Work support system

Abstract

To provide a work support system capable of preventing work from being carried out beyond a final target construction landform.SOLUTION: A work support system 1 includes a machine body 10a of a work machine 10, an attachment 15, an attachment operation lever 35a, and a controller 50. The attachment 15 is for performing work by being movably attached on the machine body 10a. The attachment operation lever 35a is for operating the attachment 15. The controller 50 determines an offset amount O according to a lever operation amount for the attachment operation lever 35a.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a work support system.

Background Art

[0002] For example, Patent Document 1 describes a control device for a work machine that switches the target terrain of work based on the posture of an attachment. The control device switches the target terrain of work between a target construction terrain that is the finish target and an offset terrain that is separated from the target construction terrain by a predetermined distance.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, it may not be possible to determine whether it is a finishing operation only based on the posture of the attachment. It is desirable to suppress the occurrence of an operation that goes beyond the final target construction terrain that is the finish target.

[0005] Therefore, an object of the present invention is to provide a work support system capable of suppressing the occurrence of an operation that goes beyond the final target construction terrain.

Means for Solving the Problems

[0006] The work support system includes a machine body of a working machine, an attachment, an operation lever, and a controller. The attachment is operably attached to the machine body and performs work. The operation lever is for operating the attachment. The controller determines an offset amount according to the lever operation amount with respect to the operation lever. The offset amount is the distance from the target construction terrain that is the finish target to the work target terrain that is the work target of the working machine.

Effect of the Invention

[0007] With the above work support system, it is possible to suppress the occurrence of work that goes beyond the final target construction terrain.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

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Figure 8

Figure 9

Figure 10

Mode for Carrying Out the Invention

[0009] Hereinafter, the work support system 1 will be described with reference to the drawings.

[0010] The work support system 1 is a system for setting the terrain (work target terrain T2) targeted for the work by the work machine 10. The work support system 1 determines the offset amount O between the target construction terrain T1 and the work target terrain T2. The work support system 1 determines the offset amount O according to the lever operation amount. As shown in FIG. 1, the work support system 1 includes a work machine 10, an attitude sensor 31, a distance detection device 34 (distance detection unit) (see FIG. 2), an input device 35 (see FIG. 2), a controller 50 (computer), and an instruction device 70 (see FIG. 2).

[0011] The work machine 10 is a machine that performs work. For example, the work machine 10 is a construction machine that performs construction work. For example, the work machine 10 is an excavator. The work machine 10 may be configured to be operable by automatic control. The automatic control may be semi-automatic operation (machine control described later). The work machine 10 may operate without using automatic control. The work machine 10 may be operated by an operator (operator) on board the work machine 10 or may be remotely operated. Hereinafter, mainly, the case where the work machine 10 is an excavator will be described. The work machine 10 includes a machine body 10a, an attachment 15, a drive control unit 17 (see FIG. 2), an actuator 21, and an attitude sensor 31.

[0012] The machine body 10a is the main body part of the working machine 10. The machine body 10a includes a lower body 11 and an upper slewing body 13. The lower body 11 is capable of traveling on a traveling surface (such as the ground). The lower body 11 may be provided with crawlers or may be provided with wheels. The upper slewing body 13 is rotatably mounted on the lower body 11.

[0013] The cab 13a is a part where an operator can operate the working machine 10. When the working machine 10 operates according to the operator's operation, the working machine 10 may be operated by the operator in the cab 13a or may be remotely operated from outside the working machine 10.

[0014] (Direction) The direction in which the rotation axis of the slewing of the upper slewing body 13 with respect to the lower body 11 extends is defined as the vertical direction Z. In the vertical direction Z, the side (direction) from the lower body 11 toward the upper slewing body 13 is defined as the upper side Z1, and the side opposite to the upper side Z1 is defined as the lower side Z2. The directions orthogonal to the vertical direction Z and the direction in which the rotation axis of the boom 15b (described later) with respect to the upper slewing body 13 extends are defined as the front-rear direction X. In the front-rear direction X, the side where the attachment 15 protrudes with respect to the upper slewing body 13 is defined as the front side X1, and the side opposite to the front side X1 is defined as the rear side X2.

