System, method, and non-transient readable memory medium for work machine guidance

Abstract

To provide a system, a method, and a non-transient readable memory for a work machine guidance.SOLUTION: A work machine may include a work tool attached on an end part of a boom of a work machine, and a processing circuit. The processing circuit may be configured to provide a guidance function for an operator of a work machine corresponding to a posture of the work tool measured on the basis of a focus through determination on a type of the work tool, setting of the focus of the work machine in accordance with the type of the work machine, and measurement of the posture of the work machine on the basis of the focus.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] FIELD OF THE DISCLOSURE This disclosure relates to work machines, and more particularly to construction machines having various work tools, as well as systems, assemblies, and methods thereof. [Background technology]

[0002] Work machines, particularly those used in industries such as construction, mining, civil engineering, cargo handling, forestry, agriculture, etc., typically use operator-controlled tools to perform tasks. The arm arrangement of a multi-purpose machine (e.g., an excavator) may have a variety of work tools attached via coupling arrangements to perform different types of tasks.

[0003] Japanese Patent Application Publication No. 07-207712 (hereinafter referred to as "JP Patent Publication No. 07-712") describes a work machine in which a monitoring point is set on a front work implement including a boom, an arm, and a bucket, and the upper / lower work range is restricted. According to Japanese Patent Publication No. 07-712, the bucket can be controlled by controlling the speed of the actuator of the front work implement to avoid collision between the front work implement and an obstacle.

[0004] In addition to the collision avoidance function, it is desirable to realize a guidance function for a work machine equipped with various work tools in order to assist the operator of the work machine. Summary of the Invention

[0005] According to one aspect, a work machine is described or provided. The work machine may include a work tool mounted on an end of a boom of the work machine and a processing circuit. The processing circuit may be configured to determine a type of the work tool, set a focus of the work tool based on the type of the work tool, measure an attitude of the work tool based on the focus, and provide a guidance function to an operator of the work machine according to the measured attitude of the work tool based on the focus.

[0006] In another aspect, a method for a work machine is disclosed or implemented, the method can include determining a type of a work tool of the work machine, outputting selectable information via an operator interface for selecting a focus of the work tool from one or more candidates according to the determined type of the work tool, setting the focus of the work tool based on an input via the operator interface, measuring an attitude of the work tool based on the focus, outputting guidance information based on the measured attitude of the work tool and the focus of the work tool, and providing a guidance function to the operator interface according to the measured attitude of the work tool based on the focus.

[0007] Also, in another aspect, a non-transitory computer readable storage medium is disclosed or provided, the non-transitory computer readable storage medium may include computer executable instructions that, when executed by an information processing system of a work machine, cause the information processing system to perform a method, the method including the steps of: determining a type of a work tool of the work machine, setting a focus of the work tool based on an input via an operator interface, measuring an attitude of the work tool based on the focus, determining a type of output information based on the type of the work tool, the output information including directional information of the work tool, providing a guidance function having a first type of output information to the operator interface in response to the attitude of the work tool measured based on the focus, switching the type of output information from the first type of output information to the second type of output information on a condition that the work tool is exchanged from the first type to the second type, and providing a guidance function having the second type of output information to the operator interface in response to the attitude of the work tool measured based on the focus.

[0008] Other features and aspects of the present disclosure will become apparent from the following description and accompanying drawings. [Brief description of the drawings]

[0009] [Figure 1] 1 is a side view of an excavator, which is an example of a work machine in accordance with one or more embodiments of the present invention; [Figure 2A] 1 is a perspective view of a work tool of a work machine in accordance with one or more embodiments of the disclosed subject matter; [Figure 2B] 1 is a perspective view of a work tool of a work machine in accordance with one or more embodiments of the disclosed subject matter; [Figure 2C] 1 is a perspective view of a work tool of a work machine in accordance with one or more embodiments of the disclosed subject matter; [Diagram 3] FIG. 1 illustrates a block diagram of a control system in accordance with one or more embodiments of the disclosed subject matter. [Figure 4] 1 illustrates an example operator interface in accordance with one or more embodiments of the disclosed subject matter. [Diagram 5] 1 illustrates an example operator interface in accordance with one or more embodiments of the disclosed subject matter. [Figure 6] 1 illustrates an example operator interface in accordance with one or more embodiments of the disclosed subject matter. [Figure 7] 1 illustrates an example operator interface in accordance with one or more embodiments of the disclosed subject matter. [Figure 8] 1 illustrates an example operator interface in accordance with one or more embodiments of the disclosed subject matter. [Figure 9] 1 illustrates an example operator interface in accordance with one or more embodiments of the disclosed subject matter. [Figure 10] 1 illustrates an example operator interface in accordance with one or more embodiments of the disclosed subject matter. [Figure 11] 1 is a flowchart of a method according to one or more embodiments of the disclosed subject matter. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] FIELD OF THE DISCLOSURE The present disclosure relates to work machines, and more particularly to construction machines having various work tools, as well as systems, assemblies, and methods thereof. Generally, embodiments of the disclosed subject matter may implement a work machine that can determine an appropriate focus based on the type of work tool and operate guidance functions based on the focus.

