Work system

Abstract

To provide a work system capable of confirming whether or not a target locus is correctly set.SOLUTION: A work system has: control means for operating an upper turning body 22 and an attachment 30 so that a tip of a bucket 33 is moved along a target locus 70; calculation means for calculating a relative position between a predetermined region 72 set at a work site and the target locus 70; and confirmation means for confirming whether or not the target locus 70 is correctly set, on the basis of the relative position calculated by the calculation means.SELECTED DRAWING: Figure 3

Description

[Technical field]

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

[0002] Patent Document 1 discloses that a work machine is automatically operated so that a specific portion of the attachment moves along a target trajectory of the specific portion of the attachment. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2022-64000 Summary of the Invention [Problem to be solved by the invention]

[0004] Incidentally, in Patent Document 1, it is assumed that the target trajectory is set correctly. However, in automatic driving, the movement of the attachment is faithfully reproduced along the target trajectory, so it is important whether the target trajectory is set correctly.

[0005] An object of the present invention is to provide a work system capable of checking whether a target trajectory is set correctly. [Means for solving the problem]

[0006] The present invention is a work system equipped with a work machine, characterized in that it comprises a lower running body, an upper rotating body rotatably attached to the upper part of the lower running body, an attachment rotatably attached to the upper rotating body, a control means for operating the upper rotating body and the attachment so that a specific portion of the attachment moves along a target trajectory, a calculation means for calculating the relative position between a predetermined area set at a work site and the target trajectory, and a confirmation means for confirming whether the target trajectory is set correctly based on the relative position calculated by the calculation means. Effect of the Invention

[0007] According to the present invention, the relative position between a predetermined area set in a work site and a target trajectory is calculated. Whether or not the target trajectory has been set correctly is confirmed based on the calculated relative position. For example, it is possible to automatically determine whether or not the target trajectory has been set correctly from the calculated relative position. In addition, for example, the calculated relative position is displayed on a display. A worker or the like who monitors the work of the work machine can determine whether or not the target trajectory has been set correctly by visually checking the relative position. This makes it possible to confirm whether or not the target trajectory has been set correctly. [Brief description of the drawings]

[0008] [Figure 1] FIG. [Diagram 2] FIG. 2 is a functional configuration diagram of the work system. [Diagram 3] FIG. [Figure 4] FIG. 11 is a top view of the work machine, illustrating a case where the target trajectory is not set correctly. [Diagram 5] FIG. 11 is a top view of the work machine, showing how a source area is set. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

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

[0010] (Working system configuration) A working system 1 according to this embodiment includes a working machine 20, as shown in Fig. 1 which is a side view of the working system 1. The working machine 20 is a machine that performs work using an attachment 30, such as a hydraulic excavator. The working machine 20 has a machine body 24 equipped with a lower traveling body 21 and an upper rotating body 22, the attachment 30, and a cylinder 40. In this embodiment, the working machine 20 is automatically operated.

[0011] The lower traveling structure 21 is a portion that causes the work machine 20 to travel, and is equipped with, for example, crawlers. The upper rotating structure 22 is attached to the upper part of the lower traveling structure 21 so as to be able to rotate via a rotating device 25. A cab (operator's compartment) 23 is provided at the front part of the upper rotating structure 22.

[0012] The attachment 30 is attached to the upper rotating body 22 so as to be rotatable in the vertical direction. The attachment 30 includes a boom 31, an arm 32, and a bucket 33. The boom 31 is attached to the upper rotating body 22 so as to be rotatable (raised and lowered) in the vertical direction. The arm 32 is attached to the boom 31 so as to be rotatable in the vertical direction. The bucket 33 is a tip attachment that is the tip of the attachment 30, and is attached to the arm 32 so as to be rotatable in the front-to-rear direction of the upper rotating body 22. The bucket 33 performs tasks such as digging, leveling, and scooping soil and sand.

[0013] The end attachment is not limited to the bucket 33, and may be a lifting magnet or the like. The lifting magnet attracts metal such as scrap by electromagnetic force.

[0014] The cylinder 40 is capable of hydraulically rotating the attachment 30. The cylinder 40 is a hydraulic telescopic cylinder. Note that the cylinder 40 may be an electric cylinder. The cylinder 40 includes a boom cylinder 41, an arm cylinder 42, and a bucket cylinder 43.