[0015] The attachment 15 is a part for performing work. The attachment 15 is attached to the machine body 10a. For example, the attachment 15 includes a boom 15b, an arm 15c, and a tip attachment 15d. The boom 15b is attached to the upper slewing 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 (rotatable in the front-rear direction X and the vertical direction Z).

[0016] The tip attachment 15d is provided at the tip of the attachment 15. The tip attachment 15d is rotatably attached to the arm 15c (rotatable in the front-rear direction X and the vertical direction Z). The tip attachment 15d may be a bucket capable of performing operations such as scooping up the work object and excavation. The tip attachment 15d may also be a device for clamping the work object (such as a grapple or a nibbler), a device for crushing the work object (such as a breaker), or a magnet for adsorbing a metallic work object.

[0017] The work object is an object to be worked on by the working machine 10. The work object may be earth and sand, stone, wood, metal, resin, waste, or a structure (such as a block).

[0018] The actuator 21 is a device for moving the working machine 10. The actuator 21 may include a hydraulic actuator driven by hydraulic pressure or an electric actuator driven by electric power. The actuator 21 may include a motor or a telescopic cylinder. The actuator 21 includes a cylinder for moving 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 with respect to the lower body 11. The boom cylinder 21b raises and lowers the boom 15b with respect to the upper swing body 13. The boom cylinder 21b is, for example, a cylinder (hydraulic cylinder) driven (extended and contracted) by hydraulic pressure (the same applies to the arm cylinder 21c and the tip attachment cylinder 21d). The arm cylinder 21c rotates the arm 15c with respect to the boom 15b. The tip attachment cylinder 21d rotates the tip attachment 15d with respect to the arm 15c.

[0019] The drive control unit 17 (see FIG. 2) controls the actuator 21. 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.

[0020] The attitude sensor 31 detects the attitude of the work machine 10. The attitude sensor 31 detects the attitude of the attachment 15. The attitude sensor 31 may be mounted on the work machine 10 or may be disposed outside the work machine 10 (for example, at a work site or the like). The attitude sensor 31 may include an imaging device described later. The same applies to the position sensor 33, the input device 35 (see FIG. 2), the controller 50, and the teaching device 70 (see FIG. 2) in that they may be mounted on the work machine 10 or may be disposed outside the work machine 10. The attitude sensor 31 includes a turning sensor 31a, a boom sensor 31b, an arm sensor 31c, a tip attachment sensor 31d, and a reference position sensor 31e.

[0021] The swing sensor 31a detects the angle (swing angle) of the upper swing 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 in the horizontal direction or with respect to 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 in the horizontal direction or with respect to 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 in the horizontal direction or with respect to the arm 15c. In FIG. 2, "tip attachment" is described as "tip ATT". The reference position sensor 31e detects the position and orientation of the reference part of the working machine 10 shown in FIG. 1 with respect to the work site. The reference part of the working machine 10 may be, for example, a specific part of the upper swing body 13 or the lower main body 11, may be, for example, the attachment part (boom foot) of the boom 15b to the upper swing body 13, or may be, for example, the swing center of the upper swing body 13 with respect to the lower main body 11. The reference position sensor 31e may perform detection by a positioning system. The positioning system may be a satellite positioning system, for example, GNSS (global navigation satellite system). The positioning system may use a total station. The reference position sensor 31e may be provided with an antenna for using a satellite positioning system. In FIG. 1, the symbol of the reference position sensor 31e is attached to the position of the GNSS antenna when the reference position sensor 31e performs detection by a positioning system using GNSS.

[0022] The position sensor 33 detects the position information of objects existing around the working machine 10. For example, the position sensor 33 may detect the position information of the ground or may detect the position information of obstacles or the like. The position sensor 33 may be provided with, for example, an imaging device (described later).

[0023] The distance detection device 34 (see FIG. 2) detects the distance from the target construction terrain T1 to the tip attachment 15d. The distance detection device 34 may detect the height from the target construction terrain T1 to the tip attachment 15d. The distance detection device 34 may detect the distance from the target construction terrain T1 to the tip portion from the data of the target construction terrain T1 and the position of the tip portion of the tip attachment 15d. In this case, the distance detection device 34 may include the attitude sensor 31. The distance detection device 34 may detect the distance from the position of the tip attachment 15d detected based on the information of the image detected by the imaging device, the data of the target construction terrain T1, to the tip attachment 15d.