[0011] Referring to the figures, Figure 1 illustrates an excavator (e.g., hydraulic) as a work machine 1 according to one or more embodiments of the disclosed subject matter, but not limited to such embodiments. A work machine 1 in the form of an excavator may also be referred to as a crawler.

[0012] The work machine 1 has an upper rotating body 2 as a machine body rotatably mounted on a lower running body 3 via a slewing bearing unit 4. The lower running body 3 may have left and right tracks that are controllable (via respective hydraulic motors) to move the work machine 1 in a traveling direction (forward or reverse). A cab 5 is provided on one side of the front of the upper rotating body 2, and a driver's seat, one or more operating levers, etc. are installed inside the cab 5. Furthermore, a boom 6 for excavation work can be attached to the other side of the front of the upper rotating body 2. An engine and a power unit such as a hydraulic pump driven by the engine are mounted at the rear of the upper rotating body 2 and are covered with a power unit cover 7.

[0013] The boom 6 is pivotally attached to a stick that terminates in a work tool 8, such as a bucket. The work tool 8 is attached to an arm of the work machine 1 via a coupling arrangement to perform various types of tasks. It is noted that embodiments of the disclosed subject matter are not limited to a bucket as the work tool 8, as shown in FIG. 1. For example, embodiments of the disclosed subject matter may include suitable accessories or tools other than a bucket, such as hammers, vibratory compactors, compaction wheels, forks, spades, handling arms, multi-processors, pulverizers, saws, shears, blowers, grinders, cultivators, trenchers, winches, augers, blades, brooms, cutters, planers, delimbers, felling heads, grapples, mulchers, rippers, and the like.

[0014] 2A, 2B, and 2C, which are perspective views of a work tool 8 according to one or more embodiments of the disclosed subject matter. As shown in FIG. 2A, a hammer 21 may be provided as the work tool 8 of the work machine 1. When the hammer 21 is attached to the work machine 1 as the work tool 8, the work machine 1 may break rocks or structures with the impact force of a chisel 217 of the hammer 21. With reference to FIG. 2A, the hammer 21 may include a power cell housing 212 defining a hydraulic inlet 213 and a hydraulic outlet 214 connectable to a hydraulic mounting system of the work machine 1. A machine mount 215 may be attached to one end of the power cell housing 212 and include a plurality of pin receiving holes 216 distributed in a pattern matching the boom mounting features of the work machine 1. A chisel 217 is partially housed within the power cell housing 212 and is movable relative to the power cell housing 212.

[0015] 2B, a vibratory compactor 22 may be provided as the work tool 8 of the work machine 1. The vibratory compactor 22 may include a base plate 221, a vibration mechanism 222, a support frame 223, a bracket 224, and a blade 225.

[0016] The vibration mechanism 222 includes a hydraulic motor and an eccentric mechanism driven by the hydraulic motor. The hydraulic motor is connected to the power system of the work machine 1, and the hydraulic motor drives the eccentric mechanism to rotate and generate an eccentric force through the rotation, which causes the base plate 221 to vibrate in the vertical direction and compact the soil.

[0017] The support frame 223 may be provided as a pair of side plates on either side of the underside of the bracket 224. The bracket 224 may include a number of pin-receiving holes that may be arranged in a pattern that matches the boom mounting features of the work machine 1.

[0018] In this embodiment, the blade 225 is provided on the rear of the body of the vibratory compactor 22 for bulldozing or shoveling material (e.g., soil, mud, rocks, sand, bricks, and / or other materials). The blade 225 can be moved along the ground by raising and lowering the boom 6 of the work machine 1. Optionally or alternatively, the blade 225 can be mounted on the front of the vibratory compactor 22.

[0019] 2C, a wheeled compactor 23 may be provided as the work tool 8 of the work machine 1. The wheeled compactor 23 may include a roller 231, a blade 232, and a bracket 233.

[0020] The roller 231 can be used to break up hard soil as it rotates. The blade 232 can be used in conjunction with the roller 231 to create a smooth furrow bottom. The blade 232 can be attached to either side of the roller 231 depending on how the operator of the work machine 1 pushes / pulls material into the furrow.

[0021] Bracket 233 may include a number of pin-receiving holes that may be arranged in a pattern that matches the boom mounting features of work machine 1 .

