Work machine

Abstract

To provide a work machine capable of estimating with high accuracy the presence and location of deposits in a liquid substance, since when detecting the deposit status in a liquid substance with sonar while stirring the liquid substance, the location of deposits may be hidden depending on the operation of the work machine, making it impossible to measure with sonar.SOLUTION: During an automatic operation of stirring the liquid material, a controller (40) calculates a property parameter, which is a coefficient that removes an effect of the speed of a work device from the load acting on the work device, and creates a property map from the property parameter and the position of the work device to estimate a position of the property change.SELECTED DRAWING: Figure 7

Description

[Technical field]

[0001] The present invention relates to a work machine, and more particularly to a work machine that has the opportunity to carry out work of stirring liquid materials such as mud. [Background technology]

[0002] Work machines are used in a variety of tasks, not just civil engineering, but in recent years, the development of automated work machines that perform semi-automatic or automatic tasks has progressed. These automated work machines are expected to reduce the amount of operations that operators must perform, reducing the burden on operators and improving the working environment.

[0003] Incidentally, work machines are sometimes used for mixing liquid materials, such as mixing soil and water to make a uniform muddy water. When automating this work, it is not possible to efficiently homogenize the liquid unless it is possible to determine where the soil that has accumulated below the liquid surface is located. However, in most situations, the water is murky with mud, and neither infrared sensors nor image processing using a camera can detect where the soil has accumulated below the liquid surface. Therefore, a technology is needed to identify where the soil has accumulated even in such situations.

[0004] As a known technique, there is a technique for grasping the topography in a liquid substance using sonar (for example, Patent Document 1). [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2019-196624 A Summary of the Invention [Problem to be solved by the invention]

[0006] In the case of the technology described in Patent Document 1, sonar is used, so depending on the operation of the work machine, there is a possibility that the location of accumulation may be hidden, making it impossible to measure with sonar.

[0007] The present invention has been made based on the above-mentioned circumstances, and has an object to provide a work machine that can estimate with higher accuracy the presence and location of deposits present in liquid material. [Means for solving the problem]

[0008] In order to achieve the above object, the working machine of the present invention comprises a lower structure, an upper rotating body rotatably attached to the lower structure, a multi-jointed working device rotatably attached to the upper rotating body, an actuator for driving the working device, an attitude detection device for detecting attitude information which is rotation angle information of each joint of the working device and the upper rotating body, a load detection device for detecting the load acting on the working device, and a controller for calculating a target attitude of the working device and automatically controlling the operation of the actuator, wherein when at least a portion of the working device is operating in a liquid material, the controller calculates a working device position which is the position of at least one specific point of the working device from the attitude information, determines a working device speed which is the operating speed of the working device from the attitude information or the working device position, calculates a property parameter which is a coefficient representing the viscosity, hardness or density of the liquid material obtained by removing the effect of the working device speed from the load and the working device speed, and creates a property map from the property parameter and the working device position in which information of the property parameter is associated with a position corresponding to the working device position. Effect of the Invention

[0009] According to the present invention, it is possible to determine with high accuracy the presence and location of deposits present in a liquid material without being affected by changes in the working speed.

[0010] Problems, configurations and effects other than those described above will become apparent from the following description of the embodiments. [Brief description of the drawings]

[0011] [Figure 1] 1 is a perspective view showing a configuration of a hydraulic excavator according to a first embodiment. [Figure 2A] FIG. 1 is a side view of a hydraulic excavator according to a first embodiment. [Figure 2B] FIG. 1 is a top view of a hydraulic excavator according to a first embodiment. [Diagram 3] FIG. 1 is a configuration diagram of a control system for a hydraulic excavator according to a first embodiment. [Figure 4] FIG. 2 is a detailed configuration diagram of a solenoid valve unit according to the first embodiment. [Diagram 5] FIG. 2 is a detailed configuration diagram of a solenoid valve unit according to the first embodiment. [Figure 6] FIG. 2 is a hardware configuration diagram of a controller according to the first embodiment. [Figure 7] FIG. 2 is a functional block diagram of the inside of a controller according to the first embodiment. [Figure 8] FIG. 3 is a functional block diagram of a property parameter estimating unit in the first embodiment. [Figure 9] FIG. 4 is an explanatory diagram of calculation contents and derivation formulas of a load calculation unit in the first embodiment. [Figure 10] FIG. 4 is an explanatory diagram of calculation contents and derivation formulas of a property parameter calculation unit in the first embodiment. [Figure 11] FIG. 4 is an explanatory diagram of the definition of a voxel map according to the first embodiment. [Figure 12] FIG. 4 is a calculation flow diagram of a voxel map generating unit in the first embodiment. [Figure 13] FIG. 4 is a calculation flow diagram of a property change position estimating unit in the first embodiment. [Figure 14] FIG. 4 is a calculation flow diagram during stirring of a target stirring height calculation unit in the first embodiment. [Figure 15] An explanation of the equation for the resistance an object experiences in a turbulent flow and its variants. [Figure 16] 3 shows a display screen of a monitor in the first embodiment. [Figure 17]FIG. 11 is an explanatory diagram of calculation contents and derivation formulas of a load calculation unit in a modified example of the first embodiment. [Figure 18] FIG. 11 is an explanatory diagram of calculation contents and derivation formulas of a property parameter calculation unit in the modified example of the first embodiment. [Figure 19] FIG. 11 is a functional block diagram of the inside of a controller according to a second embodiment. [Figure 20] FIG. 11 is a calculation flow diagram of a property change position estimating unit in the second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In each drawing, parts having the same function are given the same reference numerals, and repeated description may be omitted. In the following description of this paper, a hydraulic excavator equipped with a bucket 10 as a working tool (attachment) at the tip of a working device is illustrated, but the present invention can also be applied to hydraulic excavators equipped with working tools other than a bucket and to working machines other than hydraulic excavators.

[0013] In the following description of this paper, when there are multiple identical components, an alphabet may be added to the end of the reference symbol (number), but the alphabet may be omitted to collectively represent the multiple components. For example, when there are one traveling hydraulic motor 3a and one traveling hydraulic motor 3b (right traveling hydraulic motor 3a and left traveling hydraulic motor 3b) on the left and right, these may be collectively represented as traveling hydraulic motor 3.

[0014] [First embodiment] A first embodiment of the present invention will be described with reference to Figures 1 to 14. Note that this embodiment is directed to a task of mixing soil and water to turn it into liquid mud.

[0015] <Hydraulic excavator configuration> The configuration of the hydraulic excavator in the first embodiment will be described with reference to FIG. 1 and FIGS. 2A and 2B.