[0015] The boom cylinder 41 rotates the boom 31 relative to the upper rotating body 22. A base end of the boom cylinder 41 is rotatably attached to the upper rotating body 22. A tip end of the boom cylinder 41 is rotatably attached to the boom 31.

[0016] The arm cylinder 42 rotates the arm 32 relative to the boom 31. A base end of the arm cylinder 42 is rotatably attached to the boom 31. A tip end of the arm cylinder 42 is rotatably attached to the arm 32.

[0017] The bucket cylinder 43 rotates the bucket 33 relative to the arm 32. A base end of the bucket cylinder 43 is rotatably attached to the arm 32. A tip end of the bucket cylinder 43 is rotatably attached to a link member 34 that is rotatably attached to the bucket 33.

[0018] The work machine 20 also has a turning angle sensor 52 and a tilt angle sensor 60 .

[0019] The slewing angle sensor 52 detects the slewing angle of the upper rotating body 22 relative to the lower traveling body 21. The slewing angle sensor 52 is, for example, an encoder, a resolver, or a gyro sensor. In this embodiment, the slewing angle of the upper rotating body 22 when the front of the upper rotating body 22 coincides with the front of the lower traveling body 21 is set to 0°.

[0020] The inclination angle sensor 60 detects the attitude of the attachment 30. The inclination angle sensor 60 includes a boom inclination angle sensor 61, an arm inclination angle sensor 62, and a bucket inclination angle sensor 63.

[0021] The boom inclination angle sensor 61 is attached to the boom 31 and detects the attitude of the boom 31. The boom inclination angle sensor 61 is a sensor that acquires the inclination angle of the boom 31 with respect to the horizontal line, and is, for example, an inclination (acceleration) sensor. Note that the boom inclination angle sensor 61 may be a rotation angle sensor that detects the rotation angle of the boom foot pin (boom base end) or a stroke sensor that detects the stroke amount of the boom cylinder 41.

[0022] The arm inclination angle sensor 62 is attached to the arm 32 and detects the posture of the arm 32. The arm inclination angle sensor 62 is a sensor that obtains the inclination angle of the arm 32 with respect to the horizontal line, and is, for example, an inclination (acceleration) sensor. Note that the arm inclination angle sensor 62 may be a rotation angle sensor that detects the rotation angle of the arm connecting pin (base end of the arm) or a stroke sensor that detects the stroke amount of the arm cylinder 42.

[0023] The bucket inclination angle sensor 63 is attached to the link member 34 and detects the attitude of the bucket 33. The bucket inclination angle sensor 63 is a sensor that obtains the inclination angle of the bucket 33 with respect to the horizontal line, and is, for example, an inclination (acceleration) sensor. Note that the bucket inclination angle sensor 63 may be a rotation angle sensor that detects the rotation angle of the bucket connecting pin (bucket base end) or a stroke sensor that detects the stroke amount of the bucket cylinder 43.

[0024] The work system 1 also has an imaging device 5. The imaging device 5 is provided at the work site. The imaging device 5 is provided on a pole or the like erected at the work site. The imaging device 5 may also be provided on the machine body 24 of the work machine 20 or the like. In this embodiment, the imaging device 5 is a LiDAR (Light Detection and Ranging or Laser Imaging Detection and Ranging). In this embodiment, there is one imaging device 5, but multiple imaging devices 5 may also be provided.

[0025] The imaging device 5 captures images of the surroundings of the work machine 20. The imaging device 5 acquires point cloud data (three-dimensional point cloud) indicating the distance from the position where the imaging device 5 is attached to the imaging target. Note that the imaging device 5 is not limited to LiDAR, and may be a TOF (Time of flight) sensor, a stereo camera, or the like.

[0026] Note that the work system 1 may have a camera that captures images of the surroundings of the work machine 20, in addition to the imaging device 5. A plurality of cameras may be provided.

[0027] The work system 1 also has a mobile terminal 7. The mobile terminal 7 is a smartphone or tablet terminal carried by a worker who monitors work by the work machine 20 at the work site. The mobile terminal 7 has a display 7a and a touch panel 7b.