[0022] In this embodiment, the work machine 1 may include various guidance functions such as a "machine guidance function" (hereinafter also referred to as a first guidance function) and an "E-fence function" (hereinafter also referred to as a second guidance function) for assisting the operation of the operator. Specifically, when the operator of the work machine 1 activates the machine guidance function, if the work tool 8 is any of the bucket, hammer 21, vibratory compactor 22, and wheeled compactor 23, the work machine 1 may notify the operator of the status information of the work machine 1, so that the operator can control the machine based on the status information. Similarly, when the operator of the work machine 1 activates the E-fence function, if the work tool 8 is any of the bucket, hammer 21, vibratory compactor 22, and wheeled compactor 23, the work machine 1 may control to limit the working area (height / depth / distance) of the work tool 8 and control the actuator to avoid interference between the work tool 8 and the cab 5. In other words, the work machine 1 can control the actuator of the work machine 1 so that the work tool 8 does not protrude from a predetermined area in order to avoid interference between the work tool 8 and the cab 5 during operation of the E-fence function. Furthermore, during operation of the guidance function, the work machine 1 may output posture information of the work tool 8 to the operator.

[0023] To implement a machine guidance function or an E-fence function in the work machine 1, since the shapes of the work tool 8 are diverse, it is necessary to increase the number of measurement points on the work tool 8 for measurement, or to select guidance points from various measurement points (e.g., a compactor wheel or blade) and guide the work tool to a target point.

[0024] Furthermore, the work machine 1 may display the guidance angle "horizontal" or "horizontal" (hereinafter, sometimes referred to as the first type of output information) for the bucket, the vibratory compactor 22, and the wheeled compactor 23, and may also display the guidance angle "vertical" (hereinafter, sometimes referred to as the second type of output information) for the hammer 21 so that it is perpendicular to the object to be crushed.

[0025] Turning now to Figure 3, Figure 3 is a block diagram of a control system 31 for a work machine 1 in accordance with one or more embodiments of the disclosed subject matter. As shown in Figure 3, the control system 31 may include a controller 38, which may be implemented in or using control circuitry, one or more operator inputs 32, a communication unit 33, a memory 34, one or more displays 35, an audio unit 36, and one or more sensors 37. Controller 38, as used herein, may include only one controller or multiple controllers.

[0026] The memory 34 is operatively coupled to the controller 38 and may be external to the controller 38 as shown in FIG. 3 or may be internal to the controller 38, i.e., as part of the controller 38. In general, the memory 34 can receive and store data and information relating to the operation of the work machine 1. For example, the memory 34 can receive and store setting information for the machine guidance function and the E-fence function for each type of work tool 8 (e.g., bucket, hammer 21, vibratory compactor 22, wheel compactor 23). As an example, the memory 34 can also receive and store measurement data of the work machine 1, such as numerical data for the attitude of the work tool 8.

[0027] The communication unit 33 may be the control system 31 (or may be part of the control system 31). In this regard, the communication unit 33 may include a transmission circuit for transmitting information and data such as setting information of the machine guidance function and the E-fence function for each type of work tool 8 (e.g., bucket, hammer 21, vibratory compactor 22, wheeled compactor 23), and measurement data of the attitude of the work tool 8 to the back office system. Optionally, in this embodiment, the communication unit 33 may be configured using a communication device such as a local CAN, wired or wireless LAN, a communication card for Bluetooth, a communication router, a communication modem, etc. The audio unit 36 ​​may be provided, for example, in the cab 5 and may be configured with one or more audio speakers for outputting audible information such as warnings to the operator of the work machine 1.

[0028] The audio unit 36 ​​may be provided, for example, in the cab 5 and may consist of one or more audio speakers that output audible information, such as warnings, to the operator of the work machine 1. As an example, the audio unit 36 ​​may output audible information to the operator of the work machine 1 about what type of work tool 8 is currently attached to the work machine 1 and what guidance function is currently active. The one or more sensors 37 can detect various information of the work machine 1. For example, the one or more sensors 37 can include a position sensor related to the rotation or turning of the work machine 1, a three-axis acceleration sensor (including an acceleration sensor, a gravity detection sensor, and a fall detection sensor), or a three-axis gyro sensor (including an angular velocity sensor and a geomagnetic sensor). Output from the one or more sensors 37 can be fed back to the controller 38. Optionally, information from at least one of the one or more sensors 37 can be displayed on the display 35. As an example, the one or more sensors 37 can detect the angle of a target measurement point of the work tool 8 of the work machine 1.

[0029] The operator input(s) 32 may be switches, joystick levers, foot pedals, keyboards, or other input devices (or parts thereof). The operator input to the display 35 may be implemented by a touch panel equipped to the display 35. In this regard, such at least one display 35 may be implemented on a display device operative to display a graphical user interface (GUI). Optionally, the one or more displays 35 may output alerts and messages to the operator of the work machine 1, such as, for example, information regarding the type of work tool 8 currently attached to the work machine 1 and information regarding guidance functions enabled for the work tool 8.