[0016] Fig. 1 is a perspective view showing the configuration of a hydraulic excavator 1 according to the first embodiment. The hydraulic excavator 1 includes a multi-joint type front working implement 1A, a vehicle body 1B, and a controller (not shown in Fig. 1).

[0017] The front working implement 1A has a boom cylinder 5, an arm cylinder 6, a bucket cylinder 7, a boom 8, an arm 9, a bucket 10, a bucket link 13, a boom angle sensor 30, an arm angle sensor 31, and a bucket angle sensor 32. The boom 8, the arm 9, and the bucket 10 are a plurality of driven members that each rotate in the vertical direction, and the front working implement 1A is formed by connecting these together.

[0018] The vehicle body 1B has a lower traveling body 11 and an upper rotating body 12. The lower traveling body 11 travels by being driven by a pair of left and right traveling hydraulic motors 3a (FIG. 3, etc.) and 3b. The upper rotating body 12 is attached on the lower traveling body 11 and configured to be rotatable.

[0019] The base end of the boom 8 is rotatably supported via a boom pin at the front of the upper rotating body 12. An arm 9 is rotatably connected to the tip of the boom 8 via an arm pin. A bucket 10 is rotatably connected to the tip of the arm 9 via a bucket pin P (FIG. 2A). The boom 8 is driven by a boom cylinder 5, the arm 9 is driven by an arm cylinder 6, and the bucket 10 is driven by a bucket cylinder 7.

[0020] Fig. 2A is a side view of the hydraulic excavator 1. As shown in Fig. 2A, when the X-axis is defined parallel to the longitudinal direction of the lower traveling structure 11 and the Z-axis is defined perpendicular to the X-axis, the rotation angle of the boom 8 is defined as α, the rotation angle of the arm 9 is defined as β, and the rotation angle of the bucket 10 is defined as γ. The inclination angle of the upper rotating structure 12 (vehicle body 1B) with respect to a reference plane (for example, a horizontal plane) is defined as φ.

[0021] Fig. 2B is a top view of the hydraulic excavator 1. As shown in Fig. 2B, the relative angle between the upper rotating body 12 and the lower traveling body 11 is assumed to be θ.

[0022] Returning to the explanation of Fig. 1, boom angle sensor 30 is attached to the boom pin so as to be able to measure the rotation angle α of boom 8. Arm angle sensor 31 is attached to the arm pin so as to be able to measure the rotation angle β of arm 9. Bucket angle sensor 32 is attached to bucket link 13 so as to be able to measure the rotation angle γ of bucket 10. Note that angle sensors 30, 31, and 32 can each be replaced with an angle sensor relative to a reference plane (for example, a horizontal plane).

[0023] The upper rotating body 12 has a cab 120, a hydraulic pump 2, a swing hydraulic motor 4, an engine 18, a vehicle body inclination angle sensor 33, a swing angle sensor 34, and a tank 200. The cab 120 is provided with a right operating lever 22a, a left operating lever 22b, a right traveling lever 23a, a left traveling lever 23b, an engine RPM setting device 480, and a liquid level distance detection sensor 700. Hereinafter, in this specification, the right operating lever 22a and the left operating lever 22b may be referred to as the operating device 22, and the right traveling lever 23a and the left traveling lever 23b may be referred to as the operating device 23.

[0024] The swing hydraulic motor 4 swings the upper swing body 12. Herein, in this specification, the traveling hydraulic motors 3a and 3b, the swing hydraulic motor 4, the boom cylinder 5, the arm cylinder 6, and the bucket cylinder 7 may be collectively referred to as "actuators."

[0025] The vehicle body inclination angle sensor 33 is attached to an arbitrary position of the upper rotating body 12 and detects the inclination angle φ of the upper rotating body 12 (vehicle body 1B) with respect to a reference plane (for example, a horizontal plane). The turning angle sensor 34 is provided on the turning center axis of the upper rotating body 12 and measures the relative angle θ between the upper rotating body 12 and the lower traveling body 11.

[0026] The engine 18 is a prime mover (power source) and drives the hydraulic pump 2 and a pilot pump described below. The engine speed setting device 480 is a device for setting the speed of the engine 18. The engine speed setting device 480 is a dial-type variable resistor, and the voltage output from the engine speed setting device 480 varies with dial operation.

[0027] The liquid level distance detection sensor 700 is a distance sensor for detecting the surface height (liquid level distance) of the liquid material to be stirred. In this embodiment, since the object to be stirred is liquid mud, the liquid level distance detection sensor 700 is an infrared distance sensor.

[0028] The hydraulic excavator 1 also includes a communication device 650 (not shown in FIG. 1, but shown in FIGS. 6 and 7) for transmitting signals to the communication device 850. In this embodiment, the monitor 810 is installed outside the hydraulic excavator 1, and displays information from the controller 40 (not shown in FIG. 1) of the hydraulic excavator 1 via the communication device 650 and the communication device 850.

[0029] The above is the configuration of the hydraulic excavator 1 in the first embodiment.

[0030] <Control system configuration for hydraulic excavators> Next, the configuration of the control system for the hydraulic excavator in the first embodiment will be described with reference to FIG.

[0031] Fig. 3 is a configuration diagram showing the configuration of the control system of the hydraulic excavator 1. As shown in Fig. 3, the control system of the hydraulic excavator 1 includes hydraulic pumps 2a and 2b, flow control valves 15a to 15f, load detection devices 16a to 16l, an engine 18, regulators 2aa and 2ba, an operation right lever 22a and an operation left lever 22b (operation device 22), a travel right lever 23a and a travel left lever 23b (operation device 23), a gate lock lever (not shown), a lock valve 39, a control controller (also simply referred to as a controller) 40 as a control device, operation devices 45a and 45b, operation devices 46a and 46b, operation devices 47a and 47b, a pilot pump 48, a pump line 143, pilot lines 144a to 149b, hydraulic drive units 150a to 155b, an electromagnetic valve unit 160, a tank 200, an engine controller 470, and an engine speed detection device 490.

[0032] The operating devices 22 and 23 and the gate lock lever are provided in the operator's cab 120 and are operated by the operator. The operating devices 22 and 23 are of an electric lever type and generate an electric signal corresponding to the amount and direction of operation by the operator. The electric signal thus generated is input to the controller 40 via the operating devices 45a to 47b. The controller 40 outputs an electric signal to the solenoid valve unit 160 to drive the solenoid proportional valve corresponding to the operation input to the operating devices 22 and 23.

