Work system, work machine, and work program

Abstract

To be able to arrange a work object O in a wider range.SOLUTION: A work system 1 includes: a machine body 10a of a work machine 10; an attachment 15; and a controller 50. The attachment 15 is mounted with respect to the machine body 10a so as to actuate. The attachment 15 includes a tip attachment 15d for performing work. The controller 50 controls one or both of the machine body 10a and the attachment 15 so as to move a work object Oa which is released by the tip attachment 15d into a direction being separated from a release region A3 by applying a load by the tip attachment 15d from the opposite side of the direction.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present invention relates to a work system, a work machine, and a work program. [Background technology]

[0002] For example, Patent Document 1 describes an automatic leveling system that controls an attachment of a work machine so that the tip attachment levels a work object within a set leveling range. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2022-55913 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the smoothing range described above is within the movable range of the end attachment. In automatic operation of a work machine, it is desirable to position the work target outside the movable range of the end attachment.

[0005] Therefore, an object of the present invention is to provide a work system, a work machine, and a work program that are capable of positioning a work object in a wider range, such as outside the movable range of the end attachment. [Means for solving the problem]

[0006] The working system includes 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 controls one or both of the machine body and the attachment so as to move a work object that has been released by the end attachment in a direction away from a release position by applying a load with the end attachment from the opposite direction.

[0007] The working machine includes a machine body, an attachment operably attached to the machine body and having an end attachment that performs work, 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 controls one or both of the machine body and the attachment so as to move a work object that has been released by the end attachment in a direction away from a release position by applying a load with the end attachment from the opposite direction.

[0008] The work program is used for a work machine including an attachment operably attached to a machine body and having an end attachment for performing work. The work program causes a computer to execute a control step. The control step controls one or both of the machine body and the attachment so as to move a work object that has been released by the end attachment in a direction away from a release position by applying a load with the end attachment from the opposite direction. Effect of the Invention

[0009] The above-mentioned work assistance system, work machine, and work assistance program each enable work objects to be placed over a wider range. [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 system 1. [Diagram 2] 2 is a block diagram of the working 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] 3 is a diagram showing a possible arrangement range A1 and an arrangement target position P, etc., that are set by the working range setting unit 51 shown in FIG. 2. [Diagram 5] 3 is a diagram illustrating an example of an operation for moving a released work object Oa controlled by the operation control unit 57 shown in FIG. 2. FIG. [Figure 6] 3 is a diagram illustrating an example of an operation for moving a released work object Oa controlled by the operation control unit 57 shown in FIG. 2. FIG. [Figure 7] 3 is a diagram illustrating an example of an operation for moving a released work object Oa controlled by the operation control unit 57 shown in FIG. 2. FIG. [Figure 8] 3 is a diagram illustrating an example of an operation for moving a released work object Oa controlled by the operation control unit 57 shown in FIG. 2. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

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

[0012] The work system 1 is a system that controls work of the work machine 10 shown in Fig. 1. The work system 1 is a system that moves a work object Oa that has been released by the tip attachment 15d by applying a load with the tip attachment 15d. In detail, the work system 1 is a system that moves the released work object Oa in a direction away from a release area A3 (described later) serving as a release position by applying a load with the tip attachment 15d from the opposite side of the direction.

[0013] The work system 1 includes a work machine 10, an attitude sensor 31, a position sensor 33, an input device 35 (see FIG. 2), and a controller 50 (computer).

[0014] 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.

[0015] 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.

[0016] (direction) The direction in which the rotation axis of the upper rotating body 13 relative to the lower body 11 extends is the vertical direction Z. In the vertical direction Z, the side (direction) from the lower body 11 toward the upper rotating body 13 is the upper side Z1, and the opposite side is the lower side Z2. The vertical direction Z may be a vertical direction. The direction in which the rotation axis of the boom 15b (described later) relative to the upper rotating body 13 extends is the lateral direction Y. The direction perpendicular to each of the vertical direction Z and the lateral direction Y is the front-rear direction X. When viewed from the vertical 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 the rear side X1, and the opposite side is the front side X2.