[0030] The controller 38 can output control signals to various system components (hydraulic system, electrical system, etc.) to control the movement of the work machine 1 in response to the operator input(s) 32. The controller 38 includes a CPU, ROM, and RAM.

[0031] In an exemplary implementation, the control system 31 of the work machine 1, or portions thereof, may be implemented using circuits or processing circuits that may include general purpose processors, special purpose processors, integrated circuits, ASICs ("application specific integrated circuits"), CPUs (central processing units), microprocessors (MPUs), conventional circuits, and / or combinations thereof, configured or programmed to perform the disclosed functions. A processor may be considered a processing circuit or circuitry because it includes transistors and other circuits. A processor may be a programmed processor that executes a program stored in a memory. In this disclosure, a circuit, unit, or means may be hardware that performs or is programmed to perform the described functions. The hardware may be any hardware disclosed herein or otherwise known that is programmed or configured to perform the described functions. Where the hardware is a processor, which may be considered a type of circuit, the circuit, means, or unit may be a combination of hardware and software, with the software being used to configure the hardware and / or the processor.

[0032] Referring to FIG. 4, FIG. 4 shows a schematic diagram of a guidance screen displayed on the display 35. In one or more embodiments, FIG. 4 may show a guidance screen 41 including a field 42 showing a side view of a work tool icon and a field 43 showing a front view of the work tool icon when a bucket is attached to the work machine 1 as the work tool 8. A focus 44 may be displayed in both fields 42 and 43, respectively, to indicate a target point for measuring the attitude of the work tool 8. The focus 44 may be selected from one or more candidate points by the operator of the work machine 1, as described below in FIG. 5. More specifically, the attitude of the work tool 8 may be defined from the position and angle of the work tool 8 in the XYZ coordinate system. In one or more embodiments, the attitude of the work tool 8 calculated based on the selected focus may be displayed on the display 35 to provide visual information to the operator of the work machine 1 during the operation of a guidance function (e.g., a machine guidance function, an E-fence function, etc.).

[0033] The guidance screen 41 may also include a field 45 capable of displaying the movement direction of the work tool 8. In this embodiment, since a bucket is attached to the work machine 1 as the work tool 8, a "level" may be displayed in the field 45.

[0034] It should be noted that embodiments of the disclosed subject matter are not limited to the particular arrangement of fields on guidance screen 41 as shown in Figure 4. For example, embodiments of the disclosed subject matter may arrange the fields in different locations or include more fields on guidance screen 41 for other functions of work machine 1.

[0035] FIG. 5 is a schematic diagram of the display 35 when setting the focus of the work tool 8 of the work machine 1. When the work tool 8 is a bucket, the display 35 can display a screen 51 for selecting and setting the focus of the work tool 8 of the work machine 1. Fields 52, 53, 54, and 55 in the screen 51 can indicate the focus of the work tool 8 in the front view as "left", "center", "right", and "automatic", respectively. Here, in FIG. 5, the field 53 may be currently selected based on setting the focus of the work tool 8 to "center" based on an instruction input from the operator of the work machine 1. When the field 55 is selected by the input from the operator of the work machine 1, the controller 38 of the work machine 1 may automatically determine the focus based on information stored in the memory 34 at a predetermined cycle (e.g., measurement data by the sensor 37). Optionally or instead, the controller 38 of the work machine 1 may select the point closest to the surface of the target material from among "left", "center", and "right" in the front view when "automatic" is selected.

[0036] Optionally, screen 51 may include fields 56-58 for a menu button, a back button, and a home button, respectively. The menu button field 56 may be for displaying a list of menu items, the back button field 57 for returning to the previous screen, and the home button field 58 for returning to the home screen.

[0037] As an option, as shown in FIG. 5, display 35 may be equipped with a touch panel so that information such as setting information corresponding to fields 52 to 55 can be input to controller 38, and commands corresponding to the menu button, back button, and home button can be input via screen 51 using the touch panel of display 35.

[0038] It should be noted that embodiments of the disclosed subject matter are not limited to the particular arrangement of fields and buttons on the screen as shown in Figure 5. For example, embodiments of the disclosed subject matter may arrange the fields and buttons in different locations or include more fields and buttons on the screen for other functions of work machine 1.

[0039] Referring to Fig. 6, Fig. 6 shows a schematic diagram of a guidance screen displayed on the display 35. In one or more embodiments, Fig. 6 may show a guidance screen 61 including a field 62 showing a side view of a work tool icon and a field 63 showing a front view of the work tool icon when a hammer 21 is attached to the work machine 1 as the work tool 8. A focus 64 may be displayed in both fields 62 and 63, respectively, to indicate a target point for measuring the attitude of the work tool 8. In this embodiment, the focus 64 may be a contact point where the chisel 217 contacts the surface of the target material.