[0024] The imaging device may detect two-dimensional information (e.g., position and shape in an image) of the imaging object. The imaging device may include a camera (monocular camera) that detects two-dimensional information. The imaging device may acquire a distance image and detect three-dimensional information (e.g., three-dimensional coordinates and three-dimensional shape) of the imaging object based on the distance image. The imaging device may include a device that detects three-dimensional information using laser light, for example, it may include LIDAR (Light Detection and Ranging), or it may include a TOF (Time Of Flight) sensor. The imaging device may include a device that detects three-dimensional information using radio waves (e.g., 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 a plurality of imaging devices may be provided.

[0025] The input device 35 (see Fig. 2) is a device for an operator to input information. The input device 35 gives an instruction to the controller 50 based on the operator's operation. When the input device 35 is provided on the working machine 10, the input device 35 may be, for example, a display or an operation lever provided in the cab 13a. The input device 35 may be a mobile terminal (such as a tablet or a smartphone), or may be a personal computer. The input device 35 may be provided in a server or the like outside the working machine 10. The input device 35 communicates with the controller 50. The input device 35 includes an attachment operation lever 35a (operation lever) (see Fig. 2). The attachment operation lever 35a is operated to control the posture of the attachment 15. The operating speed of the attachment 15 is changed according to the lever operation amount of the attachment operation lever 35a.

[0026] The controller 50 is a computer that performs signal input / output, calculation (processing), information storage, etc. The functions of the controller 50 are realized by a program stored in the storage unit 51 (see FIG. 2) of the controller 50 being executed by a calculation unit (not shown). The controller 50 and other devices (for example, the input device 35) may be connected by wireless communication or may be connected by wired communication. When there are a plurality of components of the controller 50, the components of the controller 50 may be connected by wireless communication or may be connected by wired communication. For example, the communication is performed by communication means such as a mobile phone line, an optical fiber line, a wireless LAN (Local Area Network), a wired LAN, etc. For example, as shown in FIG. 2, detection results are input to the controller 50 from a posture sensor 31, a position sensor 33, a distance detection device 34 (see FIG. 2), etc. For example, information input by the input device 35 (for example, the lever operation amount of the attachment operation lever 35a (see FIG. 2)) is input to the controller 50. For example, the controller 50 performs semi-automatic operation of the working machine 10. For example, the controller 50 outputs a command for operating the working machine 10 to the drive control unit 17 (see FIG. 2). For example, the controller 50 outputs information to the teaching device 70 (see FIG. 2). The controller 50 may be mounted on the working machine 10 or may be arranged outside the working machine 10. The controller 50 may be distributed and arranged in a plurality of parts (may constitute a distributed system).

[0027] As shown in FIG. 2, the controller 50 includes an arithmetic unit (not shown) and a storage unit 51. Focusing on the functions of the controller 50, the controller 50 includes a lever operation detection unit 52, an offset amount determination unit 53, an offset amount reset unit 54, a work target setting unit 55, an attachment actual speed detection unit 56, and an operation control unit 59. The storage unit 51 stores information. The storage unit 51 stores programs. The storage unit 51 stores target operations. The storage unit 51 stores, for example, a work target terrain T2 (see FIG. 1). The storage unit 51 stores, for example, a target construction terrain T1 (see FIG. 1) and an offset amount O (see FIG. 1). The offset amount O will be described later. The storage unit 51 stores a threshold value of the lever operation amount for determining work (described later).

[0028] The lever operation detection unit 52 detects an operation on the attachment operation lever 35a. The lever operation detection unit 52 detects that a lever operation has been performed on the attachment operation lever 35a. The lever operation detection unit 52 detects the lever operation amount on the attachment operation lever 35a.

[0029] The offset amount determination unit 53 determines the offset amount O (see FIG. 1). The offset amount determination unit 53 determines the offset amount O based on the operation on the attachment operation lever 35a. The determination of the offset amount O will be described in detail later.

[0030] The offset amount reset unit 54 resets the offset amount O (see FIG. 1). The offset amount reset unit 54 resets the offset amount O according to conditions. The reset of the offset amount O will be described in detail later.