[0017] 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 is rotatably attached to the arm 15c. The tip attachment 15d is capable of capturing and releasing a work object O. In addition, the tip attachment 15d applies a load to the released work object Oa from the opposite side of the direction in a direction away from the release position (hereinafter, this operation may also be referred to as "pushing" by the tip attachment 15d). For example, the tip attachment 15d may be a bucket for scooping or digging the work object O, a device for clamping the work object O (grapple, nibbler, etc.), or a lifting magnet for attracting a metal work object O. 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).

[0018] 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.

[0019] 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.

[0020] The work machine 10 is a machine (e.g., ICT construction machine) that utilizes information and communication technology (ICT). For example, the work machine 10 may be operated by a machine control (MC) system. Specifically, a work plan is set in the controller 50. Then, for example, the worker operates only some of the elements of the attachment 15 (for example, only the boom 15b). At this time, the controller 50 automatically controls the elements not operated by the worker (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 controller 50 controls the operation of the work machine 10 based on the detection value of a posture sensor 31 (described later) (see FIG. 2) (the same applies in the case of automatic operation). As a result, the work machine 10 works according to the work plan. Also, for example, the work machine 10 may be operated by automatic operation. In this case, the controller 50 controls the operation of the work machine 10 so that the work machine 10 automatically works according to the work plan.

[0021] 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). 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), and the controller 50, 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.

[0022] The rotation sensor 31a detects the angle of the upper rotating body 13 with respect to the lower main 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 rotating 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 (such as a satellite positioning system). The positioning system may be a satellite positioning system, such as 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.

[0023] The position sensor 33 detects position information of objects present around the work machine 10. For example, the position sensor 33 may detect position information of the ground, may detect position information of the work object O (released work object Oa) released from the end attachment 15d, 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 (e.g., position and shape in an image) of the imaged object. The imaging device may include a camera (monocular camera) that detects two-dimensional information. The imaging device may acquire a distance image, or may detect three-dimensional information (e.g., three-dimensional coordinates and three-dimensional shape) of the imaged object based on the distance image. The imaging device may include a device that detects three-dimensional information using laser light, 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 (e.g., 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 the distance image and the two-dimensional image. Only one imaging device may be provided, or multiple imaging devices may be provided.

[0024] 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.

[0025] 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.

[0026] The controller 50 includes a working range setting unit 51, a condition determination unit 53, and an operation control unit 57. 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.

[0027] The work range setting unit 51 sets a possible placement range A1 (see FIG. 4), which is a range in which the work object O can be placed (a possible placement range setting step) (see step S10 in FIG. 3). The possible placement range A1 is a range in which the work object O can be placed. The possible placement range A1 is specifically indicated by three-dimensional position coordinates. The work range setting unit 51 sets a placement target position P (see FIG. 4) within the possible placement range A1, inside the outer periphery of the possible placement range A1 (see step S20 in FIG. 3). The possible placement range A1 is a range in which the work object O can be placed, and is specifically indicated by three-dimensional position coordinates. The placement target position P is a position set for safety, and is specifically indicated by three-dimensional position coordinates. For example, the placement possible range A1 and the placement target position P may be set in advance based on topographical data or the like. For example, the placement possible range A1 and the placement target position P may be determined based on ground position information acquired by the position sensor 33. For example, the placement possible range A1 and the placement target position P may be determined based on an AR marker (AR; Augmented Reality) placed at the work site. Data for the work range setting unit 51 to execute the above function (set the range) may be acquired by the position sensor 33, or may be acquired by a sensor having an imaging device or the like separate from the position sensor 33.

[0028] (Regarding possible placement range A1 and placement target position P, etc.) As shown in Fig. 1, the arrangement range A1 may be set to a container 82 such as a loading platform of a transport vehicle 80, which is a vehicle. The arrangement range A1 may be set to a container 82 that is placed directly on the ground, for example, or to a hole in the ground (such as a sand pit). The arrangement range A1 may be set to the ground itself, for example. Below, a case will be described in which the arrangement range A1 is set to a container 82 such as a loading platform of a transport vehicle 80.

[0029] The transporter 80 is a vehicle for transporting the work object O loaded by the work machine 10. The transporter 80 may be a dump truck or a truck. The transporter 80 includes a transporter main body 81 and a container 82 having an arrangement possible range A1. The transporter main body 81 is capable of traveling and supports the container 82. The transporter main body 81 includes a transporter driver's cab 81a.