[0028] (Functional configuration of the working system) As shown in FIG. 2, which is a functional configuration diagram of the work system 1, the work machine 20 has a controller 11, a storage device 13, and a communication device .

[0029] The communication device 14 communicates with the imaging device 5 and the mobile terminal 7 .

[0030] The controller 11 receives input of information relating to the rotation angle (posture) of the upper rotating body 22 relative to the lower traveling body 21, detected by the rotation angle sensor 52. The controller 11 also receives input of information relating to the posture of the boom 31, detected by the boom inclination angle sensor 61. The controller 11 also receives input of information relating to the posture of the arm 32, detected by the arm inclination angle sensor 62. The controller 11 also receives input of information relating to the posture of the bucket 33, detected by the bucket inclination angle sensor 63.

[0031] 3 which is a top view of the work machine 20, the controller 11 automatically operates the work machine 20. The controller 11 automatically operates the slewing device 25 and the attachment 30 so as to perform a predetermined automatic operation. The predetermined automatic operation is, for example, an operation of repeating excavation, lifting and slewing, soil removal, and return slewing in this order.

[0032] Excavation is the operation of scooping up soil and sand with the bucket 33. Excavation is performed, for example, at the soil pile 80. Soil dumping is the operation of releasing the soil and sand held by the bucket 33. Soil dumping is performed, for example, at the bed 91 of a dump truck 90. ​​Lifting rotation is the operation of rotating the upper rotating body 22 so that the bucket 33 moves from the soil pile 80 to the bed 91 of the dump truck 90. ​​Return rotation is the operation of rotating the upper rotating body 22 so that the bucket 33 moves from the bed 91 of the dump truck 90 to the soil pile 80.

[0033] The controller (control means) 11 operates the upper rotating body 22 and the attachment 30 so that the specific portion of the attachment 30 moves along a target trajectory 70. In this embodiment, the specific portion of the attachment 30 is the tip of the bucket 33, but is not limited to this. The target trajectory 70 includes an excavation trajectory 70a, a lifting trajectory 70b, a soil discharge trajectory 70c, and a return trajectory 70d.

[0034] 3, a plurality of predetermined areas 72 are set at the work site. The predetermined areas 72 include at least one of an origin area 73 of the tip of the bucket 33 and a destination area 74. In this embodiment, the predetermined area 72 includes both the origin area 73 and the destination area 74. The origin area 73 is set so as to include a pile of earth and sand 80. The destination area 74 is set so as to include a loading platform 91 of a dump truck 90.

[0035] Here, the predetermined area 72 may include an intermediate area 75. The intermediate area is set, for example, between a source area 73 and a destination area 74. The predetermined area 72 may also include a prohibited area 76. The prohibited area 76 is an area into which the bucket 33 is prohibited from entering. The prohibited area 76 is set, for example, centered around an obstacle.

[0036] The controller (calculation means) 11 calculates the relative position between the predetermined area 72 and the target trajectory 70. The controller (confirmation means) 11 confirms whether or not the target trajectory 70 is set correctly, based on the relative position calculated by itself.

[0037] In this embodiment, the controller (determination means) 11 determines whether or not the target trajectory 70 is set correctly based on the relative position. Specifically, the controller 11 determines whether or not the target trajectory 70 passes through a source area 73. The controller 11 also determines whether or not the target trajectory 70 passes through a destination area 74. The controller 11 also determines whether or not the target trajectory 70 passes through an intermediate area 75. The controller 11 also determines whether or not the target trajectory 70 passes through a prohibited area 76.

[0038] The controller (determination means) 11 determines that the target trajectory 70 is set correctly when all of the following conditions (1) to (8) are satisfied: (1) The entire excavation trajectory 70a passes through the source area 73. (2) The entire earth discharge trajectory 70c passes through the destination area 74. (3) A portion of the lifting rotation trajectory 70b that connects to the excavation trajectory 70a passes through the source area 73. (4) A portion of the lifting rotation trajectory 70b that connects to the earth discharge trajectory 70c passes through the destination area 74. (5) A portion of the return rotation trajectory 70d that connects to the excavation trajectory 70a passes through the source area 73. (6) A portion of the return rotation trajectory 70d that connects to the earth discharge trajectory 70c passes through the destination area 74. (7) The middle part of the lifting swing trajectory 70b and the middle part of the return swing trajectory 70d each pass through the middle area 75. (8) None of the excavation trajectory 70a, the lifting swing trajectory 70b, the soil removal trajectory 70c, and the return swing trajectory 70d passes through the prohibited area 76. Figure 3 illustrates a case where all of the conditions (1) to (8) are satisfied.

