Work machine, sprinkler device, and sprinkler system

Abstract

To efficiently carry out sprinkling work.SOLUTION: This work machine comprises: a work machine including an attachment for overhauling an overhauling target; a sprinkler; an oscillation actuator for changing the direction of the sprinkler; a position calculation unit that calculates the position of the attachment on the basis of the angle of the work machine and the dimension of the sprinkler; and a sprinkler control unit that controls the oscillation actuator on the basis of the position of the attachment.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a work machine, a watering device, and a watering system.

Background Art

[0002] In the technical field related to work machines, a disassembling specification vehicle as disclosed in Patent Document 1 is known.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In disassembling work, watering work is carried out to suppress the scattering of dust from the object to be disassembled. There is a demand for a technology that can efficiently perform watering work.

[0005] The present disclosure aims to efficiently perform watering work.

Means for Solving the Problems

[0006] According to the present disclosure, there is provided a work machine including a work machine having an attachment for disassembling an object to be disassembled, a watering machine, a swing actuator for changing the orientation of the watering machine, a position calculation unit for calculating the position of the attachment based on the angle and dimensions of the work machine, and a watering machine control unit for controlling the swing actuator based on the position of the attachment.

Effects of the Invention

[0007] According to the present disclosure, watering work can be efficiently performed.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

[0009] Hereinafter, embodiments according to the present disclosure will be described with reference to the drawings, but the present disclosure is not limited to the embodiments. The components of the embodiments described below can be combined as appropriate. Also, some components may not be used.

[0010] [First Embodiment] The first embodiment will be described.

[0011] [Working Machine] FIG. 1 is a side view schematically showing a working machine 1 according to the present embodiment. The working machine 1 performs a dismantling operation. As an object to be dismantled by the working machine 1, a high-rise building is exemplified. The working machine 1 includes a traveling body 2, a revolving body 3 supported by the traveling body 2, a working machine 4 connected to the revolving body 3, a hydraulic cylinder 5 that operates the working machine 4, a water sprinkler 6 that sprays water, and a swing actuator 7 that changes the orientation of the water sprinkler 6.

[0012] The traveling body 2 travels to the dismantling site while supporting the revolving body 3. The traveling body 2 has a pair of crawlers. By rotating the crawlers, the working machine 1 travels to the dismantling site. The revolving body 3 is rotatable while being supported by the traveling body 2.

[0013] The working machine 4 is a working machine for dismantling work. The working machine 4 includes a plurality of working machine elements that are relatively rotatable about a working machine rotation axis. The working machine rotation axis extends in the left-right direction (vehicle width direction) of the revolving body 3. In the present embodiment, the working machine 4 is a so-called long dismantling specification working machine.

[0014] The working machine 4 includes a main boom 41 rotatably connected to the revolving body 3, a top boom 42 connected to the main boom 41, an intermediate link 43 rotatably connected to the top boom 42, an arm 44 rotatably connected to the intermediate link 43, and an attachment 45 rotatably connected to the arm 44. Each of the main boom 41, the top boom 42, the intermediate link 43, the arm 44, and the attachment 45 is an example of a working machine element of the working machine 4. The attachment 45 is an attachment for dismantling work called a crusher. The attachment 45 dismantles the object to be dismantled.

[0015] The base end of the main boom 41 is rotatably connected to a predetermined part of the slewing body 3 via the main boom rotation axis AX1. The base end of the top boom 42 is detachably connected to the tip of the main boom 41. The base end of the intermediate link 43 is rotatably connected to the tip of the top boom 42 via the link rotation axis AX2. The base end of the arm 44 is rotatably connected to the tip of the intermediate link 43 via the arm rotation axis AX3. The base end of the attachment 45 is rotatably connected to the tip of the arm 44 via the attachment rotation axis AX4. Each of the main boom rotation axis AX1, the link rotation axis AX2, the arm rotation axis AX3, and the attachment rotation axis AX4 is an example of a working machine rotation axis. Each of the main boom rotation axis AX1, the link rotation axis AX2, the arm rotation axis AX3, and the attachment rotation axis AX4 extends in the left-right direction (vehicle width direction) of the slewing body 3.