[0033] The operating devices 45a to 47b are provided in the operator's cab 120. The operating device 47a is connected to the right travel lever 23a and outputs a signal for operating the right travel hydraulic motor 3a to the controller 40. The operating device 47b is connected to the left travel lever 23b and outputs a signal for operating the left travel hydraulic motor 3b to the controller 40. The operating devices 45a and 46a are connected to a common right operating lever 22a and outputs a signal for operating the boom cylinder 5 and the bucket cylinder 7 to the controller 40. The operating devices 45b and 46b are connected to a common left operating lever 22b and outputs a signal for operating the arm cylinder 6 and the swing hydraulic motor 4 to the controller 40.

[0034] The engine 18 drives the hydraulic pumps 2a and 2b and the pilot pump 48. The hydraulic pumps 2a and 2b are variable displacement pumps whose capacities are controlled by regulators 2aa and 2ba, respectively. The pilot pump 48 is a fixed displacement pump. The engine controller 470 controls the rotation speed and other parameters of the engine 18 in response to a control signal from the controller 40. The engine speed detection device 490 is a rotation sensor for detecting the rotation speed of the engine 18.

[0035] The hydraulic pump 2 and the pilot pump 48 suck hydraulic oil from the tank 200. In this embodiment, a control signal output from the controller 40 is input to the regulators 2aa and 2ba. Although detailed configurations of the regulators 2aa and 2ba are omitted, the discharge flow rates of the hydraulic pumps 2a and 2b are controlled in response to the control signal.

[0036] The pressure oil discharged from the hydraulic pump 2 is supplied to the boom cylinder 5 via the flow control valve 15a, to the arm cylinder 6 via the flow control valve 15b, to the bucket cylinder 7 via the flow control valve 15c, to the swing hydraulic motor 4 via the flow control valve 15d, to the right traveling hydraulic motor 3a via the flow control valve 15e, and to the left traveling hydraulic motor 3b via the flow control valve 15f. The supplied pressure oil causes the boom cylinder 5, the arm cylinder 6, and the bucket cylinder 7 to expand and contract, thereby rotating the boom 8, the arm 9, and the bucket 10, respectively, and changing the position and attitude of the bucket 10. The supplied pressure oil also causes the swing hydraulic motor 4 to rotate, causing the upper swing body 12 to rotate relative to the lower traveling body 11. The supplied pressure oil also causes the right traveling hydraulic motor 3a and the left traveling hydraulic motor 3b to rotate, causing the lower traveling body 11 to travel.

[0037] In order to detect the cylinder pressure, the boom cylinder 5 is provided with load detectors 16a and 16b, the arm cylinder 6 is provided with load detectors 16c and 16d, and the bucket cylinder 7 is provided with load detectors 16e and 16f. In this embodiment, the load detectors 16a to 16f are pressure sensors that detect the pressure on the bottom side and the pressure on the rod side of each of the boom cylinder 5, the arm cylinder 6, and the bucket cylinder 7, and output the pressure as an electric signal to the controller 40. In addition, the right traveling hydraulic motor 3a is provided with load detectors 16g and 16h, the left traveling hydraulic motor 3b is provided with load detectors 16i and 16j, and the swing hydraulic motor 4 is provided with load detectors 16k and 16l. In this embodiment, the load detectors 16g to 16l are pressure sensors that detect the pressure of each of the input / output lines of the right traveling hydraulic motor 3a, the left traveling hydraulic motor 3b, and the swing hydraulic motor 4, and output the pressure as an electric signal to the controller 40. In addition, in FIG. 3, due to space limitations, the connection lines from the load detectors 16a to 16l to the controller 40 are not shown.

[0038] The pump line 143 is a discharge pipe of the pilot pump 48, and after passing through the lock valve 39, is connected to each solenoid proportional valve in the solenoid valve unit 160. In this embodiment, the lock valve 39 is an electromagnetic switching valve, and its electromagnetic drive unit is electrically connected to a lock lever position detector of the gate lock lever. The gate lock lever has a rotation center, and an operator can manually rotate the gate lock lever. The gate lock lever can be configured to be rotatable, for example, from an angle at which it contacts the upper limit stopper to an angle at which it contacts the lower limit stopper. The lock lever position detector is a switch sensor, and can be configured so that a switch is pressed by the gate lock lever at the same time that the gate lock lever contacts the lower limit stopper. As a result, the lock lever position detector outputs a signal according to the position of the gate lock lever to the lock valve 39. If the gate lock lever is in the lock position, the lock valve 39 closes and the pump line 143 is blocked, and if the gate lock lever is in the unlock position, the lock valve 39 opens and the pump line 143 is opened. In other words, when the pump line 143 is cut off, operation by the operating devices 22 and 23 is disabled, and operations such as traveling, turning, and excavation are prohibited.

[0039] The above is the configuration of the control system of the hydraulic excavator 1 in the first embodiment.

[0040] <Configuration of solenoid valve unit in hydraulic excavator control system> Next, the detailed configuration of the solenoid valve unit 160 in FIG. 3 will be described with reference to FIGS.

[0041] 4 and 5 are diagrams showing a detailed configuration of the solenoid valve unit 160. The primary port side of the solenoid valve unit 160 is connected to the pilot pump 48 via the pump line 143. The solenoid valve unit 160 has solenoid proportional valves 54a to 59b that reduce the pilot pressure from the pilot pump 48 and output it to pilot lines 144a to 149b. The solenoid proportional valves 54a to 59b are used as control signals for driving the flow control valves 15a to 15f in response to input electric signals.

[0042] As shown in Fig. 4, the solenoid proportional valves 54a and 54b are connected to hydraulic actuators 150a and 150b of the flow control valve 15a via pilot lines 144a and 144b. The solenoid proportional valves 55a and 55b are connected to hydraulic actuators 151a and 151b of the flow control valve 15b via pilot lines 145a and 145b. The solenoid proportional valves 56a and 56b are connected to hydraulic actuators 152a and 152b of the flow control valve 15c via pilot lines 146a and 146b.

[0043] 5, the solenoid proportional valves 57a and 57b are connected to hydraulic actuators 153a and 153b of the flow control valve 15d via pilot lines 147a and 147b. The solenoid proportional valves 58a and 58b are connected to hydraulic actuators 154a and 154b of the flow control valve 15e via pilot lines 148a and 148b. The solenoid proportional valves 59a and 59b are connected to hydraulic actuators 155a and 155b of the flow control valve 15f via pilot lines 149a and 149b.

[0044] The electromagnetic proportional valves 54a to 59b have a minimum opening when not energized, and the opening increases as the current, which is a control signal from the controller 40, increases. In this manner, the opening of each of the electromagnetic proportional valves 54a to 59b corresponds to the control signal from the controller 40.

[0045] By outputting a control signal from the controller 40 to the solenoid valve unit 160 to drive the solenoid proportional valves 54a to 59b, pilot pressure can be generated even when the corresponding operating devices 22 and 23 are not operated by the operator, so that the operation of each actuator can be forcibly generated.

