Work support system, work machine, and work support program

Abstract

To appropriately set a work position, which is a target position where an end attachment of a work machine releases a work object.SOLUTION: A work support system 1 comprises a machine body 10a of a work machine 10, an attachment 15, and a controller 50. The attachment 15 is operably attached to the machine body 10a. The attachment 15 has an end attachment 15d that performs work. The controller 50 comprises a work position setting unit 51, a state determination unit 53, and a work position correction unit 55. The work position setting unit 51 sets a work position P that is a target position where the end attachment 15d releases a work object O. The state determination unit 53 determines the state of the work object O that the end attachment 15d captures. The work position correction unit 55 corrects the work position P with a correction value based on the state of the work object O.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present invention relates to a work support system, a work machine, and a work support program that support a work to release a work object by a work machine. [Background technology]

[0002] For example, Patent Document 1 describes a shovel that autonomously performs an operation of loading a work object into a plurality of preset positions on the bed of a dump truck in sequence. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 7227222 Summary of the Invention [Problem to be solved by the invention]

[0004] However, depending on the condition of the work object held by the end attachment, even if the loading operation is performed at a preset target position, the work object may not be properly loaded into a container such as a loading platform. Also, even in a task other than loading the work object into a container, depending on the condition of the work object held by the end attachment, the work object may not be properly released at the preset target position.

[0005] Therefore, an object of the present invention is to provide a work assistance system, a work machine, and a work assistance program that can appropriately set a work position, which is a target position where the end attachment of the work machine releases a work object. [Means for solving the problem]

[0006] The work support system comprises a machine body of a work machine, an attachment, and a controller. The attachment is operably attached to the machine body. The attachment has an end attachment that performs work. The controller comprises a work position setting unit, a state determination unit, and a work position correction unit. The work position setting unit sets a work position that is a target position where the end attachment releases a work object. The state determination unit determines the state of the work object that is captured by the end attachment. The work position correction unit corrects the work position with a correction value based on the state of the work object.

[0007] The work machine comprises a machine body, an attachment, and a controller. The attachment is operably attached to the machine body. The attachment has an end attachment that performs work. The controller comprises a work position setting unit, a state determination unit, and a work position correction unit. The work position setting unit sets a work position that is a target position where the end attachment releases a work object. The state determination unit determines the state of the work object that is captured by the end attachment. The work position correction unit corrects the work position with a correction value based on the state of the work object.

[0008] The work assistance program is used in a work machine. The work machine includes a machine body and an attachment. The attachment is operably attached to the machine body. The attachment has an end attachment that performs work. The work assistance program causes a computer to execute a work position setting step, a state determination step, and a work position correction step. The work position setting step sets a work position that is a target position where the end attachment releases a work object. The state determination step determines the state of the work object that is captured by the end attachment. The work position correction step corrects the work position with a correction value based on the state of the work object. Effect of the Invention

[0009] The above-mentioned work assistance system, work machine, and work assistance program each make it possible to appropriately set a work position, which is a target position where the end attachment of the work machine releases a work object. [Brief description of the drawings]

[0010] [Figure 1] FIG. 2 is a side view of the work machine 10 and other components of the work support system 1. [Diagram 2] 2 is a block diagram of the work support system 1 shown in FIG. [Diagram 3] 3 is a flowchart of the operation of the controller 50 and the like shown in FIG. 2. [Figure 4] 1. FIG. 4 is a diagram showing the arrangement position of a released work object Oa when the work object O captured by the end attachment 15d shown in FIG. 1 protrudes from an opening surface 15d2. [Diagram 5] 1. FIG. 4 is a diagram showing the release operation of the work object O by the end attachment 15d shown in FIG. 1 and the difference between the release position of the released work object Oa before and after correction. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] The work support system 1 will be described below with reference to the drawings.

[0012] The work support system 1 is a system that sets an appropriate release position depending on the state of a work object O held by an end attachment 15d shown in Fig. 1. The work support system 1 includes a work machine 10, an attitude sensor 31, a position sensor 33, an input device 35 (see Fig. 2), a controller 50 (computer), a state acquisition device 60, and a teaching device 70.

[0013] The work machine 10 is a machine that performs work, such as a construction machine that performs construction work, such as a shovel. The following describes a case where the work machine 10 is a shovel. The work machine 10 is configured to be capable of automatic operation. The work machine 10 may be operated by a worker (operator) in a cab 13a (described later), or may be remotely operated. The work machine 10 comprises a machine body 10a, an attachment 15, a drive control unit 17 (see FIG. 2), and an actuator 21.