[0040] The guidance screen 61 may also include a field 65 capable of indicating the direction of movement of the work tool 8. In this embodiment, since the hammer 21 is attached to the work machine 1 as the work tool 8, "vertical" may be displayed in the field 65.

[0041] It should be noted that embodiments of the disclosed subject matter are not limited to the particular arrangement of fields on guidance screen 61 as shown in Figure 6. For example, embodiments of the disclosed subject matter may arrange the fields in different locations or include more fields on guidance screen 61 for other functions of work machine 1.

[0042] Referring now to Figure 7, Figure 7 illustrates a schematic diagram of a guidance screen displayed on display 35. In one or more embodiments, Figure 7 may illustrate a guidance screen 71 including a field 72 showing a side view of a work tool icon and a field 73 showing a front view of the work tool icon when a vibratory compactor 22 is attached to the work machine 1 as the work tool 8. A focal point 74 may be displayed in both fields 72 and 73, respectively, to indicate a target point for measuring the attitude of the work tool 8. The focal point 74 may be selected from one or more candidate points by the operator of the work machine 1, as described below in Figure 8.

[0043] The guidance screen 71 may also include a field 75 capable of indicating the direction of movement of the work tool 8. In this embodiment, since the vibratory compactor 22 is attached to the work machine 1 as the work tool 8, the field 75 may display "Level."

[0044] It should be noted that embodiments of the disclosed subject matter are not limited to the particular arrangement of fields on guidance screen 71 as shown in Figure 7. For example, embodiments of the disclosed subject matter may arrange the fields in different locations or include more fields on guidance screen 71 for other functions of work machine 1.

[0045] FIG. 8 is a schematic diagram of the display 35 when setting the focus of the work tool 8 of the work machine 1. When the work tool 8 is the vibratory compactor 22, the display 35 can display a screen 81 for selecting and setting the focus of the work tool 8 of the work machine 1. Fields 82, 83, 84, and 85 of the screen 81 can display the focus of the work tool 8 as "forward", "reverse", "blade", and "auto" in a side view, respectively. Here, in FIG. 8, the field 83 is currently selected based on an instruction input from the operator of the work machine 1, and the focus of the work tool 8 can be set to "reverse". When the field 85 is selected by the input from the operator of the work machine 1, the controller 38 of the work machine 1 may automatically determine the focus based on information stored in the memory 34 at a predetermined period (e.g., measurement data by the sensor 37). Optionally or alternatively, the controller 38 of the work machine 1 may select the point closest to the surface of the target material from among "forward", "reverse", and "blade" in a side view when "auto" is selected.

[0046] Optionally, screen 81 may include fields 56-58 for a menu button, a back button, and a home button, respectively, as described in FIG.

[0047] As an option, as shown in FIG. 8, display 35 may be equipped with a touch panel so that information such as setting information corresponding to fields 82 to 85 can be input to controller 38, and commands corresponding to the menu button, back button, and home button can be input via screen 81 using the touch panel of display 35.

[0048] It should be noted that embodiments of the disclosed subject matter are not limited to the particular arrangement of fields and buttons on the screen as shown in Figure 8. For example, embodiments of the disclosed subject matter may arrange the fields and buttons in different locations or include more fields and buttons on the screen for other functions of the work machine 1.

[0049] Referring to FIG. 9 , FIG. 9 shows a schematic diagram of a guidance screen displayed on the display 35. In one or more embodiments, FIG. 9 may show a guidance screen 91 including a field 92 showing a side view of the work tool icon and a field 93 showing a front view of the work tool icon when the wheeled compactor 23 is attached to the work machine 1 as the work tool 8. Foci 94 may be displayed in both fields 92 and 93, respectively, to indicate target points for measuring the attitude of the work tool 8. The focal point 94 may be selected from one or more candidate points by the operator of the work machine 1, as described below in FIG. 10 . In this embodiment, the guidance screen 91 may not include a field for the direction of movement of the work tool 8.

[0050] It should be noted that embodiments of the disclosed subject matter are not limited to the particular arrangement of fields on guidance screen 91 as shown in Figure 9. For example, embodiments of the disclosed subject matter may arrange the fields in different locations or include more fields on guidance screen 91 for other functions of work machine 1.