[0039] On the other hand, the controller (determination means) 11 determines that the target trajectory 70 is not set correctly when any of the above conditions (1) to (8) are not satisfied. Figure 4, which is a top view of the work machine 20, illustrates a case where the above conditions (2), (4), and (6) are not satisfied. That is, the entire earth discharge trajectory 70c does not pass through the destination area 74. In addition, a part of the lifting swing trajectory 70b that is connected to the earth discharge trajectory 70c does not pass through the destination area 74. In addition, a part of the return swing trajectory 70d that is connected to the earth discharge trajectory 70c does not pass through the destination area 74.

[0040] In this manner, the relative position between the predetermined area 72 set in the work site and the target trajectory 70 is calculated. Whether or not the target trajectory 70 is set correctly is confirmed based on the calculated relative position. For example, whether or not the target trajectory 70 is set correctly can be automatically determined from the calculated relative position. This makes it possible to confirm whether or not the target trajectory 70 is set correctly.

[0041] Furthermore, whether or not the target trajectory 70 is set correctly is determined based on the relative position. For example, when the target trajectory 70 passes through a predetermined area 72, it can be determined that the target trajectory 70 is set correctly. This allows an operator or the like to check whether or not the target trajectory 70 is set correctly without visually checking the relative position.

[0042] Further, the predetermined area 72 includes an origin area 73 of the specific part (the tip of the bucket 33) and a destination area 74. For example, if the specific part passes through the origin area 73 and the destination area 74, it can be determined that the target trajectory 70 is set correctly.

[0043] Further, the predetermined area 72 includes an intermediate area 75 between the source area 73 and the destination area 73. For example, if the specific part passes through the intermediate area 75, it can be determined that the target trajectory 70 is set correctly.

[0044] The predetermined area 72 also includes a prohibited area 76 in which the specific part is prohibited from entering. For example, if the specific part does not pass through the prohibited area 76, it can be determined that the target trajectory 70 is set correctly.

[0045] When the controller (determination means) 11 determines that the target trajectory is not set correctly, it outputs the reason for the determination. The controller (determination means) 11 outputs the reason for the determination to the mobile terminal 7. In the case shown in Fig. 4, the fact that the above (2), (4), and (6) are not satisfied is output to the mobile terminal 7. This allows the worker or the like to know the reason why the target trajectory 70 is not set correctly.

[0046] Moreover, the controller (display means) 11 displays the relative position on a display. The display is a display 7a of a mobile terminal 7 carried by the worker, or a display provided in the cab 23 of the work machine 20. In this embodiment, the controller (display means) 11 displays images as shown in Fig. 3 and Fig. 4 on the display. That is, a predetermined area 72 and a target trajectory 70 are displayed on the display. A worker or the like who monitors the work of the work machine 20 can determine whether or not the target trajectory 70 is set correctly by visually checking the relative position. For example, when it can be visually confirmed that the target trajectory 70 passes through the predetermined area 72, it can be determined that the target trajectory 70 is set correctly. Note that the images as shown in Fig. 3 and Fig. 4 are captured by the imaging device 5 or another camera.

[0047] In this way, a worker or the like who monitors the work of the work machine 20 can determine whether or not the target trajectory 70 has been set correctly by visually checking the relative position. This makes it possible to check whether or not the target trajectory 70 has been set correctly.

[0048] Here, the controller (trajectory setting means) 11 sets the target trajectory 70 based on teaching. The teaching is performed as follows. An operator on board the work machine 20, or an operator remotely operating the work machine 20, actually operates the work machine 20 to perform excavation, lifting rotation, soil removal, and return rotation in this order. The postures of the upper rotating body 22 and the attachment 30 at this time are stored in the storage device 13 at predetermined time intervals. In this case, the validity of the teaching can be confirmed by checking whether the target trajectory 70 has been set correctly.