[0014] The machine body 10a is the main body of the work machine 10. The machine body 10a includes a lower body 11 and an upper rotating body 13. The lower body 11 supports the upper rotating body 13. For example, the lower body 11 is a lower traveling body that allows the work machine 10 to travel. In this case, the lower body 11 may include crawlers or wheels. The upper rotating body 13 is attached (mounted) to be rotatable relative to the lower body 11. The upper rotating body 13 includes a cab 13a. The cab 13a is a portion where a worker (operator) can operate the work machine 10.

[0015] (direction) The direction in which the rotation axis of the upper rotating body 13 relative to the lower body 11 extends is defined as the up-down direction Z. In the up-down direction Z, the side (direction) from the lower body 11 toward the upper rotating body 13 is defined as the upper side Z1, and the opposite side is defined as the lower side Z2. The up-down direction Z may be a vertical direction. The direction in which the upper rotating body 13 rotates relative to the lower body 11 is defined as the rotation direction. The direction perpendicular to both the up-down direction Z and the rotation direction of the upper rotating body 13 is defined as the front-rear direction X. When viewed from the up-down direction Z, the front-rear direction X is the direction in which the central axis of the attachment 15 extends in the longitudinal direction of the attachment 15 (the front-rear direction X of the attachment 15). In the front-rear direction X, the side from which the attachment 15 protrudes relative to the upper rotating body 13 is defined as the rear side X1, and the opposite side is defined as the front side X2.

[0016] As shown in FIG. 1, the attachment 15 is a part that performs work, and includes, for example, a boom 15b, an arm 15c, and a tip attachment 15d. The boom 15b is attached to the upper rotating body 13 so as to be able to rise and fall (rotatable in the vertical direction Z). The arm 15c is rotatably attached to the boom 15b. The tip attachment 15d is provided at the tip of the attachment 15 and rotatably attached to the arm 15c. The tip attachment 15d can capture and release the work object O. For example, the tip attachment 15d may be a bucket that performs work such as scooping or digging the work object O, a device that clamps the work object O (grapple, nibbler, etc.), or a lifting magnet that attracts the metal work object O. A specific part of the tip attachment 15d is designated as a specific part 15d1. The specific portion 15d1 may be a connection portion (base end portion) of the tip attachment 15d to the arm 15c, or may be a tip portion (the end portion opposite to the base end portion) of the tip attachment 15d. The work object O is an object that is the target of work by the work machine 10 (of the attachment 15, the tip attachment 15d). For example, the work object O may be soil, stone, wood, metal, waste, or a structure (such as a block).

[0017] The drive control unit 17 (see FIG. 2) controls the actuator 21. The drive control unit 17 controls a swing motor 21a, a boom cylinder 21b, an arm cylinder 21c, and a tip attachment cylinder 21d, which will be described later. The drive control unit 17 may include a hydraulic circuit that controls the hydraulic actuator 21. The drive control unit 17 may include an electric circuit that controls the electric actuator 21.

[0018] The actuator 21 drives (operates) the work machine 10. The actuator 21 drives the attachment 15. The actuator 21 includes a swing motor 21a, a boom cylinder 21b, an arm cylinder 21c, and a tip attachment cylinder 21d. The swing motor 21a swings the upper swing body 13 relative to the lower body 11. The swing motor 21a may be a hydraulic motor or an electric motor. The boom cylinder 21b raises and lowers the boom 15b relative to the upper swing body 13. The boom cylinder 21b is, for example, a hydraulic telescopic cylinder (hydraulic cylinder) (the same applies to the arm cylinder 21c and the tip attachment cylinder 21d). The arm cylinder 21c rotates the arm 15c relative to the boom 15b. The tip attachment cylinder 21d rotates the tip attachment 15d relative to the arm 15c. When the end attachment 15d itself is drivable, for example as a device for clamping an object, a cylinder, a motor, or the like for driving the end attachment 15d may be provided.

[0019] The attitude sensor 31 detects the attitude of the work machine 10. The attitude sensor 31 detects the attitude of the attachment 15 (has an attachment attitude information acquisition function). The attitude sensor 31 may be mounted on the work machine 10 or may be arranged outside the work machine 10 (for example, at a work site, etc.). The attitude sensor 31 may be an imaging device, which will be described later. The same applies to the position sensor 33, the input device 35 (see FIG. 2), the status acquisition device 60, the controller 50, and the teaching device 70, which may be mounted on the work machine 10 or arranged outside the work machine 10. The attitude sensor 31 includes a swing sensor 31a, a boom sensor 31b, an arm sensor 31c, a tip attachment sensor 31d, and a reference position sensor 31e.