[0051] FIG. 10 is a schematic diagram of the display 35 when setting the focus of the work tool 8 of the work machine 1. When the work tool 8 of the work machine 1 is the wheeled compactor 23, the display 35 can display a screen 101 for selecting and setting the focus of the work tool 8. Fields 102, 103, and 104 of the screen 101 can display the focus of the work tool 8 as "roller", "blade in side view", and "automatic", respectively. Here, in FIG. 8, the field 103 is currently selected based on an instruction input from the operator of the work machine 1, and the focus of the work tool 8 may be set to "blade". When the field 104 is selected by the input from the operator of the work machine 1, the controller 38 of the work machine 1 may automatically determine the focus based on information stored in the memory 34 at a predetermined cycle (e.g., measurement data by the sensor 37). It should be noted that when "automatic" is selected, the controller 38 of the work machine 1 may select the point closest to the surface of the target material among "roller" and "blade" in the side view.

[0052] Optionally, screen 101 may include fields 56-58 for a menu button, a back button, and a home button, respectively, as described in FIG.

[0053] As an option, as shown in FIG. 10, the display 35 may be equipped with a touch panel so that information such as setting information corresponding to the fields 102 to 104 can be input to the controller 38, and commands corresponding to the menu button, back button, and home button can be input via the screen 101 using the touch panel of the display 35.

[0054] It should be noted that embodiments of the disclosed subject matter are not limited to the particular arrangement of fields and buttons on the screen as shown in Figure 10. For example, embodiments of the disclosed subject matter may arrange the fields and buttons in different locations or include more fields and buttons on the screen for other functions of the work machine 1. [Industrial Applicability]

[0055] As mentioned above, the present disclosure relates to work machines, and more particularly, to construction machines having a variety of work tools, as well as systems, assemblies, and methods thereof.

[0056] 11 is a flowchart of a method of operating a function of a work machine in accordance with one or more embodiments of the disclosed subject matter. Some or all of the operations of these methods may be performed by or using the controller 38. Additionally, some or all of the method(s) may be performed via a non-transitory computer-readable storage medium (or media) having instructions stored thereon that, when executed by one or more processors (e.g., the controller 38), cause the one or more processors to perform some or all of the methods.

[0057] The process of operating the guidance functions, i.e., the machine guidance function and / or the E-fence function, may begin when the controller 38 can activate the functions based on input information from an operator of the work machine 1 via the operator input 32 (S1). The operator of the work machine 1 may input information to activate the machine guidance function and / or the E-fence function when starting the engine of the work machine 1, when operating a quick coupler of the work machine 1 to attach a new work tool 8 while working, when restarting the engine, etc. Optionally or alternatively, the controller 38 can automatically detect a change of the work tool 8 and enable the machine guidance function and / or the E-fence function for the new work tool 8.

[0058] Next, the controller 38 may execute a process to determine whether the work tool 8 currently attached to the work machine 1 is the hammer 21 or not (S2). Optionally, or instead, the controller 38 may display a screen for the operator of the work machine 1 to select and input the attached work tool 8. Optionally, or instead, the controller 38 may detect the attached work tool 8 based on sensory information from the sensor(s) 37 of the work machine 1.

[0059] Next, if the determination in step S2 is "No", the controller 38 may execute a process of setting the focus of the work tool 8 from one or more candidates (S3). Specifically, the controller 38 may display a screen for the operator of the work machine 1 to select and input the focus of the work tool 8, as shown in Figs. 5, 8, and 10. The operator of the work machine 1 may select the focus based on the type of work. For example, if the attached work tool 8 is a wheeled compactor 23 and the next work of the work machine 1 is to compact the surface of the soil with the blade 232 of the wheeled compactor 23, the operator of the work machine 1 may select "Blade" as the focus position, as shown in Fig. 10. The controller 38 may set the focus of the work tool 8 based on an input from the operator of the work machine 1 via the operator input 32.

[0060] On the other hand, if the determination in step S2 is "yes", i.e., if the attached power tool 8 is the hammer 21, the focal point is preset on the hammer 21 as the contact point of the chisel 217, so step S3 may be skipped and the process may proceed to S4 in FIG. 11.

[0061] Next, the controller 38 may execute a process for measuring the attitude of the work tool 8 based on the selected focal point (S4). More specifically, the controller 38 may calculate the position in the XYZ coordinate system of the target point of the work tool 8 corresponding to the selected focal point. For example, the controller 38 may calculate the distance from the reference point of the target point of the work tool 8 corresponding to the selected focal point, and / or the angle from the reference plane in the XYZ coordinate system of the target point of the work tool 8 corresponding to the selected focal point.

[0062] Following step S4, the controller 38 may execute a process for operating a machine guidance function and / or an E-fence function based on the measured attitude of the work tool 8 (S5). More specifically, as the machine guidance function, when the attached work tool 8 is a bucket, the controller 38 may output a guidance screen 41 to the display 35 to assist the operator in operating the work machine 1, as shown in FIG. 4. Similarly, when the attached work tool 8 is a hammer 21, the controller 38 may output a guidance screen 61 on the display 35 to assist the operator in operating the work machine 1, as shown in FIG. 6. Similarly, when the attached work tool 8 is a vibratory compactor 22, the controller 38 may output a guidance screen 71 on the display 35 to assist the operator in operating the work machine 1, as shown in FIG. 7. Similarly, when the attached work tool 8 is a wheeled compactor 23, the controller 38 may output a guidance screen 91 on the display 35 to assist the operator in operating the work machine 1, as shown in FIG. 9. In one or more embodiments, the guidance screens 41, 61, 71, and 91 may be displayed in a three-dimensional view.