[0016] The hydraulic cylinder 5 includes a main boom cylinder 51 that operates the main boom 41, a top boom cylinder 52 that operates the intermediate link 43, an arm cylinder 53 that operates the arm 44, and an attachment cylinder 54 that operates the attachment 45.

[0017] The end of the rod of the main boom cylinder 51 is connected to the main boom 41, and the end of the cylinder tube of the main boom cylinder 51 is connected to the slewing body 3. When the main boom cylinder 51 expands and contracts, the main boom 41 and the top boom 42 operate.

[0018] The end of the rod of the top boom cylinder 52 is connected to the intermediate link 43, and the end of the cylinder tube of the top boom cylinder 52 is connected to the top boom 42. When the top boom cylinder 52 expands and contracts, the intermediate link 43 operates.

[0019] The end of the rod of the arm cylinder 53 is connected to the arm 44, and the end of the cylinder tube of the arm cylinder 53 is connected to the intermediate link 43. When the arm cylinder 53 expands and contracts, the arm 44 operates.

[0020] The end of the rod of the attachment cylinder 54 is connected to the attachment 45, and the end of the cylinder tube of the attachment cylinder 54 is connected to the arm 44. When the attachment cylinder 54 expands and contracts, the attachment 45 operates.

[0021] The watering machine 6 waters the object to be watered. In the present embodiment, the object to be watered is the tip of the attachment 45 or a part of the object to be disassembled that the tip of the attachment 45 contacts. The watering machine 6 includes a watering gun or a watering nozzle and has an injection port 6A for injecting water. The watering machine 6 is attached to the work implement 4. The watering machine 6 is rotatably attached to the work implement element about a watering rotation axis CX parallel to the work implement rotation axis. As described above, the work implement rotation axis extends in the left - right direction (vehicle width direction) of the swing body 3. The watering rotation axis CX also extends in the left - right direction (vehicle width direction) of the swing body 3. In the present embodiment, the watering machine 6 is rotatably attached to the top boom 42.

[0022] The swing actuator 7 generates power for changing the direction of the injection port 6A of the watering machine 6. The swing actuator 7 includes a motor capable of generating power to rotate the watering machine 6 about the watering rotation axis CX. The swing actuator 7 is disposed on the top boom 42.

[0023] FIG. 2 is a hardware configuration diagram showing a controller 8 of the working machine 1 according to the present embodiment. The working machine 1 has a controller 8. The controller 8 is disposed, for example, on the revolving body 3. The controller 8 includes a computer system 1000. The computer system 1000 includes a processor 1001 such as a CPU (Central Processing Unit), a main memory 1002 including a non-volatile memory such as a ROM (Read Only Memory) and a volatile memory such as a RAM (Random Access Memory), a storage 1003, and an interface 1004 including an input / output circuit. The functions of the controller 8 are stored in the storage 1003 as a computer program. The processor 1001 reads the computer program from the storage 1003, expands it in the main memory 1002, and executes processing according to the computer program. Note that the computer program may be distributed to the computer system 1000 via a network.

[0024] FIG. 3 is a block diagram showing the working machine 1 according to the present embodiment. The working machine 1 includes an angle sensor 10 (11, 12, 13, 14) that detects the angle of the working implement 4, a controller 8, and a swing actuator 7.

[0025] The angle sensor 10 detects the angle of the working implement 4. The angle sensor 10 may be a stroke sensor that detects the stroke of the hydraulic cylinder 5, a potentiometer that detects the angle of the working implement 4, or a working implement IMU that detects the attitude of the working implement 4. In the present embodiment, the angle sensor 10 is assumed to be a stroke sensor.

[0026] The angle sensor 10 includes a main boom stroke sensor 11 that detects the angle of the main boom 41 with respect to the revolving body 3, a top boom stroke sensor 12 that detects the angle of the intermediate link 43 with respect to the top boom 42, an arm stroke sensor 13 that detects the angle of the arm 44 with respect to the intermediate link 43, and an attachment stroke sensor 14 that detects the angle of the attachment 45 with respect to the arm 44.