[0020] The swing sensor 31a detects the angle (swing angle) of the upper swing body 13 with respect to the lower body 11 (or the work site). The boom sensor 31b detects the attitude of the boom 15b. For example, the boom sensor 31b detects the angle (tilt or rotation angle) of the boom 15b with respect to the horizontal direction or the upper swing body 13. The arm sensor 31c detects the attitude of the arm 15c. The arm sensor 31c detects the angle of the arm 15c with respect to the horizontal direction or the boom 15b. The tip attachment sensor 31d detects the attitude of the tip attachment 15d. For example, the tip attachment sensor 31d detects the angle of the tip attachment 15d with respect to the horizontal direction or the arm 15c. In FIG. 2, the "tip attachment" is written as "tip ATT". The reference position sensor 31e detects the position and orientation of the reference part of the work machine 10 shown in FIG. 1 with respect to the work site. The reference portion of the work machine 10 may be, for example, a specific portion of the upper rotating body 13 or the lower body 11, for example, a mounting portion (boom foot) of the boom 15b to the upper rotating body 13, or for example, the center of rotation of the upper rotating body 13 relative to the lower body 11. The reference position sensor 31e (see FIG. 2) may perform detection using a positioning system. The positioning system may be a satellite positioning system, for example, a global navigation satellite system (GNSS). The positioning system may use a total station. The reference position sensor 31e may include an antenna for using the satellite positioning system. In FIG. 1, the reference position sensor 31e is indicated by the symbol for the reference position sensor 31e at the position of the GNSS antenna when the reference position sensor 31e performs detection using a positioning system using the GNSS.

[0021] The position sensor 33 detects position information of an object existing around the work position P. For example, the position sensor 33 may detect position information of the ground, may detect position information of a released work object Oa (described later), or may detect position information of an obstacle or the like. The position sensor 33 may include, for example, an imaging device. The imaging device may detect two-dimensional information of the imaging object (for example, a position or shape in an image). The imaging device may include a camera (monocular camera) that detects two-dimensional information. The imaging device may acquire a distance image, and may detect three-dimensional information of the imaging object (for example, three-dimensional coordinates or three-dimensional shape) based on the distance image. The imaging device may include a device that detects three-dimensional information using laser light, and may include, for example, a LIDAR (Light Detection and Ranging), or may include, for example, a TOF (Time Of Flight) sensor. The imaging device may include a device that detects three-dimensional information using radio waves (for example, a millimeter wave radar, etc.). The imaging device may include a stereo camera. The imaging device may detect three-dimensional information of the imaging object based on a distance image and a two-dimensional image. Only one imaging device may be provided, or multiple imaging devices may be provided.

[0022] The input device 35 (see FIG. 2) is a device for an operator to input information. The input device 35 issues instructions to the controller 50 based on the operator's operation. When the input device 35 is provided in the work machine 10, the input device 35 may be, for example, a display or an operation lever provided in the operator's cab 13a. The input device 35 may be a mobile terminal (tablet, smartphone, etc.) or a personal computer. The input device 35 may be provided in a server or the like external to the work machine 10. The input device 35 communicates with the controller 50. This communication may be wireless communication or wired communication.

[0023] The controller 50 is a computer that performs input and output of signals, calculations (processing), storage of information (calculation results, etc.), etc. For example, the functions of the controller 50 are realized by executing a program stored in a storage unit (not shown) of the controller 50 in a calculation unit (not shown). The controller 50 may be mounted on the work machine 10, and more specifically, may be mounted on at least one of the machine body 10a and the attachment 15. The controller 50 may be provided outside the work machine 10 (such as a server). For example, as shown in FIG. 2, detection results are input to the controller 50 from the attitude sensor 31, the position sensor 33, etc. Information input by the input device 35 is input to the controller 50. For example, the controller 50 performs automatic operation of the work machine 10. For example, the controller 50 outputs a command to operate the work machine 10 to the drive control unit 17.

[0024] The controller 50 comprises a work position setting unit 51, a state determination unit 53, a work position correction unit 55, an operation control unit 57, and a notification unit 59. In the following, the components of the work machine 10 will be described mainly with reference to Fig. 1, and the components of the controller 50 will be described with reference to Fig. 2. In addition, the steps of the flowchart shown in Fig. 3 will be described with reference to Fig. 3.