[0031] The work target setting unit 55 sets the target operation of the working machine 10 (see FIG. 1). The work target setting unit 55 sets the work target terrain T2 (see FIG. 1) based on the set offset amount O (see FIG. 1). When the offset amount O is zero, the work target setting unit 55 sets the work target terrain T2 to the target construction terrain T1 (see FIG. 1).

[0032] The attachment actual speed detection unit 56 detects the actual speed of the attachment 15. The attachment actual speed detection unit 56 may determine the actual speed of the attachment 15 based on the information from the attitude sensor 31. In this case, the attachment actual speed detection unit 56 acquires the information detected by the attitude sensor 31.

[0033] The operation control unit 59 controls the movement (operation) of the working machine 10 (see FIG. 1). The operation control unit 59 outputs a command to the drive control unit 17. The operation control unit 59 may output a command to the drive control unit 17 according to the operator's operation. The operation control unit 59 may semi-automatically control the working machine 10 so that the working machine 10 moves according to a target operation (for example, the working target terrain T2 (see FIG. 1)). Details of the operation of the working machine 10 will be described later.

[0034] The teaching device 70 is a device that teaches information to an operator (for example, an operator). The teaching device 70 teaches the target operation to the operator. The teaching device 70 teaches, for example, the working target terrain T2 (see FIG. 1) to the operator. 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, or a speaker that outputs sound. The teaching device 70 may be one or more of these.

[0035] (Operation) The work support system 1 (mainly the controller 50) is configured to perform the following operations. The work support program causes the controller 50 to execute the following operations. The work support system 1 realizes a method in which the following operations are performed. Note that each operation (function) of the work support system 1 may be regarded as a "step" in the work support program and the work support method.

[0036] (Operation: Regarding the operation of the working machine 10) The working machine 10 shown in FIG. 1 may be operated by an operator in the cab 13a, remotely operated by the operator from outside the working machine 10 (remote operation device), or automatically operated. The working machine 10 is a machine that utilizes information and communication technology (ICT).

[0037] For example, the working machine 10 may be operated by the operator with the function of machine guidance (MG). Specifically, a target operation (for example, an operation of excavating along the working target terrain T2) is set in the controller 50. Then, guidance such as the position to be worked is shown to the operator so that the working machine 10 can operate (work) according to the target operation. This guidance is output, for example, to an output device provided in the cab 13a of the working machine 10 or an output device provided in the remote operation device. Then, the operator operates the working machine 10 according to the guidance. As a result, the working machine 10 operates according to the target operation (for example, an operation of excavating along the working target terrain T2).

[0038] Also, for example, the working machine 10 may operate by machine control (MC). Specifically, a target operation (for example, an operation of excavating along the working target terrain T2) is set in the controller 50. Then, the operator operates only some elements of the attachment 15 (for example, only the boom 15b). At this time, the controller 50 (see FIG. 2) automatically controls the elements that are not operated by the operator (for example, the arm 15c and the tip attachment 15d) so that the working machine 10 works according to the target operation (for example, an operation of excavating along the working target terrain T2). At this time, the controller 50 controls the operation of the working machine 10 based on the detection value of the attitude sensor 31. As a result, the working machine 10 operates according to the target operation (for example, an operation of excavating along the working target terrain T2).

[0039] (Operation: Regarding the determination of the offset amount O) The controller 50 shown in FIG. 1 (specifically, the offset amount determination unit 53 (see FIG. 2)) determines the offset amount O. The offset amount O is the distance (separation distance) between the target construction terrain T1 that is the finished target and the work target terrain T2 that is the target of the work of the work machine 10. The controller 50 may determine the offset amount O according to the lever operation amount with respect to the attachment operation lever 35a. Hereinafter, the lever operation amount with respect to the attachment operation lever 35a will also be simply referred to as the "lever operation amount". Also, the operation amount of the boom 15b by the attachment operation lever 35a will also be simply referred to as the "operation amount of the boom 15b" (the same applies to the arm 15c and the tip attachment 15d). The controller 50 may determine the offset amount O based on the lever operation amount of the entire attachment 15 (the operation amount of the boom 15b, the operation amount of the arm 15c, and the operation amount of the tip attachment 15d). The controller 50 may determine the offset amount O based on the operation amount of a part of the elements of the attachment 15 (for example, the boom 15b). That is, a part of the operation of the attachment 15 by the attachment operation lever 35a (for example, the operation of the boom 15b) may be used as the operation for determining the offset amount O.

