working to remove the highest portion of the scrap 70.

[0067] Here, the controller (control means) 11 sets the condition for starting work by the attachment 30 when the shape information includes the predetermined information. Also, the controller (control means) 11 sets the condition for ending work by the attachment 30 when the shape information does not include the predetermined information.

[0068] In the case shown in Figure 5, for example, the condition for starting work by the attachment 30 is that the pile 75 of scrap 70 has a portion that is above a predetermined height, and the condition for ending work by the attachment 30 is that the pile 75 of scrap 70 has no portion that is above the predetermined height.

[0069] In the case shown in FIG. 6, the condition for starting work by the attachment 30 is that there is a portion at the base of the pile 75 of scrap 70 where the inclination angle of the slope is equal to or greater than a predetermined angle, and the condition for ending work by the attachment 30 is that there is no portion at the base of the pile 75 of scrap 70 where the inclination angle of the slope is equal to or greater than a predetermined angle.

[0070] Also, in the case shown in Figure 7, the condition for starting work by the attachment 30 is that there is a portion of the pile 75 of scrap 70 that protrudes outside the suction area 2a, and the condition for ending work by the attachment 30 is that there is no portion of the pile 75 of scrap 70 that protrudes outside the suction area 2a.

[0071] Also, as shown in FIG. 1, when scrap 70 is supplied from the supplying means 3 to a pile 75 of scrap 70, the condition for starting work by the attachment 30 is that there is a portion to which scrap 70 is supplied from the supplying means 3, and the condition for ending work by the attachment 30 is that there is no portion to which scrap 70 is supplied from the supplying means 3.

[0072] In this way, the condition for starting work by the attachment 30 is that the shape information comes to include the predetermined information. When this condition is met, work by the attachment 30 is started, eliminating the need to give a separate command to start work from outside the work machine 20. This makes it possible to reduce the number of personnel who give commands to start work on the work machine 20.

[0073] Furthermore, the condition for ending work by the attachment 30 is that the shape information no longer contains the predetermined information. When this condition is met, work by the attachment 30 is ended, eliminating the need to give a separate instruction to end work from outside the work machine 20. This makes it possible to reduce the number of personnel who give instructions to end work by the work machine 20.

[0074] (Working system operation) Next, the operation of the work system 1 will be described with reference to FIG. 8 which is a flowchart of the work process.

[0075] First, the controller 11 acquires shape information of the pile 75 of scrap 70 (step S1). Next, as shown in Fig. 5, the controller 11 determines whether or not the pile 75 of scrap 70 has a portion that is equal to or greater than a predetermined height (step S2). If it is determined in step S2 that the pile 75 of scrap 70 has a portion that is equal to or greater than a predetermined height (S2: YES), the controller 11 starts work by the attachment 30 (step S3).

[0076] The controller 11 extracts a portion of the pile 75 of scrap 70 that is equal to or greater than a predetermined height (step S4). The controller 11 causes the attachment 30 to perform an operation to remove the scrap 70 from the portion of the pile 75 of scrap 70 that is equal to or greater than the predetermined height (step S5). The scrap 70 removed from the pile 75 of scrap 70 is discharged into the discharge area 2b. Thereafter, the controller 11 causes the attachment 30 to end the operation (step S6) and returns to step S1.

[0077] In step S2, if it is determined that the pile 75 of scrap 70 does not have a portion that is equal to or greater than the predetermined height (S2: NO), the controller 11 determines whether or not there is a portion at the foot of the pile 75 of scrap 70 where the inclination angle of the slope is equal to or greater than the predetermined angle (step S7), as shown in Fig. 6. In step S7, if it is determined that there is a portion at the foot of the pile 75 of scrap 70 where the inclination angle of the slope is equal to or greater than the predetermined angle (S7: YES), the controller 11 starts work by the attachment 30 (step S8).