[0025] As shown in FIG. 1, the work position setting unit 51 sets a work position P which is a target position where the end attachment 15d releases the work target O (work position setting step) (see step S10 in FIG. 3). Specifically, the work position P is a three-dimensional position coordinate. For example, the work position P may be set in advance using topographical data or the like. For example, the work position P may be determined based on ground position information acquired by the position sensor 33. For example, the work position P may be determined based on a landmark (e.g., an AR (Augmented Reality) marker, etc.) placed at the work site.

[0026] (Relationship between the position of the tip attachment 15d and the working position P before correction) The relationship between the position of the tip attachment 15d when the tip attachment 15d releases the work object O and the work position P before correction is as follows. It is assumed that the state of the work object O captured by the tip attachment 15d is a specific state (for example, the bucket is filled with soil). In this state, the work object O is released from the tip attachment 15d (for example, the bucket rotates toward the soil discharge side, the excitation of the lifting magnet is turned off, etc.). At this time, the controller 50 controls the work machine 10 so that the released work object O (released work object Oa) is positioned with the work position P at its center.

[0027] For example, in the example shown in FIG. 1, the work object O captured by the bucket as the tip attachment 15d is in a leveled state on the bucket. In this state, the tip attachment 15d is rotated (toward the soil discharge side) so that the tip of the tip attachment 15d (the end opposite to the connection part of the tip attachment 15d to the arm 15c) descends. When the tip attachment 15d rotates to a certain angle, the work object O starts to be released from the tip attachment 15d. The posture of the tip attachment 15d at which the work object O captured by the tip attachment 15d starts to be released is defined as posture B. When the tip attachment 15d further rotates toward the soil discharge side, all (or almost all) of the work objects O captured by the tip attachment 15d are released from the tip attachment 15d. When this release is performed, the released work object O (released work object Oa) is assumed to be positioned (spread out) centered on a position directly below the tip of the tip attachment 15d in posture B. Therefore, for example, when the work machine 10 is automatically operated, the work machine 10 is controlled so that the position of the tip of the tip attachment 15d in posture B coincides with the work position P in horizontal coordinates.

[0028] The state determination unit 53 determines the state of the work object O captured by the tip attachment 15d (state determination step) (see step S30 in FIG. 3). For example, the state determination unit 53 determines at least one of the shape, relative position (relative position of the work object O with respect to the tip attachment 15d), and mass of the work object O based on data acquired from the state acquisition device 60 (described later). For example, the state determination unit 53 determines the protruding height H (see FIG. 4) of the work object O protruding from the opening surface 15d2 of the bucket as the tip attachment 15d. For example, the state determination unit 53 determines at which position of the bucket the work object O captured by the bucket as the tip attachment 15d protrudes. For example, the state determination unit 53 determines to which side of the lifting magnet the work object O attracted to the lifting magnet as the tip attachment 15d is biased.

[0029] The work position correction unit 55 determines a corrected work position Pa by correcting the work position P with a correction value based on the state of the work object O (work position correction step) (see step S40 in FIG. 3). The work position correction unit 55 may correct the work position P based on various states of the work object O.

[0030] (Regarding correction of working position P) For example, the work position correction unit 55 may correct the work position P based on a correction value based on the protruding height H (see FIG. 4) of the work object O. More specifically, the work position correction unit 55 may set the position obtained by shifting the work position P by the protruding height H toward the rear side X1 in the front-rear direction X as the corrected work position Pa.

[0031] The reason for correcting the work position P based on the protruding height H is as follows. For example, as shown in FIG. 1, when the work object O does not protrude from the opening surface 15d2 of the bucket, which is the tip attachment 15d, the released work object Oa is positioned with the work position P as the center. As shown in FIG. 4, when the work object O captured by the tip attachment 15d protrudes beyond the opening surface 15d2 of the bucket, the work object O starts to be released at the stage of posture Ba, which is earlier than posture B. Therefore, the released work object Oa ends up being positioned shifted from the work position P to the near side X2 in the front-rear direction X. For example, as shown in FIG. 5, when the work object O is released into a container such as a loading platform, if it is positioned shifted from the work position P to the near side X2 in the front-rear direction X, the work object O may not fit in the container. Therefore, the work position correction unit 55 corrects the work position P at which the work object O is released (corrects to the corrected work position Pa) in order to suppress such a deviation. Specifically, the work position correction unit 55 shifts the work position P to the rear side X1 in the front-rear direction X by a correction value (for example, the length of the protrusion height H). More specifically, the work position correction unit 55 shifts the work position P to the rear side X1 so that the tip of the tip attachment 15d in the posture Ba is positioned directly above the target position of the released work object Oa. By aligning the position of the tip of the tip attachment 15d in the posture B with the corrected work position Pa, the position of the tip of the tip attachment 15d in the posture Ba becomes directly above the target position of the released work object Oa. As a result, the released work object Oa becomes positioned at the target position.