[0030] The container 82 contains the work object O. The container 82 is, for example, a loading platform of the transport vehicle 80. The container 82 may be movable relative to the transport vehicle main body 81, or may be fixed to the transport vehicle main body 81. The container 82 includes a container floor 82a, a container rear portion 82b, a container side portion 82c, and a container front portion 82d.

[0031] The directions related to the container 82 will be described. The longitudinal direction and horizontal direction of the container 82 when the container 82 is placed on a horizontal surface is defined as the container front-rear direction U. One side in the container front-rear direction U is defined as the container front side U1, and the opposite side to the container front side U1 is defined as the container rear side U2. For example, the container front side U1 is the side facing the container 82 toward the transport vehicle driver's cab 81a, and the container rear side U2 is the side facing the container 82 from the transport vehicle driver's cab 81a. The direction perpendicular to the container front-rear direction U and horizontal direction when the container 82 is placed on a horizontal surface is defined as the container lateral direction V. As shown in FIG. 1, the vertical direction Z (upper side Z1, lower side Z2) is a direction perpendicular or substantially perpendicular to each of the container front-rear direction U and the container lateral direction V.

[0032] The container floor 82a is the lower Z2 portion (bottom) of the container 82. The container rear portion 82b is a portion (e.g., an end portion) of the container rear side U2 of the container 82. The container rear portion 82b protrudes from the container rear side U2 portion of the container floor 82a to the upper side Z1, and is, for example, plate-shaped (e.g., a rear gate plate). The container rear portion 82b has a flat surface or an approximately flat surface that is provided so as to extend in a direction perpendicular or approximately perpendicular to the container front-rear direction U (similar to the container front portion 82d). As shown in FIG. 4, the container side portion 82c is the container lateral direction outer portion of the container floor portion 82a. The container side portion 82c protrudes from both side portions (left and right) of the container floor portion 82a on the outer side in the container lateral direction to the upper side Z1, and is, for example, plate-shaped (e.g., a side gate plate). The container side portion 82c has a flat surface or an approximately flat surface that is provided so as to extend in a direction perpendicular or approximately perpendicular to the container lateral direction V. 1, the container front portion 82d is a portion of the container front side U1 of the container 82. The container front portion 82d protrudes upward from the container front side U1 portion of the container floor portion 82a toward the upper side Z1, and is, for example, in the shape of a plate (for example, a torii portion). When the container 82 is a loading platform, the container front portion 82d protrudes upward from the container side portion 82c and the container rear portion 82b toward the upper side Z1.

[0033] As shown in FIG. 4, for example, the container floor 82a is set in the possible arrangement range A1. The target arrangement position P is set at any position in the possible arrangement range A1. For example, as shown in FIG. 4, the target arrangement position P may be set at a position inside the outer periphery of the possible arrangement range A1 by the width of the offset amount F. The target arrangement range A2 is an area having the target arrangement position P as an outer periphery. The release position where the work machine 10 releases the work target O is set in the release area A3 where the target arrangement range A2 and the movable range Ap where the tip attachment 15d reaches overlap. The release position is a position within the release area A3. The release area A3 may be set in an area excluding the work start area A4 where the tip attachment 15d starts the operation of moving the released work target Oa. The work range setting unit 51 sets the work start area A4. The work start area A4 is an area where the tip attachment 15d starts the operation (pushing) of moving the released work object Oa. Specifically, the work range setting unit 51 sets the position where the tip attachment 15d starts the operation of moving the released work object Oa as a position within the work start area A4 (see FIG. 4). Furthermore, the work range setting unit 51 sets the direction of movement of the tip attachment 15d when moving the released work object Oa as the work object movement direction D (see FIG. 4). For example, the release position (part of the release area A3) where the work machine 10 releases the work object O is set at a position farther in the work object movement direction D than a position within the work start area A4. For example, the work start area A4 is set at a position close to the machine body 10a of the work machine 10 in the release area A3.

[0034] The work range setting unit 51 does not have to set the placement target range A2. Specifically, the work range setting unit 51 may simply set the placement target position P. The operation control unit 57 (described later) may perform control to move the released work object Oa until the released work object Oa reaches the placement target position P.

[0035] Furthermore, the work range setting unit 51 does not have to set the target placement position P in advance. Specifically, the work range setting unit 51 may simply set a possible placement range A1, which is a range within which the work object O can be placed. Then, the work range setting unit 51 may appropriately determine the direction of an empty area within the possible placement range A1 each time a released work object Oa is pushed in. Then, the operation control unit 57 (described later) may move the released work object Oa within the possible placement range A1.