[0078] The controller 11 extracts a portion at the base of the pile 75 of scrap 70 where the inclination angle of the slope is equal to or greater than a predetermined angle (step S9). The controller 11 causes the attachment 30 to perform an operation to remove the scrap 70 from the portion at the base of the pile 75 of scrap 70 where the inclination angle of the slope is equal to or greater than a predetermined angle (step S10). The scrap 70 removed from the pile 75 of scrap 70 is discharged into the discharge area 2b. Thereafter, the controller 11 causes the attachment 30 to end the operation (step S11) and returns to step S1.

[0079] In step S7, if it is determined that there is no portion at the foot of the pile 75 of scrap 70 where the inclination angle of the slope is equal to or greater than the predetermined angle (S7: NO), the controller 11 determines whether or not the pile 75 of scrap 70 has a portion protruding from the suction area 2a, as shown in Fig. 7 (step S12). In step S12, if it is determined that the pile 75 of scrap 70 has a portion protruding from the suction area 2a (S12: YES), the controller 11 starts work by the attachment 30 (step S13).

[0080] The controller 11 extracts the portion of the pile 75 of scraps 70 that protrudes from the suction area 2a (step S14). The controller 11 causes the attachment 30 to perform an operation to remove the scraps 70 from the portion of the pile 75 of scraps 70 that protrudes from the suction area 2a (step S15). The scraps 70 removed from the pile 75 of scraps 70 are discharged into the discharge area 2b. Thereafter, the controller 11 causes the attachment 30 to end the operation (step S16) and returns to step S1.

[0081] In step S12, if it is determined that there is no portion of the pile 75 of scrap 70 that protrudes from the suction area 2a (S12: NO), the controller 11 determines whether or not there is a portion of the pile 75 of scrap 70 to which the scrap 70 is to be supplied, as shown in Fig. 1 (step S17). In step S17, if it is determined that there is no portion of the pile 75 of scrap 70 to which the scrap 70 is to be supplied (S17: NO), the controller 11 returns to step S1. On the other hand, in step S17, if it is determined that there is a portion of the pile 75 of scrap 70 to which the scrap 70 is to be supplied (S17: YES), the controller 11 starts work by the attachment 30 (step S18).

[0082] The controller 11 extracts a portion of the pile 75 of scrap 70 to which scrap 70 is to be supplied (step S19). The controller 11 causes the attachment 30 to perform an operation to remove the scrap 70 from the portion to which scrap 70 is to be supplied (step S20). The scrap 70 removed from the pile 75 of scrap 70 is discharged into the discharge area 2b. Thereafter, the controller 11 causes the attachment 30 to end the operation (step S21) and returns to step S1.

[0083] In the above flow, step S2 takes precedence over step S7, step S7 takes precedence over step S12, and step S12 takes precedence over step S17, but these priorities are not limited to this.

[0084] In the above embodiment, the work on the pile 75 of the scrap 70 as the work object has been described, but the present invention is not limited to this. Below, the work system 1A will be described in the case where the work machine 20A (see FIG. 3) works on sandbags 70A as the work object.

[0085] As shown in FIG. 9, in the work system 1A, the supplying means 3 is a shovel. The shovel performs work to dump earth and sand into an open sandbag 70A1 arranged in a predetermined area 2A. For example, the predetermined area 2A is an area indicated by a cone at a work site. The supplying means 3 may or may not be operated automatically. The open sandbag 70A1 into which earth and sand have been dumped is closed by a worker to turn it into a closed sandbag 70A2. The predetermined information is the closed sandbag 70A2. The portion corresponding to the closed sandbag 70A2 is determined as the work position of the attachment 30A (a hook in this modified example) of the work machine 20A.

[0086] The controller 11 of the work machine 20A moves the attachment 30A to the closed sandbag 70A2 determined as the work position. The closed sandbag 70A2 is held by the attachment 30A (hung on a hook) by the worker. The controller 11 of the work machine 20A transports the held sandbag 70A2 to a release area (not shown). The release area may be within the predetermined range of the area 2A or may be outside the predetermined range of the area 2A.