[0032] For example, the work position correction unit 55 may correct the work position P based on the relative position of the work object O with respect to the end attachment 15d. For example, when the work object O captured by the end attachment 15d is positioned offset with respect to the end attachment 15d, the work position correction unit 55 may correct the work position P based on the degree of this offset (may calculate a correction value).

[0033] Specifically, for example, when the tip attachment 15d is a lifting magnet, the work object O attracted to the lifting magnet may be biased relative to the lifting magnet. In this case, the work position correction unit 55 may correct the work position P according to the degree of the bias (may calculate a correction value). The work position correction unit 55 corrects the work position P by the correction value in the opposite direction to the side where the work object O is biased relative to the lifting magnet.

[0034] Furthermore, for example, when the tip attachment 15d is a bucket, the position of the work object O protruding from the opening surface 15d2 of the bucket may be offset in one or both of the front-rear direction X and the lateral direction (swing direction) with respect to the tip attachment 15d. In that case, when the released work object O spreads out on the ground, it may exceed the expected work range (for example, it may not fit in a container). The work position correction unit 55 may correct the work position P to prevent such problems.

[0035] The work position correction unit 55 may correct the work position P depending on the state of the work object O other than the above states (e.g., soil quality, etc.). For example, if the work object O is soil or sand, the way in which the released work object Oa spreads out changes depending on the soil quality (hardness, etc.). For example, if the soil quality of the work object O is harder than a reference (a reference preset in the work position correction unit 55), the work position correction unit 55 may further correct the corrected work position Pa toward the near side X2 in the front-rear direction X. For example, if the soil quality of the work object O is softer than the reference, the work position correction unit 55 may further correct the corrected work position Pa toward the far side X1 in the front-rear direction X.

[0036] The work position correction unit 55 may correct the work position P based on the amount (e.g., volume, mass, etc.) of the work object O captured by the end attachment 15d. For example, the released work object Oa is more likely to spread out as the amount of the work object O captured by the end attachment 15d increases. Thus, the work position correction unit 55 may correct the work position P to the farther side X1 in the front-rear direction X as the amount of the work object O captured by the end attachment 15d increases.

[0037] The work position correction unit 55 may correct the work position P based on the state of one work object O (e.g., any one of the protruding height H, relative position, soil quality, and amount). The work position correction unit 55 may correct the work position P based on the states of multiple work objects O (e.g., two or more states of the protruding height H, relative position, soil quality, and amount).

[0038] The corrected task position Pa may be, for example, three-dimensional coordinates. The corrected task position Pa may be a relative position (for example, relative coordinates) to the pre-correction task position P. The task position correction unit 55 may teach the corrected task position Pa to a worker (for example, an operator) by a teaching device 70 (described later).

[0039] The operation control unit 57 controls the attachment 15 so as to release the work object O at the corrected work position Pa. The operation control unit 57 may automatically operate the work machine 10 (see FIG. 1). The operation control unit 57 may output a command to the drive device 23 so that the work machine 10 automatically operates according to a preset work plan. The operation control unit 57 may control the operation of the work machine 10 based on information input to the input device 35 by an operator. The operation control unit 57 may operate the work machine 10 by a machine control (MC; Machine Control system). Specifically, for example, the operator operates only some elements of the attachment 15 (for example, only the boom 15b). At this time, the operation control unit 57 automatically controls elements not operated by the operator (for example, the arm 15c, the tip attachment 15d) so that the work machine 10 works according to the work plan. At this time, the operation control unit 57 controls the operation of the work machine 10 based on the detection value of the attitude sensor 31 (similarly in the case of automatic operation). As a result, the work machine 10 performs work according to the work plan, and controls the attachment 15 so as to release the work object O at the corrected work position Pa.

[0040] The notification unit 59 notifies the task position Pa after correction determined by the task position correction unit 55 .