[0036] The condition determination unit 53 determines whether it is time to push the released work object Oa by the tip attachment 15d (condition determination step) (see step S40 in FIG. 3). For example, the condition determination unit 53 determines whether it is time to push the released work object Oa based on whether the released work object Oa has reached a predetermined threshold height. Furthermore, while performing the pushing operation, the condition determination unit 53 determines whether the released work object Oa being pushed has reached the placement target position P (see step S70 in FIG. 3). The data for the work range setting unit 51 to execute the above functions may be acquired by the position sensor 33, or may be acquired by a sensor having an imaging device or the like separate from the position sensor 33.

[0037] The operation control unit 57 controls the operation of the work machine 10. The operation control unit 57 controls the rotation of the upper rotating body 13 relative to the lower body 11. The operation control unit 57 controls the operation of the attachment 15. The operation control unit 57 controls the attachment 15 to release the work object O captured by the tip attachment 15d (step S30 in FIG. 3). The operation control unit 57 moves the released work object Oa in a direction away from the release position by applying a load with the tip attachment 15d from the opposite side of the direction (automatic operation step) (step S60 in FIG. 3). 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 the operator. The operation control unit 57 may operate the work machine 10 by a machine control (MC; Machine Control system). Specifically, for example, the worker 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 worker (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 works according to the work plan and controls the attachment 15 so as to release the work object O in the release area A3. Also, the work machine 10 works according to the work plan and controls the machine body 10a and the attachment 15 so as to move the released work object Oa in the release area A3.

[0038] (Activation) The work system 1 is configured to operate as follows: A specific example of the operation of the machine main body 10a by the operation control section 57 to move the released work object Oa will be described.

[0039] For example, as shown in FIG. 5, the operation control unit 57 sets a position in the work start area A4 as a work start position where the tip attachment 15d starts the operation of moving the released work object Oa. The operation control unit 57 places the tip attachment 15d at the set work start position. The operation control unit 57 sets a direction toward the outer periphery of the arrangement possible range A1 as a work object movement direction D of the tip attachment 15d when moving the released work object Oa. The work object movement direction D is the container front side U1 in the example shown in FIG. 5. The work object movement direction D may be the container rear side U2 or the container lateral direction V. The work object movement direction D may be any direction toward an empty area within the arrangement possible range A1. The operation control unit 57 controls the tip attachment 15d to apply a load to the released work object Oa in the release area A3 so as to move it in the set work object movement direction D. The operation control unit 57 may push the released work object Oa at any point of the tip attachment 15d. For example, the operation control unit 57 may rotate the upper rotating body 13 to push the released work object Oa with the side surface of the tip attachment 15d. Also, for example, the operation control unit 57 may push the released work object Oa to the near side X2 in the front-rear direction X with the tip attachment 15d. The operation control unit 57 continues pushing the released work object Oa until it reaches the placement target position P or the movable limit of the tip attachment 15d. Whether or not the placement target position P has been reached may be determined from position information of the released work object Oa acquired by the position sensor 33 as appropriate.

[0040] For example, as shown in Fig. 6, the operation control unit 57 may move the tip attachment 15d at a height with an offset amount α in the upward Z1 direction from the placement surface of the released work object Oa (e.g., the container floor 82a). Also, as shown in Fig. 6, the operation control unit 57 may perform the pushing operation while rotating the tip attachment 15d (e.g., while opening the bucket in the case of a bucket). Specifically, the operation control unit 57 may perform the operation of moving the released work object Oa while controlling the tip attachment 15d to rotate so that the tip descends from a position in which the tip is located on the near side X2.

[0041] For example, as shown in FIG. 7, when the work start area A4 is filled with released work objects Oa, the operation control unit 57 may move the tip attachment 15d to a height that has an offset amount β in the downward Z2 direction from the height of the released work objects Oa.

[0042] For example, as shown in Fig. 8, the operation control unit 57 may move the tip attachment 15d by adjusting the angle of the flat portion of the tip attachment 15d (for example, the attraction surface of the lifting magnet if the tip attachment 15d is a lifting magnet) to the side angle on the side opposite to the pushing direction of the released work object Oa. If the tip attachment 15d is a bucket, the above-mentioned "flat portion of the tip attachment 15d" may be the bottom surface of the bucket (see Fig. 6) or the side surface of the bucket.