[0087] The operation of the work system 1 related to the operation of the work machine 20A as described above will be described with reference to FIG.

[0088] First, the controller 11 acquires shape information of the sandbags 70A (piles) arranged in the area 2A of a predetermined range (step S101). Next, the controller 11 determines whether or not the sandbags 70A2 (predetermined information) in the closed state are present in the sandbags 70A (step S102). If it is determined in step S102 that the sandbags 70A2 are not present in the sandbags 70A (S102: NO), the controller 11 returns the process to step S101.

[0089] On the other hand, if it is determined in step S102 that the sandbags 70A2 in the closed state are present in the group of sandbags 70A (S102: YES), the controller 11 identifies the work position (step S103). For example, if the controller 11 detects a plurality of closed sandbags 70A2 in the group of sandbags 70A, it identifies the portion corresponding to any one of the closed sandbags 70A2 as the work position. Note that a condition for identifying the work position may also be that no obstacles (e.g., people such as workers) are present around the work position or on the path of the attachment 30A to the work position.

[0090] The controller 11 controls the work machine 20A to move the attachment 30A to the identified work position (step S104). Note that the controller 11 may detect an obstacle (e.g., a person such as a worker) around the work position or on the path of the attachment 30A to the work position while the attachment 30A is moving. If an obstacle is detected, the controller 11 may stop the movement of the attachment 30A. Furthermore, if a person such as a worker is detected, the controller 11 may issue a warning, such as by sounding a warning buzzer.

[0091] Then, the controller 11 determines whether the sandbag 70A2 in the closed state is held by the attachment 30A (step S105). This determination may be made based on an external signal, for example. The external signal may be sent from a device (such as a tablet) held by the worker who formed the sandbag 70A2 in the closed state. If it is determined in step S105 that the sandbag 70A2 in the closed state is not held (S105: NO), the controller 11 shifts the process to step S105 again. On the other hand, if it is determined that the sandbag 70A2 in the closed state is held (S105: YES), the controller 11 controls the work machine 20A to transport the sandbag 70A2 in the held state to the release area (step S106).

[0092] (effect) As described above, according to the working system 1 of the present embodiment, as shown in FIG. 5, the working position of the attachment 30 is determined based on the shape information of the pile 75 of the scrap 70. Therefore, compared to a case where the working position of the attachment 30 is determined without based on the shape information of the pile 75 of the scrap 70, a portion of the pile 75 of the scrap 70 that is appropriate as the working position can be determined as the working position of the attachment 30. By having the attachment 30 work at an appropriate working position, it is possible to remove bias from the pile 75 of the scrap 70. For example, the highest portion of the pile 75 of the scrap 70 can be determined as the working position of the attachment 30. In this case, by having the attachment 30 work to remove the highest portion of the scrap 70, the height of the pile 75 of the scrap 70 can be reduced.

[0093] Also, as shown in FIG. 1 , scrap 70 is supplied to a pile 75 of scrap 70. Therefore, as scrap 70 is supplied, the shape of the pile 75 of scrap 70 changes. Even if the shape of the pile 75 changes, an appropriate work position can be determined based on shape information of the pile 75 after the shape has changed. Usually, the height of the portion of the pile 75 of scrap 70 to which the scrap 70 is supplied is the highest. For example, when the portion to which the scrap 70 is supplied is determined as the work position of the attachment 30, the attachment 30 works to remove the scrap 70 from the portion to which the scrap 70 is supplied, thereby making it possible to lower the height of the pile 75 of scrap 70.

[0094] 1, the apparatus has a container 2 that contains a pile 75 of scrap 70. If scrap 70 continues to be supplied to the pile 75 of scrap 70, the scrap 70 will overflow from the container 2. Therefore, by performing work with the attachment 30 at an appropriate work position, the scrap 70 can be prevented from overflowing from the container 2.