[0027] The controller 8 has a work implement data storage unit 81, a position calculation unit 82, and a sprinkler control unit 83.

[0028] The work implement data storage unit 81 stores the dimensions of the work implement 4. The dimensions of the work implement 4 are known data and are stored in advance in the work implement data storage unit 81. The dimensions of the work implement 4 include the dimensions of the boom, the intermediate link 43, the arm 44, and the attachment 45. The dimensions of the boom are the sum of the dimensions of the main boom 41 and the top boom 42. In the present embodiment, the dimensions of the boom are the distance between the main boom rotation axis AX1 and the link rotation axis AX2. The dimensions of the intermediate link 43 are the distance between the link rotation axis AX2 and the arm rotation axis AX3. The dimensions of the arm 44 are the distance between the arm rotation axis AX3 and the attachment rotation axis AX4. The dimensions of the attachment 45 are the distance between the attachment rotation axis AX4 and the tip of the attachment 45.

[0029] The position calculation unit 82 calculates the position of the attachment 45 based on the angle of the work implement 4 and the dimensions of the work implement 4. The position calculation unit 82 calculates the position of the attachment 45 based on the detection data of the angle sensor 10 and the dimensions of the work implement 4 stored in the work implement data storage unit 81.

[0030] In this embodiment, the position calculation unit 82 calculates the relative position of the tip of the attachment 45 with respect to the sprinkler 6. As described above, the sprinkler 6 is attached to the top boom 42. The attachment position of the sprinkler 6 with respect to the top boom 42 is known data. The position calculation unit 82 uses the detection data of the top boom stroke sensor 12 that detects the angle of the intermediate link 43, the detection data of the arm stroke sensor 13 that detects the angle of the arm 44, the detection data of the attachment stroke sensor 14 that detects the angle of the attachment 45, the dimensions of the intermediate link 43 stored in the work implement data storage unit 81, the dimensions of the arm 44, the dimensions of the attachment 45, and the attachment position of the sprinkler 6 with respect to the top boom 42 to calculate the relative position of the tip of the attachment 45 with respect to the sprinkler 6.

[0031] The sprinkler control unit 83 controls the swing actuator 7 based on the position of the attachment 45 calculated by the position calculation unit 82. The sprinkler control unit 83 controls the swing actuator 7 so that the water sprayed from the spray port 6A of the sprinkler 6 is sprayed onto the tip of the attachment 45 or a part of the demolition target that the tip of the attachment 45 contacts, based on the relative position of the tip of the attachment 45 with respect to the sprinkler 6 calculated by the position calculation unit 82.

[0032] The work implement 4 operates by the driving operation of an operator on the cab of the revolving body 3. A work lever for operating the work implement 4 is arranged in the cab via a hydraulic cylinder 5. The operator can operate the work implement 4 by operating the work lever. As the work implement 4 operates, the position of the tip of the attachment 45 changes. The sprinkler control unit 83 controls the swing actuator 7 so that the sprinkling position by the sprinkler 6 follows the tip of the attachment 45.

[0033] <Sprinkling method> FIG. 4 is a flowchart showing the watering method according to the present embodiment. The position calculation unit 82 acquires work implement data indicating the dimensions of the work implement 4 from the work implement data storage unit 81 (step SA1). In the present embodiment, the work implement data includes the dimensions of the intermediate link 43, the dimensions of the arm 44, and the dimensions of the attachment 45.

[0034] The position calculation unit 82 acquires sensor data indicating the angle of the work implement 4 from the angle sensor 10 (step SA2). In the present embodiment, the sensor data includes the detection data of the top boom stroke sensor 12, the detection data of the arm stroke sensor 13, and the detection data of the attachment stroke sensor 14.

[0035] The position calculation unit 82 calculates the relative position of the tip of the attachment 45 with respect to the water sprinkler 6 based on the detection data of the top boom stroke sensor 12, the detection data of the arm stroke sensor 13, the detection data of the attachment stroke sensor 14, the dimensions of the intermediate link 43, the dimensions of the arm 44, the dimensions of the attachment 45, and the attachment position of the water sprinkler 6 with respect to the top boom 42 which is known data (step SA3).