[0041] The state acquisition device 60 acquires the state of the work object O captured by the tip attachment 15d. The state acquisition device 60 may include an imaging device. For example, the state acquisition device 60 acquires the state of the work object O captured by the bucket, which is the tip attachment 15d. More specifically, the state acquisition device 60 may acquire image data for acquiring the protruding height H protruding from the opening surface 15d2 of the tip attachment 15d. The state acquisition device 60 may also acquire image data for acquiring the relative position of the protruding part of the work object O and the tip attachment 15d. For example, when the tip attachment 15d is a lifting magnet, the state acquisition device 60 may image the work object O attracted to the lifting magnet. Thereby, the state acquisition device 60 may acquire the state of the work object O attracted to the lifting magnet, such as the deviation. When the state acquisition device 60 and the position sensor 33 include an imaging device, the imaging device of the state acquisition device 60 and the imaging device of the position sensor 33 may be used together.

[0042] Furthermore, the state acquisition device 60 may acquire the amount of the work object O captured by the end attachment 15d. For example, the state acquisition device 60 may include a mass sensor that measures the mass of the work object O captured by the end attachment 15d.

[0043] Furthermore, the status acquisition device 60 may acquire the quality (e.g., soil quality) of the work object O captured by the end attachment 15d. Specifically, for example, the status acquisition device 60 (imaging device) may determine the soil quality of the work object O based on the spread of the released work object Oa. In this case, the status acquisition device 60 acquires the status of the work object O captured by the end attachment 15d as a result of acquiring the status of the released work object Oa.

[0044] The teaching device 70 is a device that teaches information to a worker (for example, an operator). The teaching device 70 is controlled by the notification unit 59. The teaching device 70 receives a control signal including information generated by the notification unit 59, and outputs the information to the outside. For example, the teaching device 70 teaches a work position P to an operator who operates the work machine 10. The work position P taught to the operator may be the corrected work position Pa. The teaching device 70 may teach the operator that the work position P has been corrected. The teaching device 70 is not particularly limited as long as it can present information to the operator, and may be, for example, a display device that displays video / images, a light-emitting device that outputs light, a speaker that outputs sound or a buzzer, or a vibration generating device that generates vibrations. In addition, for example, the teaching device 70 may teach by operating the work machine 10. In addition, the teaching device 70 may be one or more of these.

[0045] (process) Next, an example of the work position correction process executed by the controller 50 will be described with reference to the flowchart of FIG. 3. The work position correction process is executed when the work machine 10 releases the work object O captured by the tip attachment 15d. For example, the work position correction process may be executed when the work of releasing the work object O is automatically operated. For example, the work position correction process may be executed when a release operation of the work machine 10 operated by a worker (e.g., an operator) is detected. First, the controller 50 sets the work position P (S10). Then, the controller 50 acquires the state of the work object O (S20). After that, the controller 50 determines whether the work object O protrudes beyond the opening surface 15d2 of the tip attachment 15d (S30). If the work object O protrudes beyond the opening surface 15d2 of the tip attachment 15d (S30: YES), the controller 50 determines a corrected work position Pa by correcting the work position P based on the protruding height H of the work object O (see FIG. 4). The corrected work position Pa is a position shifted from the work position P toward the rear side X1 in the front-rear direction X by the length of the protruding height H (correction value). Then, the controller 50 determines the corrected work position Pa as the new work position P (S50) and ends this process. If the work object O does not protrude beyond the opening surface 15d2 of the tip attachment 15d (S30: NO), the work position P set in step S10 is determined as the work position P as it is.

[0046] (Effects of the first invention) The effects of the work support system 1 shown in Fig. 2 are as follows. The work support system 1 includes a machine body 10a of a work machine 10, an attachment 15, and a controller 50. The attachment 15 is operatively attached to the machine body 10a. The attachment 15 has a tip attachment 15d that performs work.

[0047] [Configuration 1] The controller 50 includes a work position setting unit 51, a state determination unit 53, and a work position correction unit 55. The work position setting unit 51 sets a work position P that is a target position where the tip attachment 15d releases the work object O. The state determination unit 53 determines the state of the work object O captured by the tip attachment 15d. The work position correction unit 55 corrects the work position P with a correction value based on the state of the work object O.

[0048] In the above [Configuration 1], the work position P, which is the target position for releasing the work object O, can be corrected based on the state of the work object O. Therefore, the work position P, which is the target position for the tip attachment 15d of the work machine 10 to release the work object O, can be appropriately set. As a result, the work object O can be released at an appropriate position, such as inside a container such as a loading platform.