[0095] 5 to 7, when the shape information includes predetermined information, a portion corresponding to the predetermined information is determined as the work position. For example, when the predetermined information is the highest portion of a pile 75 of scrap 70, this portion is determined as the work position of the attachment 30. In this case, the height of the pile 75 of scrap 70 can be lowered by the attachment 30 performing an operation to remove the highest portion of scrap 70.

[0096] 5, the predetermined information is the highest part of the pile 75 of scrap 70. In this case, the highest part of the pile 75 of scrap 70 is determined as the work position of the attachment 30. For example, the attachment 30 works to remove the scrap 70 from the highest part of the pile 75 of scrap 70, thereby making it possible to lower the height of the pile 75 of scrap 70.

[0097] 5, the predetermined information is the portion of the pile 75 of scrap 70 that is equal to or greater than the predetermined height. In this case, the portion of the pile 75 of scrap 70 that is equal to or greater than the predetermined height is determined as the work position of the attachment 30. For example, the attachment 30 works to remove scrap 70 from the portion of the pile 75 of scrap 70 that is equal to or greater than the predetermined height, so that the height of the pile 75 of scrap 70 can be made less than the predetermined height.

[0098] 6, the predetermined information is a portion where the inclination angle of the slope of the pile 75 of scrap 70 is equal to or greater than a predetermined angle. In this case, the portion where the inclination angle of the pile 75 of scrap 70 is equal to or greater than the predetermined angle is determined as the working position of the attachment 30. For example, the attachment 30 works to remove scrap 70 from the portion where the inclination angle of the pile 75 of scrap 70 is equal to or greater than the predetermined angle, so that the inclination angle of the slope of the pile 75 of scrap 70 can be made less than the predetermined angle.

[0099] 6, the predetermined information is a portion at the base of the pile 75 of scrap 70, where the inclination angle of the slope is equal to or greater than a predetermined angle. In this case, the portion at the base of the pile 75 of scrap 70, where the inclination angle of the slope is equal to or greater than a predetermined angle, is determined as the working position of the attachment 30. For example, the attachment 30 can work to remove the scrap 70 from this portion, thereby collapsing the pile 75 of scrap 70. As a result, the inclination angle of the slope of the pile 75 of scrap 70 can be made less than the predetermined angle.

[0100] 7, the predetermined information is the portion of the pile 75 of scrap 70 that protrudes from the suction area 2a. In this case, the portion of the pile 75 of scrap 70 that protrudes from the suction area 2a is determined as the working position of the attachment 30. For example, the attachment 30 works to remove the portion of the scrap 70 that protrudes from the suction area 2a, so that the range of the pile 75 of scrap 70 can be contained within the suction area 2a.

[0101] 1, the predetermined information is the portion to which scrap 70 is supplied from the supplying means 3. In this case, the portion to which scrap 70 is supplied from the supplying means 3 is determined as the working position of the attachment 30. For example, the height of the pile 75 of scrap 70 can be lowered by having the attachment 30 work to remove the scrap 70 from the portion to which the scrap 70 is supplied.

[0102] 7, the predetermined information is the portion of the scrap 70 protruding from the container 2. In this case, the portion of the scrap 70 protruding from the container 2 is determined as the working position of the attachment 30. For example, the attachment 30 works to remove the portion of the scrap 70 protruding from the container 2, so that the scrap 70 can be contained within the container 2.

[0103] Furthermore, as shown in Fig. 8, the condition for starting work by the attachment 30 is that the shape information includes predetermined information. By starting work by the attachment 30 when this condition is met, there is no need to give a separate command to start work from outside the work machine 20. This makes it possible to reduce the number of personnel who give commands to start work on the work machine 20.

[0104] Furthermore, as shown in Fig. 8, the condition for ending work by the attachment 30 is that the shape information no longer contains the predetermined information. When this condition is met, work by the attachment 30 is ended, eliminating the need to give a separate instruction to end work from outside the work machine 20. This makes it possible to reduce the number of personnel who give instructions to end work by the work machine 20.