[0036] The water sprinkler control unit 83 controls the swing actuator 7 so that the water jetted from the jet port 6A of the water sprinkler 6 is sprinkled on the tip of the attachment 45 or a part of the demolition target that the tip of the attachment 45 contacts, based on the relative position of the tip of the attachment 45 with respect to the water sprinkler 6 calculated by the position calculation unit 82 (step SA4).

[0037] The water sprinkler control unit 83 determines whether to end the watering operation (step SA5). In step SA5, if it is determined that the watering operation is not ended (step SA5: No), the process returns to the process of step SA2. In step SA5, if it is determined that the watering operation is ended (step SA5: Yes), the water sprinkler control unit 83 ends the watering operation.

[0038] <Effect> As described above, in the present embodiment, the working machine 1 includes a working machine 4 including an attachment 45 for disassembling a disassembly target, a water sprinkler 6, a swing actuator 7 for changing the orientation of the water sprinkler 6, a position calculation unit 82 for calculating the position of the attachment 45 based on the angle and dimensions of the working machine 4, and a water sprinkler control unit 83 for controlling the swing actuator 7 based on the position of the attachment 45.

[0039] According to the present embodiment, since the position of the attachment 45 is calculated, it is possible to sprinkle water on the attachment 45 or in the vicinity of the attachment 45. According to the present embodiment, the water sprinkling operation for suppressing the scattering of dust from the disassembly target is efficiently performed.

[0040] In the present embodiment, based on the detection data of the angle sensor 10, the position of the tip of the attachment 45 is calculated, and the water sprinkling position is aligned with the tip of the attachment 45, so that the scattering of dust from the disassembly target is effectively suppressed. Further, since it is not necessary for the operator to hold the water sprinkler, the burden on the operator is reduced and the labor cost is reduced.

[0041] A hose (not shown) is connected to the water sprinkler 6, and water is supplied to the water sprinkler 6 through the hose. In the present embodiment, since the water sprinkler 6, the hose, and the working machine 2 are integrated, it is easy to transport the water sprinkler 6 and the hose.

[0042] [Second Embodiment] The second embodiment will be described. In the following description, the same or equivalent components as those in the above-described embodiment are denoted by the same reference numerals, and the description of those components is simplified or omitted.

[0043] FIG. 5 is a side view schematically showing the working machine 1 and the water sprinkling device 20 according to the present embodiment. In the present embodiment, the water sprinkler 23 is provided in a water sprinkling device 20 separate from the working machine 1. The water sprinkling device 20 includes a traveling body 21, a swivel body 22 supported by the traveling body 21, and a water sprinkler 23 supported by the swivel body 22.

[0044] The traveling body 21 travels to the disassembly site while supporting the slewing body 22. The traveling body 21 has a pair of crawlers. As the crawlers rotate, the water spraying device 20 travels to the disassembly site. The slewing body 22 is rotatable while being supported by the traveling body 21.

[0045] FIG. 6 is a side view schematically showing the water spraying device 20 according to the present embodiment. The water spraying device 20 includes a traveling body 21, a slewing body 22 supported by the traveling body 21, a water spraying machine 23 supported by the slewing body 22, a slewing actuator 24 for slewing the slewing body 22, and a swing actuator 25 for changing the orientation of the water spraying machine 23.

[0046] The water spraying machine 23 includes a water spray gun or a water spray nozzle and has an injection port 23A for injecting water. The slewing body 22 is rotatable about a slewing axis RX. The slewing axis RX extends in the vertical direction. The water spraying machine 23 is attached to the slewing body 22 so as to be rotatable about a water spraying rotation axis DX. The water spraying rotation axis DX extends in a direction orthogonal to the slewing axis RX.

[0047] The slewing actuator 24 generates power for slewing the slewing body 22. The swing actuator 25 generates power for changing the orientation of the injection port 23A of the water spraying machine 23.