[0046] The above is the detailed configuration of the solenoid valve unit 160 in FIG.

[0047] <Controller hardware configuration> Next, the hardware configuration of the controller of the hydraulic excavator in the first embodiment will be described with reference to FIG.

[0048] Fig. 6 is a hardware configuration diagram of the controller 40. As shown in Fig. 6, the controller 40 is a computer device, and includes an input unit 91, a central processing unit (CPU) 92 which is a processor, a read-only memory (ROM) 93, a random access memory (RAM) 94, and an output unit 95.

[0049] 6 includes operation devices 22 and 23 connected to a controller 40 (control device), a posture detection device 50, an engine speed setting device 480, load detection devices 16a-16l, a liquid level distance detection sensor 700, solenoid proportional valves 54-59, an engine controller 470, and a communication device 650 that transmits signals to a communication device 850. The posture detection device 50 is made up of the above-mentioned boom angle sensor 30, arm angle sensor 31, bucket angle sensor 32, vehicle body inclination angle sensor 33, and swing angle sensor 34. These angle sensors 30, 31, 32, 33, and 34 function as posture sensors that detect posture information, which is rotation angle information of each joint of the front working implement 1A and the upper swing body 12.

[0050] The input unit 91 inputs a signal from the attitude detection device 50, a signal indicating the amount of operation from the operation devices 22 and 23, a signal from the engine speed setting device 480, a signal from the load detection devices 16a to 16l, and a signal from the liquid level distance detection sensor 700, and converts them so that the CPU 92 can perform calculations. The ROM 93 is a recording medium in which a control program for executing the control contents described below and various information necessary for executing control calculations are stored. The CPU 92 performs a predetermined calculation process on the signals received from the input unit 91, the ROM 93, and the RAM 94 according to the control program stored in the ROM 93. The output unit 95 creates an output signal according to the calculation result in the CPU 92, and outputs the signal to the engine controller 470 and the solenoid proportional valves 54a to 59b, thereby controlling the drive of the engine 18 and each actuator. The output unit 95 also creates an output signal according to the calculation result in the CPU 92, and transmits the signal to the communication device 650.

[0051] 6 includes semiconductor memories such as ROM 93 and RAM 94 as storage devices, but may be replaced with other types of storage devices, such as a magnetic storage device such as a hard disk drive. The controller 40 in FIG. 6 may be provided inside the hydraulic excavator 1 or may be provided outside the hydraulic excavator 1.

[0052] The above is the hardware configuration of the controller for the hydraulic excavator in the first embodiment.

[0053] <Controller internal function blocks> Next, functional blocks inside the controller in the first embodiment will be described with reference to Fig. 7. Fig. 7 is a functional block diagram of the controller 40. Note that, since only functional blocks related to automatic operation are shown here, a functional block that calculates the output to the solenoid proportional valves 54a to 59b from signals from the operation devices 22 and 23, a functional block that calculates the output to the engine controller 470 from a signal from the engine speed setting device 480, and a functional block that switches the output between automatic operation and manual operation are omitted.

[0054] The control controller 40 includes a bucket position calculation unit 40a, a turning torque calculation unit 40b, a liquid level height calculation unit 40c, a property parameter estimation unit 40d, a voxel map generation unit 40e, a property change position estimation unit 40f, a target mixing height calculation unit 40g, and a target operation calculation unit 40h.

[0055] The bucket position calculation unit 40a calculates bucket positions Xbk, Ybk, Zbk, which are the position of at least one specific point of the front working implement 1A, from the attitude information α(t), β(t), γ(t), θ(t), φ(t), which are signals transmitted from the attitude detection device 50 and converted by the input unit 91. Then, the bucket position calculation unit 40a transmits information on the bucket positions Xbk, Ybk, Zbk to the property parameter estimation unit 40d and the voxel map generation unit 40e.

[0056] The swing torque calculation unit 40b calculates the swing torque Th (corresponding to the driving force of the actuators (3, 4, 5, 6, 7)) from pressure information, which is a signal transmitted from the load detection devices 16a-16l (pressure sensors that detect the pressure of the pressure oil supplied to the actuators (3, 4, 5, 6, 7)) and converted by the input unit 91. Then, the swing torque calculation unit 40b transmits the information on the swing torque Th to the property parameter estimation unit 40d.

[0057] The liquid level height calculation unit 40c calculates the liquid level height h from the liquid level distance information (surface height information), which is a signal transmitted from the liquid level distance detection sensor 700 and converted by the input unit 91. Then, the liquid level height calculation unit 40c transmits the information on the liquid level height h to the voxel map generation unit 40e.

[0058] The property parameter estimation unit 40d calculates the property parameter k from the attitude information α(t), β(t), γ(t), θ(t), and φ(t), the bucket positions Xbk, Ybk, and Zbk transmitted from the bucket position calculation unit 40a, and the swing torque Th transmitted from the swing torque calculation unit 40b (details will be explained later).The property parameter estimation unit 40d then transmits information on the property parameter k to the voxel map generation unit 40e.

[0059] The voxel map generating unit 40e generates a voxel map from the bucket positions Xbk, Ybk, and Zbk transmitted from the bucket position calculating unit 40a, the property parameters k transmitted from the property parameter estimating unit 40d, and the liquid level height h transmitted from the liquid level calculating unit 40c (details will be explained later).Then, the voxel map generating unit 40e transmits information of the voxel map to the property change position estimating unit 40f and the target mixing height calculating unit 40g.

[0060] The attribute change position estimation unit 40f estimates the attribute change position from the voxel map information transmitted from the voxel map generation unit 40e (details will be explained later). Then, the attribute change position estimation unit 40f transmits information on the attribute change position to the communication device 650.

[0061] The target stirring height calculation unit 40g calculates the target stirring height from the voxel map transmitted from the voxel map generation unit 40e (details will be explained later). Then, the target stirring height calculation unit 40g transmits information on the target stirring height to the target operation calculation unit 40h.

[0062] The target motion calculation unit 40h calculates the output to the electromagnetic proportional valves 54a-59b from the attitude information α(t), β(t), γ(t), θ(t), and φ(t) and the information on the target mixing height sent from the target mixing height calculation unit 40g (details will be explained later). Note that in this embodiment, the mixing operation is performed by a single swing motion, and after mixing a certain range by the single swing motion, the horizontal distance from the center of swing to the bucket is changed while keeping the bucket height unchanged, and mixing is performed again by the single swing motion.