[0063] To operate the E-fence function, the controller 38 may calculate the current coordinates and the coordinates after a predetermined time of one or more monitoring points based on the measurement points of the work tool 8 corresponding to the focal point during the operation of the work tool 8. When the controller 38 predicts that any of the monitoring points will reach the boundary of the predetermined work limiting area after the predetermined time, the controller 38 may calculate a deceleration K according to the distance from the current coordinates of the monitoring point to the boundary of the predetermined work limiting area, and may control the actuator of the work machine 1 to decelerate by multiplying the deceleration K by the operating speed of the current actuator(s). When it is determined that one of the monitoring points has reached the prohibited area, the controller 38 may control the actuator to stop by multiplying the operating speed of the current actuator(s) by K=0 so that the work tool 8 does not protrude from the limited work area. During the operation of the E-fence function, the controller 38 may output the position information of the work tool 8 to the display 35, superimposed on the limited work area. Optionally or instead, the position information of the work tool 8 and the limited work area may be displayed in three dimensions.

[0064] After step S5, the controller 38 may end the process.

[0065] It should be noted that embodiments of the disclosed subject matter are not limited to the particular arrangement of process steps shown in Figure 11. For example, embodiments of the disclosed subject matter can add additional process steps to the control function and display information on the display 35 of the work machine 1.

[0066] As a result of the embodiment, the work machine can apply guidance functions, such as machine guidance functions and E-fence functions, to various types of work tools, such as hammers and compactors, thereby improving customer productivity and safety.

[0067] Thus, in accordance with an embodiment of the disclosed subject matter, a work machine may include a work tool mounted on an end of a boom of the work machine, and a processing circuitry that may be configured to determine a type of the work tool, set a focus of the work tool based on the type of work tool, measure an attitude of the work tool based on the focus, and provide a guidance function to an operator of the work machine responsive to the measured attitude of the work tool based on the focus.

[0068] The work machine can set an appropriate focus based on the type of work tool, thereby providing appropriate guidance features to the work machine operator.

[0069] In another aspect, a method for a work machine is disclosed or implemented, the method can include determining a type of a work tool of the work machine, outputting selectable information via an operator interface for selecting a focal point of the work tool from one or more candidates according to the determined type of the work tool, setting a focal point of the work tool based on an input via the operator interface, measuring an attitude of the work tool based on the focal point, outputting guidance information based on the measured attitude of the work tool and the focal point of the work tool, and providing a guidance function to the operator interface according to the measured attitude of the work tool based on the focal point.

[0070] Also, in another aspect, a non-transitory computer readable storage medium is disclosed or provided. The non-transitory computer readable storage medium may include computer executable instructions that, when executed by an information processing system of a work machine, cause the information processing system to perform a method, the method including the steps of: determining a type of a work tool of the work machine, setting a focus of the work tool based on an input via an operator interface, measuring an attitude of the work tool based on the focus, determining a type of output information based on the type of the work tool, the output information including directional information of the work tool, providing a guidance function including a first type of output information to the operator interface in response to the attitude of the work tool measured based on the focus, switching the type of output information from the first type of output information to the second type of output information on the condition that the work tool is exchanged from the first type to the second type, and providing a guidance function including the second type of output information to the operator interface in response to the attitude of the work tool measured based on the focus.

[0071] Although aspects of the present disclosure have been particularly shown and described with reference to the above embodiments, it will be understood by those skilled in the art that various additional embodiments are possible by modifying the disclosed machines, assemblies, systems, and methods without departing from the spirit and scope of the disclosed subject matter, and such embodiments are to be understood as falling within the scope of the present disclosure as determined by the appended claims and any equivalents thereof.

Claims

1. A work machine, a work tool attached to an end of a boom of the work machine; a processing circuit, the processing circuit comprising: determining a type of the work tool; setting a focus of the work tool based on the determined type of the work tool; measuring the attitude of the power tool based on the focus; A work machine configured to provide a guidance function to an operator of the work machine in response to an attitude of the work tool determined based on the focal point.

2. 2. A work machine according to claim 1, The work machine, wherein the processing circuit outputs selectable information on a display for selecting a focal point from one or more candidates under a condition that the work tool is a compactor.