[0048] FIG. 7 is a block diagram showing the work machine 1 and the water spraying device 20 according to the present embodiment. Similar to the above-described embodiment, the work machine 1 includes a main boom stroke sensor 11 for detecting the angle of the main boom 41 with respect to the slewing body 3, a top boom stroke sensor 12 for detecting the angle of the intermediate link 43 with respect to the top boom 42, an arm stroke sensor 13 for detecting the angle of the arm 44 with respect to the intermediate link 43, and an attachment stroke sensor 14 for detecting the angle of the attachment 45 with respect to the arm 44.

[0049] In this embodiment, the working machine 1 includes a GNSS calculator 15, a GNSS antenna 16A, and a GNSS antenna 16B. The GNSS calculator 15 functions as a position sensor that detects the absolute position of the revolving body 3. The GNSS calculator 15 detects the position of the revolving body 3 using the Global Navigation Satellite System (GNSS). The Global Navigation Satellite System includes the Global Positioning System (GPS). The Global Navigation Satellite System detects the position in the global coordinate system defined by the coordinate data of latitude, longitude, and altitude. The global coordinate system refers to a coordinate system fixed to the Earth. The GNSS calculator 15 includes a GNSS receiver and detects the absolute position of the revolving body 3 in the global coordinate system.

[0050] Each of the GNSS antenna 16A and the GNSS antenna 16B is connected to the GNSS calculator 15. Each of the GNSS antenna 16A and the GNSS antenna 16B is fixed to the revolving body 3. The GNSS calculator 15 calculates the absolute position of the GNSS antenna 16A and the absolute position of the GNSS antenna 16B. The absolute position of the revolving body 3 is the absolute position of the reference point of the revolving body 3 described above. The absolute position of the revolving body 3 may be the absolute position of the GNSS antenna 16A, the absolute position of the GNSS antenna 16B, or the absolute position of any part of the revolving body 3 separated from each of the GNSS antenna 16A and the GNSS antenna 16B. The GNSS calculator 15 can calculate the azimuth of the revolving body 3 based on the absolute position of the GNSS antenna 16A and the absolute position of the GNSS antenna 16B.

[0051] The controller 8 includes a work implement data storage unit 81 that stores the dimensions of the work implement 4, and a position calculation unit 82 that calculates the position of the tip of the attachment 45 based on the angle of the work implement 4 and the dimensions of the work implement 4. In this embodiment, the position calculation unit 82 calculates the absolute position of the tip of the attachment 45.

[0052] The position calculation unit 82 can calculate the relative position between the reference point of the revolving body 3 and the tip of the attachment 45 based on the detection data of the main boom stroke sensor 11 that detects the angle of the main boom 41, the detection data of the top boom stroke sensor 12 that detects the angle of the intermediate link 43, the detection data of the arm stroke sensor 13 that detects the angle of the arm 44, the detection data of the attachment stroke sensor 14 that detects the angle of the attachment 45, the dimensions of the boom, the dimensions of the intermediate link 43, the dimensions of the arm 44, and the dimensions of the attachment 45.

[0053] The absolute position and orientation of the reference point of the revolving body 3 are calculated by the GNSS calculator 15. The position calculation unit 82 can calculate the absolute position and orientation of the tip of the attachment 45 based on the relative position between the reference point of the revolving body 3 and the tip of the attachment 45 and the absolute position and orientation of the reference point of the revolving body 3 calculated by the GNSS calculator 15.

[0054] The work machine 1 includes a transmitter 9 that transmits the position of the attachment 45 calculated by the position calculation unit 82 to the sprinkler device 20. The transmitter 9 transmits the absolute position and orientation of the tip of the attachment 45 calculated by the position calculation unit 82 to the sprinkler device 20.

[0055] The sprinkler device 20 includes a GNSS antenna 26, a GNSS calculator 27, a receiver 28, a controller 30, a slewing actuator 24, and a swing actuator 25.

[0056] The GNSS calculator 27 functions as a position sensor that detects the absolute position of the revolving body 22. The GNSS antenna 26 is fixed to the revolving body 22 of the sprinkler device 20. The GNSS calculator 27 calculates the absolute position of the GNSS antenna 26. The absolute position of the revolving body 22 may be the absolute position of the GNSS antenna 26 or the absolute position of any part of the revolving body 22 that is separated from the GNSS antenna 26.