[0049] (Effects of the second invention) 2, the controller 50 further includes an operation control unit 57. The operation control unit 57 controls the attachment 15 so as to release the work object O at the corrected work position Pa.

[0050] In the above [Configuration 2], the attachment 15 can be controlled so as to release the work object O at the corrected work position Pa.

[0051] (Effects of the third invention) [Configuration 3] The working position correction unit 55 further includes a notification unit 59 that notifies the corrected working position Pa.

[0052] In the above [Configuration 3], the corrected work position Pa is notified, so that the worker or the like can recognize the corrected work position Pa.

[0053] (Effect of the fourth invention) [Configuration 4] The tip attachment 15d is a bucket having an opening surface 15d2. The state determination unit 53 determines the protruding height H of the work object O held in the bucket from the opening surface 15d2 of the bucket. The work position correction unit 55 determines a correction value based on the protruding height H. The work position correction unit 55 determines the position shifted based on the correction value in the direction in which the attachment 15 protrudes from the machine body 10a (toward the rear side X1) as the corrected work position Pa.

[0054] In the above [Configuration 4], the tip attachment 15d is a bucket. The bucket is rotated so that the tip of the bucket is lowered, and the work object O in the bucket loses support from the bucket and falls, and is released. When the work object O protrudes from the opening surface 15d2 of the bucket, the timing of the work object O falling from the bucket is earlier than when it does not. Therefore, the released work object Oa is biased toward the front side X2 from the work position P. Therefore, according to this configuration 4, the work position P where the work object O is released is corrected to the work position Pa shifted to the rear side X1 based on the protruding height H from the opening surface 15d2 of the bucket. This can improve the position where the work object O is released from being biased toward the front side X2 with respect to the target position.

[0055] (Effect of the fifth aspect of the invention) [Configuration 5] The effects of the work machine 10 are as follows. The work machine 10 comprises a machine body 10a, an attachment 15, and a controller 50. The attachment 15 is operably attached to the machine body 10a. The attachment 15 has an end attachment 15d that performs work. The controller 50 comprises a work position setting unit 51, a state determination unit 53, and a work position correction unit 55. The work position setting unit 51 sets a work position P that is a target position where the end attachment 15d releases the work object O. The state determination unit 53 determines the state of the work object O that the end attachment 15d captures. The work position correction unit 55 corrects the work position P with a correction value based on the state of the work object O.

[0056] In the above [Configuration 5], the work position P at which the work object O is released can be corrected based on the state of the work object O. Therefore, the work position P, which is the target position at which the tip attachment 15d of the work machine 10 releases the work object O, can be appropriately set. As a result, the work object O can be released at an appropriate position, such as inside a container such as a loading platform.

[0057] (Effect of the sixth aspect of the invention) [Configuration 6] The effects of the work assistance program are as follows. The work assistance program is used in a work machine 10. The work machine 10 includes a machine body 10a and an attachment 15. The attachment 15 is operably attached to the machine body 10a. The attachment 15 has an end attachment 15d that performs work. The work assistance program causes a computer (controller 50) to execute a work position setting step, a state determination step, and a work position correction step. The work position setting step sets a work position P that is a target position where the end attachment 15d releases the work object O. The state determination step determines the state of the work object O that the end attachment 15d captures. The work position correction step corrects the work position P with a correction value based on the state of the work object O.

[0058] In the above [Configuration 6], the work position P at which the work object O is released can be corrected based on the state of the work object O. Therefore, the work position P, which is the target position at which the tip attachment 15d of the work machine 10 releases the work object O, can be appropriately set. As a result, the work object O can be released at an appropriate position, such as inside a container such as a loading platform.