[0040] The outline of a specific example of the method for determining the offset amount O according to the lever operation amount by the controller 50 is as follows (the details of each specific example will be described later). The controller 50 may determine the offset amount O according to the type of work determined according to the lever operation amount. The controller 50 may determine the type of work based on the threshold value of the lever operation amount. Specifically, the types of work are, for example, leveling work and excavation work. Generally, the lever operation amount when performing leveling work is smaller than the lever operation amount when performing excavation work. The controller 50 may, for example, determine the offset amount O to be zero when it is determined that the work is leveling work. For example, the target construction terrain T2 when performing leveling work may be the target construction terrain T1. The controller 50 may determine the offset amount O to be a value corresponding to the lever operation amount. The controller 50 may determine the offset amount O according to other parameters in addition to the lever operation amount. The other parameters may be the information of the attachment 15, for example, the actual speed of the attachment 15 or the posture of the attachment 15. The actual speed of the attachment 15 may be the actual speed of any element of the attachment 15. The posture of the attachment 15 may be the posture of any element of the attachment 15. The posture of the attachment 15 may be, for example, the distance from the target construction terrain T1 to the tip attachment 15d. The controller 50 may determine the offset amount O based on the lever operation amount for a predetermined period. The controller 50 may determine the offset amount O based on the value obtained by time-integrating the lever operation amount.

[0041] (Operation: Regarding the reset of the offset amount O) The controller 50 shown in Fig. 1 (specifically, the offset amount reset unit 54 (see Fig. 2)) resets the offset amount O. The reset may be to set the offset amount O to zero, or may be to set the offset amount O to an initial value other than zero. An overview of specific examples of resetting the offset amount O by the controller 50 is as follows (details of each specific example will be described later). The controller 50 may reset the offset amount O at the timing when the work changes. The controller 50 may, for example, reset the offset amount O when the attachment operation lever 35a returns to the default position (neutral position). The controller 50 may reset the offset amount O according to the type of work. The controller 50 may, for example, reset when the type of work is a land preparation work. The controller 50 may perform the reset based on a manual operation on the input device 35.

[0042] (Operation: Specific Example of Method for Determining Offset Amount O) A specific example in which the controller 50 (see Fig. 2) determines the offset amount O (see Fig. 1) based on the lever operation amount for the attachment operation lever 35a (see Fig. 2) will be described using a flowchart.

[0043] As shown in Fig. 3, first, the controller 50 (see Fig. 2) determines whether or not it has detected an operation of the attachment operation lever 35a (see Fig. 2) (S10). If the controller 50 does not detect an operation of the attachment operation lever 35a (S10: NO), it repeats the process of step S10 until it detects an operation of the attachment operation lever 35a. When the controller 50 detects an operation of the attachment operation lever 35a (S10: YES), it calculates the lever operation amount (S20). Then, the controller 50 calculates the offset amount O (see Fig. 1) (S30). After that, the controller 50 determines the work target terrain T2 based on the offset amount O (S40) and ends this process. Note that, although the same applies to the subsequent flowcharts, the controller 50 may not end the process but may shift the process to the first step.

[0044] Here, the offset amount O (see FIG. 1) corresponds to the lever operation amount. For example, the offset amount O may increase as the lever operation amount increases. For example, the offset amount O may increase stepwise as the lever operation amount increases. For example, the offset amount O may increase continuously as the lever operation amount increases. For example, the offset amount O may be proportional to the lever operation amount. For example, the offset amount O may be a linear function of the lever operation amount. Specifically, the offset amount O may be a value obtained by multiplying the lever operation amount by a constant. Specifically, the offset amount O may be represented as O = constant a × lever operation amount β. In this case, the offset amount O may be a value obtained by adding or subtracting another constant that does not depend on the lever operation amount to the value obtained by multiplying the lever operation amount by a constant. Specifically, the offset amount O may be represented as O = constant a × lever operation amount β + constant c. For example, the offset amount O may be a quadratic function of the lever operation amount. For example, the offset amount O may be set based on the relationship (map) between the lever operation amount and the offset amount O.