[0057] The receiver 28 receives the position of the attachment 45 transmitted from the controller 8 of the working machine 1. The receiver 28 receives the absolute position and orientation of the tip of the attachment 45 transmitted from the controller 8 of the working machine 1.

[0058] The position calculation unit 31 receives the position of the attachment 45 transmitted from the controller 8 of the working machine 1. The absolute position and orientation of the tip of the attachment 45 transmitted from the controller 8 of the working machine 1 are received. The position calculation unit 31 calculates the relative position of the tip of the attachment 45 with respect to the slewing body 22 based on the absolute position of the tip of the attachment 45 transmitted from the controller 8 of the working machine 1 and the absolute position of the slewing body 22 detected by the GNSS calculator 27.

[0059] The watering control unit 32 controls at least one of the slewing actuator 24 and the swing actuator 25 based on the position of the attachment 45. The watering control unit 32 controls at least one of the slewing actuator 24 and the swing actuator 25 based on the relative position of the tip of the attachment 45 with respect to the slewing body 22 calculated by the position calculation unit 31.

[0060] The watering control unit 32 controls at least one of the slewing actuator 24 and the swing actuator 25 so that the water sprayed from the spray port 23A of the watering machine 23 is sprayed on the tip of the attachment 45 or a part of the object to be disassembled with which the tip of the attachment 45 comes into contact, based on the relative position of the tip of the attachment 45 with respect to the slewing body 22 calculated by the position calculation unit 31.

[0061] As the working machine 4 operates, the position of the tip of the attachment 45 changes. The watering control unit 32 controls at least one of the slewing actuator 24 and the swing actuator 25 so that the watering position by the watering machine 23 follows the tip of the attachment 45.

[0062] Each of FIGS. 8 and 9 is a flowchart showing the watering method according to the present embodiment. FIG. 8 is a flowchart showing the operation of the work machine 1 according to the present embodiment. FIG. 9 is a flowchart showing the operation of the watering device 20 according to the present embodiment.

[0063] As shown in FIG. 8, the position calculation unit 82 of the work machine 1 acquires work machine data indicating the dimensions of the work machine 4 from the work machine data storage unit 81 (step SB1). In the present embodiment, the work machine data includes the dimensions of the boom, the intermediate link 43, the arm 44, and the attachment 45.

[0064] The position calculation unit 82 acquires sensor data indicating the angle of the work machine 4 from the angle sensor 10 and acquires sensor data indicating the absolute position of the revolving body 3 from the GNSS calculator 15 (step SB2). In the present embodiment, the sensor data indicating the angle of the work machine 4 includes the detection data of the main boom stroke sensor 11, the detection data of the top boom stroke sensor 12, the detection data of the arm stroke sensor 13, and the detection data of the attachment stroke sensor 14.

[0065] The position calculation unit 82 calculates the absolute position of the tip of the attachment 45 based on the detection data of the main boom stroke sensor 11, the detection data of the top boom stroke sensor 12, the detection data of the arm stroke sensor 13, the detection data of the attachment stroke sensor 14, the detection data of the GNSS calculator 15, the dimensions of the boom, the dimensions of the intermediate link 43, the dimensions of the arm 44, and the dimensions of the attachment 45 (step SB3).

[0066] The position calculation unit 82 transmits the absolute position of the tip of the attachment 45 to the controller 30 of the watering device 20 via the transmitter 9 (step SB4).

[0067] The position calculation unit 82 determines whether to end the watering operation (step SB5). In step SB5, if it is determined that the watering operation is not to be ended (step SB5: No), the process returns to the process of step SB2. In step SB5, if it is determined that the watering operation is to be ended (step SB5: Yes), the position calculation unit 82 transmits an end command to end the watering operation to the controller 30 of the watering device 20.

[0068] As shown in FIG. 9, the position calculation unit 31 of the watering device 20 receives the absolute position of the tip of the attachment 45 transmitted from the controller 8 of the work machine 1 (step SC1).