3. 2. A work machine according to claim 1, the compactor is a vibratory compactor including a blade; The work machine, wherein the selectable information for selecting the focal point includes a forward point of the compactor, a reverse point of the compactor, and a point of a blade of the compactor in a side view of the compactor.

4. A work machine according to claim 2, the compactor is a wheel type compactor including a roller and a blade; The work machine, wherein the selectable information for selecting the focal point includes a center point of the compactor rollers and a point of the compactor blade in a side view of the compactor.

5. 3. A work machine according to claim 2, wherein the processing circuitry comprises: Providing selectable information for selecting a focus, including an automatic mode; The work machine, when the automatic mode is selected, is configured to select a focal point from one or more candidates based on predetermined information without input from the operator.

6. 2. The work machine of claim 1, wherein the processing circuitry comprises: providing a first guidance function as a guidance function for an operator of the work machine; The work machine is configured to output, during operation of the first guidance function, an icon and a focus of the work tool in at least one of a side view and a front view of the work tool on a screen of the display.

7. A work machine according to claim 6, The work machine, wherein the processing circuit is configured to output a direction of the work tool on a screen of the display during operation of the first guidance function.

8. A work machine according to claim 7, The work machine, wherein the processing circuit is configured to output the direction of the work tool as a vertical direction under a condition in which the work tool is a hammer.

9. 3. A work machine according to claim 2, wherein the processing circuitry comprises: providing a second guidance function as a guidance function for an operator of the work machine; Calculating the current coordinates and the coordinates after a predetermined time of the measurement attitude of the power tool corresponding to the focal point of the power tool; The work machine is configured to control an operating speed of at least one actuator of the work machine so that the work tool does not protrude from a predetermined working area during operation of the second guidance function.

10. A work machine according to claim 9, The work machine, wherein the processing circuitry is configured to output position information of the work tool and the predetermined work area to a display of the work machine during operation of the second guidance function.

11. 1. A method for controlling a work machine, comprising: determining a type of work tool for the work machine; outputting selectable information via an operator interface for selecting a focal point of the work tool from one or more candidates according to the determined type of the work tool; setting a focus of the work tool based on input via the operator interface; measuring the attitude of the power tool based on the focus; outputting guidance information based on the measured attitude of the power tool and the focal point of the power tool; and providing a guidance function to the operator interface in response to a position of a work tool determined based on the focus.

12. 12. The method of claim 11, The method, wherein the work tool is at least one of a bucket, a vibratory compactor, and a wheel compactor.

13. 13. The method of claim 12, the work tool is a vibratory compactor, the vibratory compactor having a blade; The method, wherein selectable information for selecting the focal point includes a forward point of the compactor, a reverse point of the compactor, and a point of a blade of the compactor in a side view of the compactor.

14. 13. The method of claim 12, The working tool is a wheeled compactor, the wheeled compactor having a roller and a blade; The method, wherein selectable information for selecting the focal point includes a center point of the rollers of the compactor and a point of a blade of the compactor in a side view of the compactor.

15. 12. The method of claim 11, The method, wherein the selectable information for selecting the focal point includes an automatic mode that selects a focal point from one or more candidates based on predetermined information without input from an operator.

16. 12. The method of claim 11, providing a first guidance function as a guidance function via an operator interface; and The method further includes a step of outputting, during operation of the first guidance function, an icon and a focus of the work tool in at least one of a side view and a front view of the work tool on a screen of a display.

17. 12. The method of claim 11 , comprising: providing a second guidance function as a guidance function to an operator of the work machine; calculating the current coordinates and the coordinates after a predetermined time of a measured orientation of the work tool corresponding to the focal point of the work tool; The method includes controlling an operating speed of at least one actuator of the work machine such that the work tool does not protrude outside a predetermined work area during operation of the second guidance function.

18. A non-transitory computer readable storage medium containing computer executable instructions that, when executed by an information processing system of a work machine, cause the information processing system to perform a method, the method comprising: determining a type of work tool for the work machine; setting a focus of the work tool based on input via an operator interface; measuring the attitude of the power tool based on the focus; determining a type of output information based on a type of the power tool, the output information including directional information of the power tool; providing an operator interface with a guidance function including the first type of output information in response to an attitude of the work tool measured based on the focus; switching a type of the output information from the first type to the second type on the condition that the power tool is converted from the first type to the second type; and providing to the operator interface a guidance function having the second type of output information in response to the attitude of the work tool measured based on the focus.

19. 20. The non-transitory computer-readable storage medium of claim 18, wherein the first type of work tool is one of a bucket, a vibratory compactor, and a wheel compactor, and the first type of output information indicates a horizontal direction as directional information of the work tool.

20. 20. The non-transitory computer readable storage medium of claim 19, wherein the second type of power tool is a hammer, and the second type of output information indicates a vertical direction as directional information of the power tool.

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