[0063] The above are the functional blocks inside the controller in the first embodiment. Note that the specific calculation methods of the bucket position calculation unit 40a, the swing torque calculation unit 40b, and the liquid level calculation unit 40c are omitted in this description. Also, the property map described in the claims is "a voxel map in which the value of the property parameter k is stored in the cell at the position corresponding to the bucket position Xbk, Ybk, Zbk."

[0064] Furthermore, the property change position information transmitted to the communication device 650 is transmitted to the monitor 810 via the communication device 850. The monitor 810 indicates the property change position by changing the color of the cell of the property change position on the map. Note that at this time, the monitor 810 has in advance the same voxel map as the controller 40 (no values ​​are stored), and the monitor 810 stores values ​​in cells at positions corresponding to the received property change position information.

[0065] <Property parameter estimation section> Next, the functional blocks of the property parameter estimating unit 40d in the first embodiment will be described with reference to Fig. 8. Fig. 8 is a functional block diagram of the property parameter estimating unit 40d in the first embodiment.

[0066] The property parameter estimation unit 40d includes a bucket-to-turning center horizontal distance calculation unit 40d-1, a turning angular velocity calculation unit 40d-2, a turning angular acceleration calculation unit 40d-3, a load calculation unit 40d-4, and a property parameter calculation unit 40d-5.

[0067] The bucket-to-swivel center horizontal distance calculation unit 40d-1 calculates the horizontal distance L between the bucket and the swivel center from the bucket positions Xbk, Ybk, and Zbk. Then, the bucket-to-swivel center horizontal distance calculation unit 40d-1 transmits the distance L to the load calculation unit 40d-4 and the property parameter calculation unit 40d-5.

[0068] The turning angular velocity calculation unit 40d-2 calculates the turning angular velocity ω(t) from the turning angle θ(t) in the posture information. Then, the turning angular velocity calculation unit 40d-2 transmits the turning angular velocity ω(t) to the turning angular acceleration calculation unit 40d-3 and the property parameter calculation unit 40d-5.

[0069] The turning angular acceleration calculation unit 40d-3 calculates turning angular acceleration dω(t) / dt (time derivative of turning angular velocity ω(t), which is the motion speed) from the turning angular velocity ω(t) transmitted from the turning angular velocity calculation unit 40d-2. The turning angular acceleration calculation unit 40d-3 transmits the turning angular acceleration dω(t) / dt to the load calculation unit 40d-4.

[0070] The load calculation unit 40d-4 receives the distance L transmitted from the bucket-to-turning center horizontal distance calculation unit 40d-1, the turning angular acceleration dω(t) / dt transmitted from the turning angular acceleration calculation unit 40d-3, and the turning torque Th, and calculates the load F acting on the bucket (details will be explained later). Then, the load calculation unit 40d-4 transmits the load F to the property parameter calculation unit 40d-5.

[0071] The property parameter calculation unit 40d-5 receives the distance L transmitted from the bucket-to-turning center horizontal distance calculation unit 40d-1, the turning angular velocity ω(t) transmitted from the turning angular velocity calculation unit 40d-2, and the load F transmitted from the load calculation unit 40d-4, and calculates the property parameter k (details will be explained later).

[0072] The above is the functional block of the property parameter estimation unit 40d in the first embodiment. Note that the specific calculation methods of the bucket-to-turning center horizontal distance calculation unit 40d-1, the turning angular velocity calculation unit 40d-2, and the turning angular acceleration calculation unit 40d-3 are omitted in this description.

[0073] <Load calculation section> Next, the calculation contents and the derivation formula of the load calculation unit 40d-4 in the first embodiment will be described with reference to FIG.

[0074] Equation (1) in Figure 9 shows the equation of motion for the swing operation. Here, Th is the swing torque due to hydraulic pressure, J is the estimated moment of inertia of the upper swing body, dω(t) / dt is the swing angular acceleration, F is the load acting on the bucket, L is the horizontal distance from the bucket to the swing center, and τ is the dynamic friction resistance. Here, if the swing angular acceleration dω(t) / dt is sufficiently small below a certain value, the first term on the right-hand side of equation (1) can be ignored.

[0075] Considering the above, the load calculation unit 40d-4 calculates the load F using equation (2) obtained by modifying equation (1) when the absolute value of the slewing angular acceleration dω(t) / dt is equal to or less than a sufficiently small value dω(t) / dtth. Note that, since equation (1) does not hold if the vehicle is not performing a swing-only operation, another condition is also included in the condition that the horizontal distance L from the bucket to the swing center is a constant value. In addition, since no external force acts if the vehicle is not performing a swing operation, another condition is also included in the condition that the swing angular velocity ω is equal to or greater than a constant value ωth.

[0076] The above is the calculation content and the derivation formula of the load calculation unit 40d-4 in the first embodiment.

[0077] <Property parameter calculation section> Next, the calculation contents and the derivation formulas of the property parameter calculation section 40d-5 in the first embodiment will be described with reference to FIG.

[0078] In this embodiment, the flow of the liquid material when the bucket moves through the liquid material (in other words, when a part or the whole of the bucket is operating in the liquid material) is assumed to be turbulent, and the load is calculated as being proportional to the square of the velocity. Then, the magnitude of the load can be expressed as equation (3) in FIG. 10. Here, v is the translational velocity of the bucket, and k is a property parameter. Therefore, by modifying equation (3), the coefficient k of the load that does not depend on the bucket velocity (i.e., the coefficient representing the viscosity, hardness, or density of the liquid material excluding the effect of the bucket velocity from the load) can be obtained from equation (4). Note that when the magnitude of the swing angular velocity ω is sufficiently smaller than the constant value ωth, 0 is input for k.

[0079] The above is the calculation content and the derivation formula of the property parameter calculation section 40d-5 in the first embodiment.

[0080] <Voxel map generation section> Next, the calculations of the voxel map generating unit 40e in the first embodiment will be described with reference to FIGS.

[0081] Fig. 11 shows the definition of the voxel map in the first embodiment. As shown in Fig. 11, a voxel map is used in which the origin is the turning center of the vehicle body in the horizontal plane and the height of the liquid material surface (liquid surface height) in the height direction. More specifically, the positive direction of the X coordinate and the positive direction of the Y coordinate in Fig. 11 coincide with the coordinates shown in Fig. 2B. The controller 40 has a voxel map like that in Fig. 11 in advance as a property map.

[0082] The calculation flow of the voxel map generating unit 40e will be described with reference to Fig. 12. The voxel map generating unit 40e performs a process of storing the value of the attribute parameter k in the voxel map. Fig. 12 shows a flowchart of the voxel map generating unit 40e, which is repeatedly processed while the controller 40 is operating, for example. Steps S101 to S108 shown in Fig. 12 constitute one control cycle.

[0083] From S101, the calculation of the voxel map generating unit 40e starts.