[0049] The target trajectory 70 may be set by inputting numerical values. The numerical values ​​may be input to the touch panel 7b of the mobile terminal 7. The touch panel (input device) 7b accepts an input operation by the worker. The controller (trajectory setting means) 11 of the work machine 20 sets the target trajectory 70 based on the input operation to the touch panel 7b. For example, a screen as shown in FIG. 3 is displayed on the display 7a of the mobile terminal 7, and the target trajectory 70 is set by the worker tracing the touch panel 7b with his / her finger. In this case, the validity of the input operation can be confirmed by checking whether the target trajectory 70 is set correctly. The controller (CPU) (trajectory setting means) of the mobile terminal 7 may set the target trajectory 70 based on the input operation to the touch panel 7b, and transmit the target trajectory 70 to the work machine 20.

[0050] The target trajectory 70 may be automatically generated by AI (Artificial Intelligence). The controller (trajectory setting means) 11 of the work machine 20 sets the target trajectory 70 based on the imaging results of the imaging device 5. The work machine 20, the pile of earth and sand 80, the bed 91 of the dump truck 90, obstacles, etc. are identified from the point cloud data of the imaging device 5. The controller (trajectory setting means) 11 of the work machine 20 sets the excavation trajectory 70a so as to overlap the pile of earth and sand 80, sets the dumping trajectory 70c so as to overlap the bed 91 of the dump truck 90, and sets the lifting rotation trajectory 70b and the return rotation trajectory 70d so as to connect the excavation trajectory 70a and the dumping trajectory 70c. In this case, the validity of the imaging results can be confirmed by checking whether the target trajectory 70 is set correctly. It should be noted that the controller (CPU) (trajectory setting means) of the portable terminal 7 may set the target trajectory 70 based on the imaging results of the imaging device 5 and transmit this to the work machine 20.

[0051] Furthermore, the target trajectory 70 may be set based on a predetermined area 72. The controller (trajectory setting means) 11 sets the target trajectory 70 based on the predetermined area 72. Specifically, the target trajectory 70 is set so as to pass through a source area 73, a destination area 74, and an intermediate area 75, and not pass through a prohibited area 76. In this case, the validity of the predetermined area 72 can be confirmed by checking whether the target trajectory 70 is set correctly. Note that the controller (CPU) (trajectory setting means) of the portable terminal 7 may set the target trajectory 70 based on the predetermined area 72 and transmit it to the work machine 20.

[0052] The set target trajectory 70 is stored in the storage device 13 of the work machine 20 or in a storage area of ​​the mobile terminal 7. When performing automatic operation, the controller 11 of the work machine 20 reads out the target trajectory 70 from the storage device 13 or receives information on the target trajectory 70 from the mobile terminal 7. Then, the controller (calculation means) 11 calculates the relative position between the predetermined area 72 and the target trajectory 70. The controller (confirmation means) 11 confirms whether or not the target trajectory 70 is set correctly based on the relative position calculated by itself. Specifically, the controller (determination means) 11 determines whether or not the target trajectory 70 is set correctly based on the relative position. Furthermore, the controller (display means) 11 displays the relative position on a display. Then, when it is determined that the target trajectory 70 is set correctly, the controller (control means) 11 operates the upper rotating body 22 and the attachment 30 so that a specific portion of the attachment 30 moves along the target trajectory 70 during automatic operation. On the other hand, if it is determined that the target trajectory 70 is not set correctly, the target trajectory 70 is reset.

[0053] Here, the controller (area setting means) 11 sets a predetermined area 72 based on teaching. Teaching is performed as follows. As shown in Fig. 5, which is a top view of the work machine 20, an operator riding on the work machine 20 actually operates the work machine 20 to position the tip of the bucket 33 at each of the four corners of a pile of earth and sand 80. The attitudes of the upper rotating body 22 and the attachment 30 at each of the four positions are stored in the storage device 13. This sets the origin area 73. In a similar manner, the destination area 74, intermediate area 75, and prohibited area 76 are each set.

[0054] The predetermined area 72 may be set by inputting numerical values. The numerical values ​​may be input to the touch panel 7b of the mobile terminal 7. For example, a screen as shown in Fig. 5 is displayed on the display 7a of the mobile terminal 7, and the worker traces his / her finger over the touch panel 7b so as to surround the pile of dirt 80, thereby setting the source area 73.