[0045] Next, a specific example of the controller 50 (see FIG. 2) determining the offset amount O (see FIG. 1) based on the lever operation amount for the attachment operation lever 35a (see FIG. 2) and the actual speed of the attachment 15 (see FIG. 1) will be described using a flowchart.

[0046] As shown in FIG. 4, first, the controller 50 (see FIG. 2) determines whether or not it has detected an operation of the attachment operation lever 35a (see FIG. 2) (S110). If the controller 50 does not detect an operation of the attachment operation lever 35a (S110: NO), the process of step S110 is repeated until detection. When the controller 50 detects an operation of the attachment operation lever 35a (S110: YES), it calculates the lever operation amount (S120). Then, the controller 50 calculates the actual attachment speed (S130). Then, the controller 50 calculates an offset amount O based on the lever operation amount and the actual attachment speed (S140). After that, the controller 50 determines the work target terrain T2 based on the offset amount O (S150), and ends this process.

[0047] Here, the offset amount O (see FIG. 1) corresponds to the actual speed of the attachment 15 (see FIG. 1). For example, the offset amount O may increase as the actual speed of the attachment 15 increases. The offset amount O may increase stepwise as the actual speed of the attachment 15 increases. The offset amount O may increase continuously as the actual speed of the attachment 15 increases. The offset amount O may be proportional to the actual speed of the attachment 15. For example, the offset amount O may be the sum of a value obtained by multiplying the lever operation amount by a constant and a value obtained by multiplying the actual speed of the attachment 15 by another constant. Specifically, the offset amount O may be represented by O = constant a × lever operation amount β + constant b × actual speed ω of the attachment 15. For example, the offset amount O may be a quadratic function or the like. For example, the offset amount O may be set based on the relationship (map) of the offset amount O with respect to the lever operation amount and the actual speed of the attachment 15. Also, the attachment 15 for which the actual speed is measured may be the boom 15b, the arm 15c, or the tip attachment 15d. For example, the actual speed of the attachment 15 may be the moving speed of the bucket.

[0048] Next, a specific example in which the controller 50 (see FIG. 2) determines the offset amount O (see FIG. 1) based on the lever operation amount and the distance from the target construction terrain T1 (see FIG. 1) to the tip attachment 15d (see FIG. 1) will be described using a flowchart.

[0049] As shown in FIG. 5, first, the controller 50 (see FIG. 2) determines whether or not the operation of the attachment operation lever 35a (see FIG. 2) has been detected (S210). When the controller 50 does not detect the operation of the attachment operation lever 35a (S210: NO), the process of step S210 is repeated until detection. When the controller 50 detects the operation of the attachment operation lever 35a (S210: YES), the lever operation amount is calculated (S220). Then, the controller 50 measures the distance from the target construction terrain T1 (see FIG. 1) to the tip attachment 15d (see FIG. 1) (S230). Then, the controller 50 calculates the offset amount O (see FIG. 1) based on the lever operation amount and the distance from the target construction terrain T1 to the tip attachment 15d (S240). Thereafter, the controller 50 determines the work target terrain T2 based on the offset amount O (S250), and ends this process.

[0050] Here, the timing for measuring the distance from the target construction terrain T1 (see FIG. 1) to the tip attachment 15d (see FIG. 1) may be the timing when the operation of the attachment operation lever 35a is started. The timing for measuring the distance from the target construction terrain T1 to the tip attachment 15d may be the timing immediately before the operation of the attachment operation lever 35a is started. The timing for measuring the distance from the target construction terrain T1 to the tip attachment 15d may be the timing immediately before the attachment 15 moves. The timing for measuring the distance from the target construction terrain T1 to the tip attachment 15d may be the timing at the moment the attachment 15 moves.

[0051] Further, the offset amount O (see FIG. 1) is determined according to the distance from the target construction terrain T1 (see FIG. 1) to the tip attachment 15d (see FIG. 1). For example, the offset amount O may increase as the distance L (see FIG. 1) from the target construction terrain T1 to the tip attachment 15d increases. The distance L may be the shortest distance from the target construction terrain T1 to the tip attachment 15d, or may be the height from the target construction terrain T1 to the tip attachment 15d. The offset amount O may increase stepwise as the distance L increases. The offset amount O may increase continuously as the distance L increases. The offset amount O may be proportional to the distance L. For example, the offset amount O may be the sum of a value obtained by multiplying the lever operation amount by a constant and a value obtained by multiplying the distance from the target construction terrain T1 to the tip attachment 15d by another constant. Specifically, the offset amount O may be expressed as O = constant a × lever operation amount β + constant c × distance L. For example, the offset amount O may be a quadratic function or the like. For example, the offset amount O may be set based on the relationship (map) of the offset amount O with respect to the lever operation amount and the distance from the target construction terrain T1 to the tip attachment 15d.