[0084] In S102, the value obtained by subtracting the value of the height component Zbk of the bucket position from the value of the liquid level height h is assigned to variable Zbk'. Here, Zbk is the height component of the position of bucket 10 in the coordinate system shown in Figures 2A and 2B, and Zbk' is the height component of the position of bucket 10 in the coordinate system shown in Figure 11. That is, here, the submerged height (variable Zbk'), which is the difference between the liquid level height h and the height component Zbk of the bucket position, is calculated, and the height information of the bucket position is replaced with the submerged height (variable Zbk').

[0085] In S103, a cell corresponding to the range including the coordinates (Xbk, Ybk, Zbk') is selected from the voxel map.

[0086] In S104, it is determined whether the cell selected one step before and the cell selected in the current step are the same. If the cell selected one step before and the cell selected in the current step are the same, S104 is determined as Yes and the process proceeds to S105. If not, S104 is determined as No and the process proceeds to S108.

[0087] In S105, it is determined whether the current value of k is greater than the value of k stored in the selected cell. If the current value of k is greater than the value of k stored in the selected cell, S105 is determined as Yes and the process proceeds to S106. If not, S105 is determined as No and the process proceeds to S107.

[0088] In S106, the current value of k is stored in the selected cell. In S107, the value of k in the selected cell is held. In S108, the value of k in the selected cell is set to 0.

[0089] The above is the calculation flow of the voxel map generating unit 40e in the first embodiment. Note that S106 and S107 in this calculation flow correspond to the process of "associating information on property parameters with a cell at a position corresponding to a bucket position" recited in the claims.

[0090] <Property change position estimation unit> Next, the calculation flow of the property change position estimating unit 40f in the first embodiment will be described with reference to Fig. 13. The property change position estimating unit 40f performs a process of searching for and storing the position of a voxel whose property has changed from the value of the property parameter k. Fig. 13 shows a flowchart of the property change position estimating unit 40f, which is repeatedly processed while the controller 40 is operating, for example. Steps S201 to S208 shown in Fig. 13 constitute one control cycle.

[0091] From S201, the calculation of the property change position estimation unit 40f starts.

[0092] In S202, among the cells whose property parameter k is non-zero, a cell that has not yet been selected in this step is selected.

[0093] In S203, it is determined whether the value of the property parameter k stored in the selected cell is greater than the threshold value kt. If the value of the property parameter k stored in the selected cell is greater than the threshold value kt, S203 determines Yes and proceeds to processing in S204. If not, S203 determines No and proceeds to processing in S205. Note that since the area (in the direction of movement) that is submerged below the liquid surface changes depending on how deeply the bucket is inserted, the threshold value kt may be changed according to the height or depth of the selected cell.

[0094] In S204, the position of the cell selected in S202 is recorded as the property change position, and then the process proceeds to S206.

[0095] In S205, the position of the cell selected in S202 is not recorded as a property change position, and the process then proceeds to S206.

[0096] In S206, it is determined whether or not all the cells with non-zero property parameters k have been selected in the current step. If all the cells with non-zero property parameters k have been selected, the result of S206 is Yes, and the process proceeds to S207. If all the cells with non-zero property parameters k have not been selected, the result of S206 is No, and the process proceeds to S202.

[0097] In S207, it is determined whether or not the process has progressed to the next step. If the process has progressed to the next step, the result of S207 is Yes, and the process proceeds to S208. If the process has not progressed to the next step, the result of S207 is No, and the process proceeds to S207 again.

[0098] In S208, since the process has moved to the next step, the property change position information selected in the previous step is reset in order to determine the property change position again.

[0099] The above is the calculation flow of the property change position estimating unit 40f in the first embodiment.

[0100] <Target mixing height calculation section> Next, the calculation flow of the target mixing height calculation unit 40g during mixing in the first embodiment will be described with reference to FIG. 14. The target mixing height calculation unit 40g determines which height to mix. As described above, the mixing operation is performed by a single swing operation, and after a certain range is mixed by the single swing operation, the horizontal distance from the swing center position to the bucket is changed while keeping the bucket height unchanged, and mixing is performed again by a single swing operation. When a certain height is mixed and the value of the property parameter k of all voxels at that height becomes approximately equal to or less than a certain value, the height is determined to be mixed to be complete. FIG. 14 shows a flowchart of the target mixing height calculation unit 40g during mixing, which is repeatedly processed while the controller 40 is operating, for example. Steps S301 to S304 shown in FIG. 14 are one control cycle.

[0101] From S301, calculation during mixing by the target mixing height calculation unit 40g is started.

[0102] In S302, it is determined whether a certain number or more of the total number of cells corresponding to the current bucket height have values ​​other than 0 stored in them. If a certain number or more of the cells have values ​​other than 0 stored in them, S302 is determined as Yes, and the process proceeds to S303. If not, S302 is determined as No, and the process proceeds to S304.

[0103] In S303, it is determined that the position corresponding to the voxel in the next lower row is to be mixed in the next step. In other words, the position corresponding to the voxel in the next lower row is set as the target mixing height.

[0104] In S304, it is determined that the same height is to be mixed in the next step as well, i.e., the position corresponding to the voxel in the same stage is set as the target mixing height.

[0105] The above is the calculation flow during stirring by the target stirring height calculation unit 40g in the first embodiment.

[0106] <Target movement calculation section> The target motion calculation unit 40h calculates a target posture (target motion) of the bucket 10, where the height of the bucket 10 becomes the target mixing height, from the posture information α(t), β(t), γ(t), θ(t), and φ(t) and the information on the target mixing height. In addition, a control signal for automatically controlling the operation of the actuator for realizing the target posture (target motion) of the bucket 10 is calculated, and output to the electromagnetic proportional valves 54a to 59b. As a result, a certain height is mixed, and when the value of the property parameter k of all voxels at that height becomes approximately equal to or less than a certain value, that height is determined to be the end of mixing, and the height is changed and the mixing operation is repeated.

[0107] Although the calculation of the target movement in the automatic movement is also performed by the target movement calculation unit 40h, since it is not related to the method of estimating the deposition location, the description thereof will be omitted.

[0108] <Effects of the First Embodiment> As described above, according to this embodiment, when rotating alone and at a substantially constant angular velocity, it is possible to determine whether soil has accumulated below the liquid surface (in the liquid material) regardless of the moving speed of the bucket 10.

[0109] The resistance that an object experiences in a turbulent flow is shown in equation (5) in Figure 15. Here, Cd is the drag coefficient, U is the characteristic velocity, A is the characteristic area, F is the drag, and ρ is the density. Transforming equation (5) gives equation (6).