[0069] The position calculation unit 31 acquires sensor data indicating the absolute position of the slewing body 22 from the GNSS calculator 27 (step SC2).

[0070] The position calculation unit 31 calculates the relative position of the tip of the attachment 45 with respect to the slewing body 22 based on the absolute position of the tip of the attachment 45 transmitted from the controller 8 of the work machine 1 and the absolute position of the slewing body 22 detected by the GNSS calculator 27 (step SC3).

[0071] The watering control unit 32 controls at least one of the slewing actuator 24 and the swing actuator 25 based on the relative position of the tip of the attachment 45 with respect to the slewing body 22 calculated by the position calculation unit 31. The watering control unit 32 controls at least one of the slewing actuator 24 and the swing actuator 25 so that the water sprayed from the injection port 23A of the watering machine 23 is sprayed on the tip of the attachment 45 or a part of the object to be disassembled with which the tip of the attachment 45 comes into contact.

[0072] The water spraying control unit 32 determines whether or not an end command has been received from the controller 8 of the work machine 1 (step SC5). In step SC5, if it is determined that the end command has not been received (step SC5: No), the process returns to the process of step SC1. In step SC5, if it is determined that the end command has been received (step SC5: Yes), the water spraying control unit 32 ends the water spraying operation.

[0073] As described above, also in this embodiment, the water spraying operation for suppressing the scattering of dust from the object to be disassembled is efficiently performed. According to this embodiment, the water spraying machine 23 is provided in the water spraying device 20 separate from the work machine 1. Thereby, for example, the water spraying machine 23 can be arranged at an arbitrary position according to the situation of the disassembly site.

[0074] Note that at least a part of the functions of the controller 8 of the work machine 1 described above may be assigned to the controller 30 of the water spraying device 20. One or both of the work machine data storage unit 81 and the position calculation unit 82 may be assigned to the controller 30 of the water spraying device 20. For example, when the work machine data storage unit 81 and the position calculation unit 82 are assigned to the controller 30 of the water spraying device 20, the transmitter 9 of the work machine 1 may transmit the detection data of the main boom stroke sensor 11, the detection data of the top boom stroke sensor 12, the detection data of the arm stroke sensor 13, the detection data of the attachment stroke sensor 14, and the detection data of the GNSS calculator 15 to the water spraying device 20.

[0075] Also, at least a part of the functions of the controller 30 of the water spraying device 20 described above may be assigned to the controller 8 of the work machine 1. One or both of the position calculation unit 31 and the water spraying control unit 32 may be assigned to the controller 8 of the work machine 1. For example, when the water spraying control unit 32 is assigned to the controller 8 of the work machine 1, the water spraying control unit 32 may transmit a control command for controlling at least one of the turning actuator 24 and the swinging actuator 25 to the water spraying device 20 via the communication machine 9.

Explanation of Signs

[0076] 1... Working machine, 2... Traveling body, 3... Slewing body, 4... Working implement, 5... Hydraulic cylinder, 6... Sprinkler, 6A... Injection port, 7... Swing actuator, 8... Controller, 9... Transmitter, 10... Angle sensor, 11... Main boom stroke sensor, 12... Top boom stroke sensor, 13... Arm stroke sensor, 14... Attachment stroke sensor, 15... GNSS calculator, 16A... GNSS antenna, 16B... GNSS antenna, 20... Sprinkler device, 21... Traveling body, 22... Slewing body, 23... Sprinkler, 23A... Injection port, 24... Slewing actuator, 25... Swing actuator, 26... GNSS antenna, 27... GNSS calculator (position sensor), 28... Receiver, 30... Controller, 31... Position calculation unit, 32... Sprinkler control unit, 41... Main boom, 42... Top boom, 43... Intermediate link, 44... Arm, 45... Attachment, 51... Main boom cylinder, 52... Top boom cylinder, 53... Arm cylinder, 54... Attachment cylinder, 81... Working implement data storage unit, 82... Position calculation unit, 83... Sprinkler control unit, 1000... Computer system, 1001... Processor, 1002... Main memory, 1003... Storage, 1004... Interface, AX1... Main boom rotation axis, AX2... Link rotation axis, AX3... Arm rotation axis, AX4... Attachment rotation axis, CX... Sprinkler rotation axis, DX... Sprinkler rotation axis, RX... Slewing axis.