[0055] The predetermined area 72 may be automatically generated by AI (Artificial Intelligence). For example, the predetermined area 72 is automatically generated by the controller 11 of the work machine 20 or the controller (CPU) of the mobile terminal 7. The work machine 20, the pile of earth and sand 80, the bed 91 of the dump truck 90, obstacles, etc. are identified from the point cloud data of the imaging device 5. The controller 11 of the work machine 20 or the controller of the mobile terminal 7 sets the source area 73 to surround the pile of earth and sand 80, and sets the destination area 74 to surround the bed 91 of the dump truck 90. ​​The controller 11 of the work machine 20 or the controller of the mobile terminal 7 sets an intermediate area 75 between the source area 73 and the destination area 74, and sets a prohibited area 76 to surround the obstacle.

[0056] The predetermined area 72 may also be set using markers. The markers are set on the pile of dirt 80, the loading platform 91 of the dump truck 90, obstacles, and the like. The markers are, for example, AR markers, and are captured by the imaging device (marker imaging device) 5 or another camera (marker imaging device). As shown in FIG. 5, the markers are set, for example, at the four corners of the pile of dirt 80. From these markers, the origin area 73 is set. In a similar manner, the destination area 74 and the prohibited area 76 are set. The controller (area setting means) 11 sets the predetermined area 72 based on the imaging results of the imaging device 5, etc. By using markers, the predetermined area 72 can be set more easily than by teaching the work machine 20 to operate.

[0057] (effect) As described above, according to the work system 1 of this embodiment, as shown in FIG. 3, the relative position between the predetermined area 72 set at the work site and the target trajectory 70 is calculated. Whether or not the target trajectory 70 is set correctly is confirmed based on the calculated relative position. For example, whether or not the target trajectory 70 is set correctly can be automatically determined from the calculated relative position. In addition, for example, the calculated relative position is displayed on a display. A worker or the like who monitors the work of the work machine 20 can visually check the relative position to determine whether or not the target trajectory 70 is set correctly. This makes it possible to confirm whether or not the target trajectory 70 is set correctly.

[0058] 3, whether or not the target trajectory 70 is set correctly is determined based on the relative position. For example, when the target trajectory 70 passes through a predetermined area 72, it can be determined that the target trajectory 70 is set correctly. This allows an operator or the like to check whether or not the target trajectory 70 is set correctly without visually checking the relative position.

[0059] 4, when it is determined that the target trajectory 70 is not set correctly, the reason for this determination is output. The reason for this determination is, for example, that the target trajectory 70 does not pass through a predetermined area 72. For example, the reason for this determination is notified to a worker or the like monitoring the work of the work machine 20. This allows the worker or the like to know the reason why the target trajectory 70 is not set correctly.

[0060] Furthermore, the relative position is shown on the display as shown in Fig. 3. An operator or the like monitoring the work of the work machine 20 can determine whether or not the target trajectory 70 is set correctly by visually checking the relative position. For example, when it can be visually confirmed that the target trajectory 70 passes through a predetermined area 72, it can be determined that the target trajectory 70 is set correctly.

[0061] 3, the predetermined area 72 includes an origin area 73 of the specific part (the tip of the bucket 33) and a destination area 74. For example, if the specific part passes through the origin area 73 and the destination area 74, it can be determined that the target trajectory 70 is set correctly.

[0062] 3, the predetermined area 72 includes an intermediate area 75 between a source area 73 and a destination area 74. For example, if the specific part passes through the intermediate area 75, it can be determined that the target trajectory 70 is set correctly.

[0063] 3, the predetermined area 72 includes a prohibited area 76 in which the intrusion of the specific part is prohibited. For example, if the specific part does not pass through the prohibited area 76, it can be determined that the target trajectory 70 is set correctly.

[0064] Furthermore, the target trajectory 70 is set based on the teaching. By checking whether the target trajectory 70 is set correctly, the validity of the teaching can be confirmed.

[0065] Furthermore, the target trajectory 70 is set based on an input operation to the input device (touch panel 7b). By checking whether the target trajectory 70 is set correctly, the validity of the input operation can be confirmed.