[0059] (Modification) The above embodiment may be modified in various ways. For example, various examples (including modified examples) of the above embodiment may be combined in various ways. For example, the connection of each component shown in FIG. 2 and the like may be changed. For example, the number of components (including modified examples) of the above embodiment may be changed, and some of the components may not be provided. For example, the arrangement of the components may be changed. For example, the inclusion relationship of the components may be changed in various ways. For example, a component described as a lower component included in a higher-level component may not be included in this higher-level component, and may be included in another component. For example, a component described as a plurality of different members or parts may be treated as a single member or part. For example, a component described as a single member or part may be provided separately as a plurality of different members or parts. For example, the order of the steps in the flowchart shown in FIG. 3 may be changed, and some of the steps may not be performed, and for example, each component may have only a part of each feature (function, arrangement, shape, operation, etc.). [Explanation of symbols]

[0060] 1 Work support system 10. Working Machinery 10a Machine body 11 Lower body 13 Upper rotating body 13a Driver's cab 15 Attachment 15b Boom 15c Arm 15d Tip attachment 15d1 Specific part 15d2 Opening surface 17 Drive control unit 21 Actuator 21a Swing motor 21b Boom cylinder 21c Arm Cylinder 21d End attachment cylinder 23 Drive unit 31 Attitude Sensor 31a Rotation sensor 31b Boom sensor 31c Arm Sensor 31d Tip attachment sensor 31e Reference position sensor 33 Position Sensor 35 Input Devices 40 Teaching device 50 Controller 51 Working position setting section 53 Status determination unit 55 Working position correction section 57 Operation control unit 59 Notification Department 60 Status acquisition device 70 Teaching device B Posture Ba posture H Projection height O Work object Oa Released Work Objects P Working position Pa corrected working position

Claims

1. The machine body of the work machine, An attachment having a tip attachment that is operably mounted to the machine body and performs work, Controller and Equipped with, The aforementioned controller, The aforementioned tip attachment includes a work position setting unit that sets a work position which is the target position where the workpiece is released, A state determination unit that determines the state of the work object captured by the tip attachment, A work position correction unit corrects the work position using a correction value based on the state of the work object, Equipped with, Work support system.

2. A work support system according to claim 1, The controller further includes an operation control unit that controls the attachment to release the workpiece at the corrected working position. Work support system.

3. A work support system according to claim 1, The work position correction unit further includes a notification unit that notifies the corrected work position. Work support system.

4. A work support system according to any one of claims 1 to 3, The aforementioned tip attachment is a bucket having an opening surface, The state determination unit, With respect to the work object held in the bucket, the height of the protrusion of the bucket from the opening surface is determined. The aforementioned work position correction unit is The correction value is determined based on the aforementioned protrusion height. The corrected working position is defined as the position obtained by shifting from the aforementioned working position in the direction in which the attachment protrudes from the machine body, based on the correction value. Work support system.

5. A work support system according to any one of claims 1 to 3, The work position correction unit corrects the work position according to the soil type of the soil when the work object is soil. Work support system.

6. A work support system according to claim 5, If the soil is softer than the predetermined standard, the corrected working position is adjusted to the rear side, which is the side of the machine body from which the attachment protrudes. The aforementioned work position correction unit, when the soil is harder than the standard, corrects the corrected work position to the front side, which is the opposite side from the back side. Work support system.

7. A work support system according to claim 5, The state determination unit determines the soil type based on how the work object spreads out after being released from the tip attachment. Work support system.

8. A work support system according to any one of claims 1 to 3, The work position correction unit corrects the work position based on, when the work object is soil, the soil type of the soil, the height at which the work object held in the bucket protrudes from the opening surface, and the relative position of the work object captured by the tip attachment to the tip attachment, if the tip attachment is a bucket with an opening surface. Work support system.

9. A work support system according to claim 4, The work position correction unit, when the work object is soil or sand, further corrects the work position, which has been corrected based on the protrusion height, according to the soil type of the soil or sand. Work support system.

10. A work support system according to claim 9, If the soil is softer than the predetermined standard, the corrected working position is adjusted to the rear side, which is the side of the machine body from which the attachment protrudes. The aforementioned work position correction unit, when the soil is harder than the standard, corrects the corrected work position to the front side, which is the opposite side from the back side. Work support system.

11. The machine body and An attachment having a tip attachment that is operably mounted to the machine body and performs work, Controller and Equipped with, The aforementioned controller, The aforementioned tip attachment includes a work position setting unit that sets a work position which is the target position where the workpiece is released, A state determination unit that determines the state of the work object captured by the tip attachment, A work position correction unit corrects the work position using a correction value based on the state of the work object, Equipped with, A type of machinery used for industrial work.

12. A work support program used in a work machine equipped with an attachment that has a tip attachment that is operably mounted to the machine body and performs work, A work position setting step involves setting a work position which is the target position where the tip attachment releases the work object, A state determination step in which the state of the work object captured by the tip attachment is determined, A work position correction step in which the work position is corrected using a correction value based on the state of the work object, Make the computer execute it. Work support program.

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