[0105] Although the embodiments of the present invention have been described above, they are merely illustrative examples and do not limit the present invention, and the specific configurations and the like can be appropriately modified in design. Furthermore, the actions and effects described in the embodiments of the invention are merely a list of the most preferable actions and effects resulting from the present invention, and the actions and effects of the present invention are not limited to those described in the embodiments of the present invention.

[0106] For example, the controller 11 of the work machine 20 acquires shape information of the pile 75 of scrap 70 and determines the work position of the attachment 30, but these functions may be performed by a mobile terminal or a server (not shown). The mobile terminal is carried by a worker at the work site. The mobile terminal and the server communicate with the controller 11 of the work machine 20.

[0107] Also, although the case where the work machine 20 is automatically operated has been described, the work machine 20 does not have to be automatically operated. An image of the pile 75 of scrap 70 captured by a camera may be displayed on a display provided in the cab 23, and the work position of the attachment 30 may be superimposed on the image of the pile 75 of scrap 70 to indicate the work position of the attachment 30 to the operator. Also, the work position of the attachment 30 may be indicated to the operator by irradiating the pile 75 of scrap 70 with a laser from a laser device provided on the upper rotating body 22. [Explanation of symbols]

[0108] 1. Working System 2 containers 2a Adsorption area (predetermined range) 2b Release area 3 Supply means 11 Controller (acquisition means, decision means, control means) 13 Storage device 20 Work Machinery 21 Undercarriage 22 Upper rotating body 23 Cab 24 Machine body 25 Swivel 27 Imaging Device 30 Attachment 31 Boom 32 Arm 33 Lifting Magnet 34 Link member 40 Cylinder 41 Boom cylinder 42 Arm Cylinder 43 Magnet Cylinder 52 Rotation angle sensor 60 Inclination Sensor 61 Boom tilt angle sensor 62 Arm inclination angle sensor 63 Magnet tilt angle sensor 70 Scrap (working object) 75 Mountain (sedimentary body)

Claims

1. A work machine having an attachment for performing work; An imaging device that images a pile of work objects; An acquisition means for acquiring shape information of the deposit based on an imaging result of the imaging device; a determination means for determining a work position of the attachment based on the shape information acquired by the acquisition means.

2. 2. The working system according to claim 1, further comprising a supply means for supplying the work object to the pile.

3. The working system according to claim 2 , further comprising a container for containing the deposit.

4. 4. The work system according to claim 1, wherein, when the shape information includes predetermined information, the determining means determines a portion corresponding to the predetermined information as the work position.

5. The work system according to claim 4 , wherein the predetermined information is the highest part of the pile.

6. 5. The work system according to claim 4, wherein the predetermined information is a portion of the pile above a predetermined height.

7. 5. The work system according to claim 4, wherein the predetermined information is information about a portion of the slope of the pile where the inclination angle is equal to or greater than a predetermined angle.

8. 5. The work system according to claim 4, wherein the predetermined information is a part at the foot of the pile where the inclination angle of the slope is equal to or greater than a predetermined angle.

9. The work system according to claim 4 , wherein the predetermined information is a portion of the deposit that protrudes from a predetermined range.

10. a supply means for supplying the workpiece to the pile, 5. The work system according to claim 4, wherein the predetermined information is a portion to which the work object is supplied from the supply means.

11. A container for containing the deposit, 5. The work system according to claim 4, wherein the predetermined information is a portion of the work target object protruding from the container.

12. The work machine is automatically operated, A control means for controlling the operation of the attachment is provided, 5. The work system according to claim 4, wherein the control means sets the condition for starting the work as the shape information including the predetermined information.

13. 13. The work system according to claim 12, wherein the control means sets the condition for ending the work as being that the shape information no longer includes the predetermined information.

Images