[0043] (process) Next, an example of the pressing process executed by the controller 50 will be described with reference to the flowchart of FIG.

[0044] First, the controller 50 sets the possible arrangement range A1 (S10). Then, the controller 50 sets the arrangement target position P (S20). Then, the controller 50 releases the work object O in the release area A3 (S30). The release area A3 is an area where the arrangement target range A2, the range of which is set by the arrangement target position P, and the movable range Ap of the tip attachment 15d overlap, and is an area excluding the work start area A4. Although not shown, when the arrangement target range A2 excluding the work start area A4 is arranged with the released work object Oa up to a predetermined threshold height, the work object O may be released in the work start area A4. Although not shown, the process of step S30 includes a process of causing the tip attachment 15d to capture the work object O. For example, in step S30, the controller 50 may control the attachment 15 to perform, for example, scooping or digging the work object O at a position other than the possible arrangement range A1.

[0045] Next, the controller 50 judges whether or not the released work object Oa in the release area A3 has reached a predetermined threshold height (S40). If the released work object Oa has not reached the predetermined threshold height (S40: NO), the controller 50 moves the process to step S30 and continues the process of releasing the work object O. If the released work object Oa has reached the predetermined threshold height (S40: YES), the controller 50 judges whether or not there is a space in the placement target area A2 into which the released work object Oa can be pushed (S50). If there is no space into which the released work object Oa can be pushed (S50: NO), the controller 50 ends this process.

[0046] If there is a space into which the released work object Oa can be pushed (S50: YES), the controller 50 performs a push-in operation (S60). Specifically, the controller 50 places the tip attachment 15d in the work start area A4, and controls the tip attachment 15d to move from the work start area A4 toward the space into which the detected released work object Oa can be pushed.

[0047] Then, the controller 50 judges whether the released work object Oa has reached the placement target position P or the movable limit of the end attachment 15d (S70). The controller 50 continuously performs the judgment process of step S70 while executing step S60. If the released work object Oa has not reached the placement target position P or the movable limit of the attachment 15 (S70: NO), the controller 50 continues to execute step S60. If the released work object Oa has reached the placement target position P or the movable limit of the attachment 15 (S70: YES), the controller 50 stops the process of step S70 and proceeds to step S30.

[0048] (Effects of the first invention) The effects of the work system 1 shown in Fig. 2 are as follows. The work 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.

[0049] [Configuration 1] As shown in FIG. 5, the controller 50 controls one or both of the machine body 10a and the attachment 15 so as to move the work object Oa that has been released by the end attachment 15d in a direction away from the release area A3 (see FIG. 4) by applying a load from the opposite direction using the end attachment 15d.

[0050] In the above [Configuration 1], the released work object Oa in the release area A3 is moved in a direction away from the release area A3 by applying a load with the tip attachment 15d. Therefore, the released work object Oa is pushed, for example, to a position where the tip attachment 15d cannot release the work object O. As a result, the work object O can be arranged in a wider range.

[0051] (Effects of the second invention) [Configuration 2] The controller 50 sets a placement target position. The controller 50 controls the movement of the released work object Oa, which is moved by the load of the tip attachment 15d, until the released work object Oa reaches the placement target position P.

[0052] In the above [Configuration 2], the end attachment 15d can move the released work object Oa to the set placement target position P. Therefore, by setting the placement target position P inside the limit range for placement (for example, possible placement range A1), it is possible to reduce the possibility that the released work object Oa will go beyond the limit range for placement even if, for example, it collapses.

[0053] (Effects of the third invention) [Configuration 3] The controller 50 sets a possible arrangement range A1, which is a range within which the work object O can be arranged. The controller 50 controls the released work object Oa, which is moved by the load of the tip attachment 15d, to move within the possible arrangement range A1.

[0054] In the above [Configuration 3], the tip attachment 15d can move the released work object Oa within the arrangement possible range A1, which is the range in which the work object O can be arranged. For example, even if the arrangement possible range A1 is surrounded by side walls such as a loading platform, it is possible to reduce the load on the side walls and the work object Oa from spilling out from the side walls.