[0066] Moreover, the target trajectory 70 is set based on the imaging result of the imaging device 5. By checking whether the target trajectory 70 is set correctly, the validity of the imaging result can be confirmed.

[0067] Moreover, the target trajectory 70 is set based on a predetermined area 72. By checking whether the target trajectory 70 is set correctly, the validity of the predetermined area 72 can be confirmed.

[0068] Furthermore, the predetermined area 72 is set based on the imaging results of a marker imaging device (such as the imaging device 5) that images the marker. By using the marker, the predetermined area 72 can be set more easily than by teaching the work machine 20 to operate.

[0069] Although the embodiments of the present invention have been described above, they are merely illustrative examples and do not limit the present invention, and the specific configurations and the like can be appropriately modified in design. Furthermore, the actions and effects described in the embodiments of the invention are merely a list of the most preferable actions and effects resulting from the present invention, and the actions and effects of the present invention are not limited to those described in the embodiments of the present invention.

[0070] For example, the controller 11 of the work machine 20 calculates the relative position and checks whether the target trajectory 70 is set correctly based on the relative position, but this may be performed by the mobile terminal 7 or a server (not shown). The server communicates with the controller 11 of the work machine 20. [Explanation of symbols]

[0071] 1. Working System 5 Imaging device (marker imaging device) 7 Mobile devices 7a Display 7b Touch panel (input device) 11 Controller (control means, calculation means, confirmation means, determination means, display means, trajectory setting means, area setting means) 13 Storage device 14 Communication equipment 20 Work Machinery 21 Undercarriage 22 Upper rotating body 23 Cab 24 Machine body 25 Swivel 30 Attachment 31 Boom 32 Arm 33 Bucket 34 Link member 40 Cylinder 41 Boom cylinder 42 Arm Cylinder 43 Bucket Cylinder 52 Rotation angle sensor 60 Inclination Sensor 61 Boom tilt angle sensor 62 Arm inclination angle sensor 63 Bucket tilt angle sensor 70 Target trajectory 72 Prescribed Area 73 Source area 74 Destination area 75 Intermediate area 76 Forbidden Area 80 Sand Mountain 90 Dump Truck 91 Cargo Bed

Claims

1. A work system including a work machine, A lower running body; An upper rotating body rotatably attached to an upper portion of the lower traveling body; An attachment rotatably attached to the upper rotating body; A control means for operating the upper rotating body and the attachment so that a specific portion of the attachment moves along a target trajectory; A calculation means for calculating a relative position between a predetermined area set in a work site and the target trajectory; a confirmation means for confirming whether or not the target trajectory is correctly set based on the relative position calculated by the calculation means; A work system comprising:

2. 2. The work system according to claim 1, wherein the confirmation means includes a determination means for determining whether or not the target path is correctly set based on the relative position.

3. 3. The work system according to claim 2, wherein the determining means, when determining that the target trajectory is not set correctly, outputs a reason for the determination.

4. 2. The work system according to claim 1, wherein the confirmation means includes a display means for displaying the relative position on a display.

5. 2. The work system according to claim 1, wherein the predetermined area includes at least one of an origin area and a destination area of ​​the specific part.

6. 6. The work system according to claim 5, wherein the predetermined area includes an intermediate area between the source area and the destination area.

7. 2. The work system according to claim 1, wherein the predetermined area includes a prohibited area into which the specific part is prohibited from entering.

8. 2. The work system according to claim 1, further comprising a path setting means for setting the target path based on teaching.

9. an input device that accepts input operations by a worker; 2. The work system according to claim 1, further comprising a trajectory setting means for setting the target trajectory based on an input operation to the input device.

10. an imaging device that images the surroundings of the work machine; 2. The work system according to claim 1, further comprising a trajectory setting means for setting the target trajectory based on the image pickup result of the image pickup device.

11. 2. The work system according to claim 1, further comprising a trajectory setting means for setting the target trajectory based on the predetermined area.

12. A marker disposed at the work site; a marker imaging device that images the marker; having 2. The work system according to claim 1, further comprising an area setting means for setting the predetermined area based on an image pickup result of the marker image pickup device.

Images