Claims

1. A working machine including an attachment for disassembling a disassembly target, a water sprinkler, a swing actuator for changing the orientation of the water sprinkler, a position calculation unit for calculating the position of the attachment based on the angle of the working machine and the dimensions of the working machine, and a water sprinkler control unit for controlling the swing actuator based on the position of the attachment. A working machine.

2. An angle sensor for detecting the angle of the working machine, and a working machine data storage unit for storing the dimensions of the working machine, wherein the position calculation unit calculates the position of the attachment based on the detection data of the angle sensor and the dimensions of the working machine stored in the working machine data storage unit. The working machine according to claim 1.

3. The water sprinkler control unit controls the swing actuator so that the water sprinkling position by the water sprinkler follows the attachment. The working machine according to claim 1.

4. The water sprinkler control unit controls the swing actuator so that water is sprinkled on the tip of the attachment or a part of the disassembly target that the tip of the attachment contacts. The working machine according to claim 1.

5. The water sprinkler is attached to the working machine. The working machine according to claim 1.

6. The working machine includes a plurality of working machine elements that can rotate relative to each other around a working machine rotation axis, and the water sprinkler is attached to the working machine element so as to be rotatable around a water sprinkling rotation axis parallel to the working machine rotation axis. The working machine according to claim 5.

7. It includes a revolving body to which the working machine is connected, the working machine elements include a main boom rotatably connected to the revolving body, a top boom connected to the main boom, an intermediate link rotatably connected to the top boom, and an arm rotatably connected to the intermediate link, the attachment is rotatably connected to the arm, and the water sprinkler is rotatably attached to the top boom. The working machine according to claim 6.

8. A first angle sensor for detecting the angle of the intermediate link, a second angle sensor for detecting the angle of the arm, a third angle sensor for detecting the angle of the attachment, and a working machine data storage unit for storing the dimensions of the intermediate link, the arm, and the attachment. The position calculation unit calculates the relative position of the tip of the attachment with respect to the sprinkler based on the detection data of the first angle sensor, the detection data of the second angle sensor, and the detection data of the third angle sensor, and the dimensions of the intermediate link, the dimensions of the arm, and the dimensions of the attachment stored in the work implement data storage unit. The work machine according to claim 7.

9. A traveling body, A slewing body supported by the traveling body, A sprinkler supported by the slewing body, A slewing actuator that slews the slewing body, A swing actuator that changes the orientation of the sprinkler, A position calculation unit that receives the position of the attachment calculated based on the angle of the work implement including the attachment for disassembling the object to be disassembled and the dimensions of the work implement, A sprinkler control unit that controls at least one of the swing actuator and the slewing actuator based on the position of the attachment. Sprinkler device.

10. The position calculation unit receives the absolute position of the attachment, Comprises a position sensor that detects the absolute position of the slewing body, The position calculation unit calculates the relative position of the attachment with respect to the slewing body based on the absolute position of the attachment and the absolute position of the slewing body, The sprinkler control unit controls at least one of the slewing actuator and the swing actuator based on the relative position of the attachment. The sprinkler device according to claim 9.

11. The sprinkler control unit controls at least one of the slewing actuator and the swing actuator so that the watering position by the sprinkler follows the attachment. The sprinkler device according to claim 9.

12. The sprinkler control unit controls at least one of the slewing actuator and the swing actuator so that water is sprayed on the tip of the attachment or a part of the object to be disassembled that the tip of the attachment contacts. The sprinkler device according to claim 9.

13. A position calculation unit that calculates the position of the attachment based on the angle of the work implement including the attachment for disassembling the object to be disassembled and the dimensions of the work implement, A sprinkler control unit that controls an actuator that changes the orientation of a sprinkler that sprays water on a water spray target based on the position of the attachment. Sprinkler system.

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