[0055] (Effect of the fourth invention) [Configuration 4] As shown in Fig. 4, the controller 50 determines the position at which the tip attachment 15d starts the operation of moving the released work object Oa as a position within the work start area A4 (see Fig. 4). The controller 50 determines the direction of movement of the tip attachment 15d when moving the released work object Oa as the work object movement direction D (see Fig. 4). The controller 50 controls one or both of the machine body 10a and the attachment 15 so that the work object O is released at a position away from the position within the work start area A4 in the work object movement direction D.

[0056] In the above [Configuration 4], the work object O is released at a position away from the work start area A4 in the work object movement direction D. This reduces the possibility that the released work object Oa will be placed in the work start area A4. As a result, it is possible to reduce the possibility that the tip attachment 15d attempting to move to the work start area A4 will collide with the released work object Oa, and a load will be applied via the released work object Oa to the placement area of ​​the work object O, such as a loading platform, causing damage.

[0057] (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 a tip attachment 15d that performs work. The controller 50 controls one or both of the machine body 10a and the attachment 15 so as to move the work object Oa that has been released by the tip attachment 15d in a direction away from the release area A3 by applying a load with the tip attachment 15d from the opposite direction.

[0058] In the above [Configuration 5], the released work object Oa in the release area A3 is moved in a direction away from the release area A3 by applying a load with the tip attachment 15d. Therefore, the released work object Oa is pushed, for example, to a position where the tip attachment 15d cannot release the work object O. As a result, the work object O can be arranged in a wider range.

[0059] (Effect of the sixth aspect of the invention) [Configuration 6] The effects of the work assistance program are as follows. The work program is used in a work machine 10 that is operably attached to the machine body 10a and includes an attachment 15 having an end attachment 15d that performs work. As shown in Fig. 5, the work program causes a computer (controller 50) to execute a control step of controlling one or both of the machine body 10a and the attachment 15 so as to move the work target Oa that has been released by the end attachment 15d in a direction away from the release area A3 by applying a load with the end attachment 15d from the opposite side of the direction.

[0060] In the above [Configuration 6], the released work object Oa in the release area A3 is moved in a direction away from the release area A3 by applying a load with the tip attachment 15d. Therefore, the released work object Oa is pushed, for example, to a position where the tip attachment 15d cannot release the work object O. As a result, the work object O can be arranged in a wider range.

[0061] (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]

[0062] 1. Work System 1 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 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 50 Controller 51 Work Scope Setting Division 53 Condition judgment section 57 Autonomous Driving Department 80 Transport Vehicle 81 Transport vehicle body 81a Transport vehicle cab 82 Container 82a Container floor 82b Rear of container 82c Container side 82d Container front A1 Possible placement range A2 Target Area A3 release area A4 work start area O Work object Oa Released Work Objects P placement target position

Claims

1. A machine body of a work machine; an attachment that is operably attached to the machine body and has a tip attachment that performs work; A controller; Equipped with The controller: controlling one or both of the machine body and the attachment so as to move the work object released by the tip attachment in a direction away from the release position by applying a load with the tip attachment from the opposite side of the direction; Working system.

2. The work system according to claim 1, The controller: Set the placement target position, performing the control so as to move the released work object moved by the load of the end attachment until the released work object reaches the placement target position; Working system.

3. The work system according to claim 1, The controller: A placement range is set as a range in which the work object can be placed; performing the control so that the released work object, which is moved by the load of the end attachment, is moved within the range of the possible arrangement range. Working system.

4. The working system according to any one of claims 1 to 3, A position where the tip attachment starts the operation of moving the released work object is called a work start position, When the direction of movement of the tip attachment when moving the released work object is defined as a work object movement direction, the controller controls one or both of the machine body and the attachment so as to release the work object at a position away from the work start position in the work object movement direction. Working system.

5. The machine body, an attachment that is operably attached to the machine body and has a tip attachment that performs work; A controller; Equipped with The controller: controlling one or both of the machine body and the attachment so as to move the work object released by the tip attachment in a direction away from the release position by applying a load with the tip attachment from the opposite side of the direction; Working machinery.

6. A work program for use with a work machine including an attachment operably attached to a machine body and having a tip attachment for performing work, comprising: A control step is executed by a computer to control one or both of the machine body and the attachment so as to move the work object released by the tip attachment in a direction away from the release position by applying a load with the tip attachment from the opposite direction. Work program.

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