[0110] If we assume that the flow of this liquid material is turbulent, the drag coefficient Cd can be considered to be a nearly constant value. Also, if it is only swirling, the representative area A can be considered to be a nearly constant value. If so, the right-hand side of equation (6) is proportional to the density ρ. And the right-hand side of equation (6) is the property parameter k (see equations (3) and (4) in Figure 10).

[0111] From the above, by calculating the property parameter k, a value proportional to the density ρ that is independent of the flow velocity can be obtained, and by using this value, it is possible to identify the points where the density is changing, in other words, the accumulation points.

[0112] Moreover, the screen displayed on the monitor 810 is shown in Fig. 16. As shown in Fig. 16, the cell of the property change position is colored, so that it is possible to clearly indicate at which position on the map the property has changed. Note that the color of the cell of the property change position may be changed (for example, changed in stages) depending on the magnitude of the property change.

[0113] <Modification of the first embodiment> Although this embodiment is limited to a single turning motion, the property parameter k can be calculated without limiting the motion if the representative area A is calculated each time according to the direction of motion.

[0114] Furthermore, if the area A below the liquid surface is calculated each time according to the attitude information, the property parameter k can be calculated more accurately.

[0115] Furthermore, in this embodiment, the flow of the liquid material is assumed to be turbulent, but the movement speed may be suppressed to a level that allows it to be treated as laminar flow, and calculations may be performed using the equation for laminar flow.

[0116] In the first embodiment, the first term on the right side of equation (2) in Fig. 9 is ignored only when the turning angular acceleration dω(t) / dt is sufficiently small below a certain value, but it is also possible to calculate the load F acting on the bucket without ignoring this term. An equation for this case is shown in equation (7) in Fig. 17. From equation (7) in Fig. 17 and equation (3) in Fig. 10, the property parameter k can be calculated as shown in equation (8) in Fig. 18. Subsequent processing may be performed using this value.

[0117] Furthermore, the voxel map may be transmitted from the voxel map generating unit 40e in FIG. 7 to the monitor 810 via the communication device 650 and the communication device 850, and the information on the voxel map may also be displayed on the monitor 810.

[0118] [Second embodiment] The second embodiment of the present invention will be described with reference to Figures 19 and 20. Note that the description of the same parts as in the first embodiment will be omitted.

[0119] <Functional blocks inside the controller in the second embodiment> The functional blocks inside the controller in the second embodiment will be described with reference to Fig. 19. The difference from the first embodiment (Fig. 7) is that the property change position estimating unit 40f is changed to a property change position estimating unit 40f'.

[0120] <Attribute change position estimation unit in the second embodiment> Next, the calculation flow of the property change position estimation unit 40f' in the second embodiment will be described with reference to Fig. 20. The property change position estimation unit 40f' searches for and stores the position of a voxel whose property has changed from the value of the property parameter k. The difference from the calculation flow of the property change position estimation unit 40f in the first embodiment (Fig. 13) is that when the value of the property parameter k is significantly different from that of an adjacent cell of the same height, it is stored as the property change position. Fig. 20 shows a flowchart of the property change position estimation unit 40f', which is repeatedly processed while the controller 40 is operating, for example.

[0121] The difference from the calculation flow (FIG. 13) of the property change position estimating unit 40f in the first embodiment is that S203 is changed to S203'.

[0122] In S203', the difference between the value of the property parameter k stored in the selected cell and the values ​​of the property parameters k of all adjacent cells having the same height direction is calculated, and it is determined whether the maximum value among them is equal to or greater than the threshold value kth. In other words, it is determined whether the value of the property parameter k stored in the selected cell is greater than the property parameter k of any adjacent cell having the same height direction by a certain value (threshold value kth) or more. If the maximum value is equal to or greater than the threshold value kth, it is determined as Yes in S203' and the process proceeds to S204. If not, it is determined as No in S203' and the process proceeds to S205. The threshold value kth may be changed according to the height or depth of the selected cell.

[0123] The above is the calculation flow of the property change position estimating unit 40f' in the second embodiment. This calculation flow corresponds to the process of "comparing only property parameters associated with positions (cells) corresponding to the same height" recited in the claims.

[0124] <Effects of the second embodiment> As described above, according to this embodiment, the deposition location is identified by comparing with the surrounding property parameter k, so that even if the overall viscosity changes due to a change in the moisture content, etc., it is possible to identify the deposition location without changing the settings.

[0125] [summary] As described above, the working machine (hydraulic excavator 1) of this embodiment includes a lower structure (lower traveling body 11), an upper rotating body (12) rotatably attached to the lower structure, an articulated working implement (front working implement 1A) rotatably attached to the upper rotating body, actuators (3, 4, 5, 6, 7) that drive the working implement, posture detection devices (50: 30, 31, 32, 33, 34) that detect posture information which is rotation angle information of each joint of the working implement and the upper rotating body, load detection devices (16a to 16l) that detect the load acting on the working implement, and a controller (40) that calculates a target posture (target movement) of the working implement and automatically controls the operation of the actuators, and the controller (40) When at least a portion (a part or the entirety) of the working implement is operating in a liquid material, a working implement position (bucket position Xbk, Ybk, Zbk), which is the position of at least one specific point of the working implement, is calculated from the posture information, a working implement speed (swing angular velocity ω(t)), which is the operating speed (moving speed) of the working implement, is determined from the posture information or the working implement position, and a property parameter (k), which is a coefficient representing the viscosity, hardness or density of the liquid material obtained by removing the influence of the working implement speed from the load, the working implement position (distance L), and the working implement speed (swing angular velocity ω(t)), is calculated, and a property map is created from the property parameter and the working implement position, in which information of the property parameter is associated with a position corresponding to the working implement position.

[0126] In addition, the controller (40) calculates a bucket position (Xbk, Ybk, Zbk), which is the position of a bucket provided to the working implement, from the posture information, calculates a bucket speed (swing angular velocity ω(t)), which is the operating speed of the bucket, from the posture information or the bucket position, and calculates the property parameter (k) using the bucket speed (swing angular velocity ω(t)) as the working implement speed.

[0127] This makes it possible to estimate the location of soil accumulation in the liquid material from the load.

[0128] The controller (40) further includes a liquid level distance detection sensor (700) for detecting the surface height (liquid level distance) of the liquid substance, and calculates the liquid level height (h) of the liquid substance from the surface height information received from the liquid level distance detection sensor (700), and further calculates the submerged height, which is the difference between the liquid level height (h) and the height of the bucket position, and replaces the information on the height of the bucket position with the submerged height when creating the property map.

[0129] This allows depth information to be stored as well, since the property parameters change depending on the depth to which the bucket is immersed in the liquid material.

[0130] Moreover, the controller (40) has a voxel map in advance as the property map, and associates information on the property parameters with cells at positions corresponding to the work implement positions (bucket positions).

[0131] This allows mapping in a relatively simple voxel format.

[0132] Furthermore, the controller (40) records, as a property change position, a position where the value of the property parameter (k) associated with the position corresponding to the working device position is greater than a preset value (threshold value kt).

[0133] This makes it possible to record points where the property parameter is large as property change positions.

[0134] The controller (40) also searches for and records the property change position by comparing only the property parameters (k) associated with positions corresponding to the same height.

[0135] This allows comparison of property parameters to be performed only between voxels at the same height or depth.

[0136] In addition, the controller (40) records as a property change position a position where the value of the property parameter (k) associated with a position corresponding to the working device position is greater than the property parameter (k) of any adjacent position by a certain value (threshold kth) or more.

[0137] This makes it possible to record points where there is a large difference between the property parameters of adjacent cells of the same height as property change positions.

[0138] The device further includes a display device (monitor 810) that receives and displays the information on the property map.

[0139] This allows the location of the property change to be displayed on the display device (monitor 810) so that it can be seen.

[0140] In addition, the load detection devices (16a to 16l) are pressure sensors that detect the pressure of pressurized oil supplied to the actuators (3, 4, 5, 6, 7), and the controller (40) calculates a driving force (swing torque Th) of the actuators (3, 4, 5, 6, 7) (or any of them or all of them) from pressure information of the pressurized oil acting on the actuators (3, 4, 5, 6, 7) received from the pressure sensor when at least a portion (a part or the whole) of the working device is operating in a liquid substance, and calculates the load acting on the working device (during operation) from the driving force (swing torque Th), the working device position (distance L), and the working device speed (swing angular acceleration dω(t) / dt).

[0141] This makes it possible to calculate the load from the driving force (turning torque Th).

[0142] That is, in this embodiment, the presence and location of deposits present in the liquid material are estimated from the driving force, the working implement position, and the working implement speed.

[0143] According to this embodiment, it is possible to determine with high accuracy the presence and location of deposits in a liquid material without being affected by changes in the work speed. In the case of a liquid material, the load varies depending on the speed of the work machine moving through the liquid material, so it is necessary to determine whether the load has changed due to deposits or due to changes in the work speed, but the above-mentioned method makes it possible to eliminate the effects of changes in the work speed.

[0144] The present invention is not limited to the above-described embodiment, and includes various modified forms. For example, the above-described embodiment has been described in detail to clearly explain the present invention, and is not necessarily limited to those including all of the configurations described. In addition, it is possible to replace a part of the configuration of one embodiment with the configuration of another embodiment, and it is also possible to add the configuration of another embodiment to the configuration of one embodiment. In addition, it is possible to add, delete, or replace a part of the configuration of each embodiment with another configuration.

[0145] In addition, each function of the controller in the above-mentioned embodiment may be realized in hardware by designing some or all of them as an integrated circuit, for example. Also, each function may be realized in software by a processor interpreting and executing a program that realizes each function. Information such as programs, tables, and files that realize each function may be stored in a storage device in the controller, a hard disk, a solid state drive (SSD), or a recording medium such as an IC card, an SD card, or a DVD. [Explanation of symbols]

[0146] 1...Hydraulic excavator (work machine) 1A…Front work device 1B…Body 8. Boom 9…Arm 10. Bucket 11...Lower running body (lower structure) 12...Upper rotating body 16a~16l...Load detector 18…Engine (power source) 22, 23...Operating device 30...Boom angle sensor 31...Arm angle sensor 32...Bucket angle sensor 33...Vehicle body inclination angle sensor 34...Rotation angle sensor 40...Controller (controller) 50...Attitude detection device 54, 55, 56, 57, 58, 59...Solenoid proportional valve 470…Engine controller 480…Engine RPM setting device 650…Communication equipment 700...Liquid level distance detection sensor 810...Monitor (display device) 850…Communication equipment

Claims

1. The lower structure; An upper rotating body rotatably attached to the lower structure; A multi-joint type working device rotatably attached to the upper rotating body; An actuator that drives the working device; a posture detection device for detecting posture information, which is rotation angle information of each joint of the working device and the upper rotating body; A load detection device that detects a load acting on the working device; a controller that calculates a target posture of the working device and automatically controls the operation of the actuator; The controller: When at least a portion of the working device is operating in a liquid material, Calculating a working device position, which is a position of at least one specific point of the working device, from the posture information; determining a working device speed, which is a motion speed of the working device, from the posture information or the working device position, and calculating, from the load and the working device speed, a property parameter, which is a coefficient representing the viscosity, hardness or density of the liquid material, with the effect of the working device speed removed from the load; A work machine characterized in that a property map is created from the property parameters and the work implement position, in which information on the property parameters is associated with a position corresponding to the work implement position.

2. 2. The work machine according to claim 1, The controller: Calculating a bucket position, which is a position of a bucket provided on the working device, from the posture information; Calculating a bucket speed, which is a motion speed of the bucket, from the attitude information or the bucket position; A work machine, comprising: a bucket speed that is used as the work implement speed to calculate the property parameters.

3. 3. The work machine according to claim 2, A liquid level distance detection sensor is further provided for detecting a surface height of the liquid material, The controller: Calculating a liquid level of the liquid material from surface height information received from the liquid level distance detection sensor; Further, a submerged height is calculated as a difference between the liquid level and the height of the bucket position. A working machine characterized in that, when creating the property map, information on the height of the bucket position is replaced with the submerged height.

4. 2. The work machine according to claim 1, A work machine characterized in that the controller has a voxel map as the property map in advance, and associates information on the property parameters with cells at positions corresponding to the work implement positions.

5. 2. The work machine according to claim 1, The working machine, wherein the controller records, as a property change position, a position where the value of the property parameter associated with a position corresponding to the working implement position is greater than a preset value.

6. 2. The work machine according to claim 1, A work machine characterized in that the controller searches for and records a property change position by comparing only the property parameters associated with positions corresponding to the same height.

7. 7. The work machine according to claim 6, The controller records as a property change position a position where the value of the property parameter associated with a position corresponding to the work implement position is greater than the property parameter of any adjacent position by a certain value or more.

8. 2. The work machine according to claim 1, A work machine further comprising a display device that receives and displays information about the property map.

9. 2. The work machine according to claim 1, the load detection device is a pressure sensor that detects a pressure of pressure oil supplied to the actuator, The controller: When at least a portion of the working device is operating in a liquid material, Calculating a driving force of the actuator from pressure information of pressure oil acting on the actuator received from the pressure sensor; A work machine comprising: a work device that calculates the load acting on the work device from the driving force and the work device speed.

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