[0052] Next, a specific example of the controller 50 (see FIG. 2) determining the offset amount O (see FIG. 1) according to the work (for example, the type of work) determined from the lever operation amount of the attachment operation lever 35a (see FIG. 2) will be described using a flowchart.

[0053] As shown in FIG. 6, first, the controller 50 (see FIG. 2) determines whether or not it has detected an operation of the attachment operation lever 35a (see FIG. 2) (S310). When the controller 50 does not detect an operation of the attachment operation lever 35a (S310: NO), the process of step S310 is repeated until detection. When the controller 50 detects an operation of the attachment operation lever 35a (S310: YES), it calculates the lever operation amount (S320). Then, the controller 50 determines whether or not the calculated lever operation amount is less than or equal to a threshold value (S330). When the controller 50 determines that the calculated lever operation amount is not less than or equal to the threshold value (S330: NO), it determines that the work being performed by the working machine 10 (see FIG. 1) is excavation work (S340). Then, the controller 50 determines the offset amount O to a predetermined value (predetermined offset amount) (S350). On the other hand, when the controller 50 determines that the calculated lever operation amount is less than or equal to the threshold value (S330: YES), it determines that the work being performed by the working machine 10 is leveling work (S360). Then, the controller 50 determines the offset amount O to a value smaller than the predetermined offset amount (S370). Then, the controller 50 determines the work target terrain T2 based on the offset amount O determined in step S350 or step S370 (S380), and ends this process.

[0054] As described above, the controller 50 (see FIG. 2) discriminates the work (e.g., the type of work) according to whether the lever operation amount is equal to or greater than the threshold value, and switches the offset amount O according to the discriminated work. When the lever operation amount is greater than the threshold value, the controller 50 sets the offset amount O to a predetermined offset amount. When the lever operation amount is equal to or less than the threshold value, the controller 50 sets the offset amount O to an offset amount O smaller than the predetermined offset amount. Here, the predetermined offset amount may be a constant value. The predetermined offset amount may be different values according to the lever operation amount. Also, the offset amount O smaller than the predetermined offset amount may be zero or a value greater than zero. The work target terrain T2 (see FIG. 1) determined by the offset amount O smaller than the predetermined offset amount may be the same terrain as the target construction terrain T1 (see FIG. 1).

[0055] Next, a specific example in which the controller 50 (see FIG. 2) determines the offset amount O based on the value obtained by integrating (e.g., time integration) the lever operation amount will be described using a flowchart.

[0056] As shown in FIG. 7, first, the controller 50 (see FIG. 2) determines whether or not it has detected an operation of the attachment operation lever 35a (see FIG. 2) (S410). When the controller 50 does not detect an operation of the attachment operation lever 35a (S410: NO), the process of step S410 is repeated until detection. When the controller 50 detects an operation of the attachment operation lever 35a (S410: YES), it calculates the lever operation amount (S420). Then, the controller 50 determines the work (for example, the type of work) being performed by the work machine 10 according to the operation of the attachment operation lever 35a. Specifically, the controller 50 determines whether or not the work being performed by the work machine 10 is a ground leveling work (S430). When the work being performed by the work machine 10 is not a ground leveling work (S430: NO), the controller 50 transfers the process to step S410. When the work being performed by the work machine 10 is a ground leveling work (S430: YES), the controller 50 transfers the process to step S410. Specifically, the controller 50 determines whether or not the operation amount of the arm 15c (see FIG. 1) by the attachment operation lever 35a is equal to or greater than a threshold value and the distance L (see FIG. 1) is equal to or less than a threshold value (S430). Note that, as described above, the distance L is the distance from the target construction terrain T1 (see FIG. 1) to the tip attachment 15d (see FIG. 1). Also, the reason for determining whether or not it is a ground leveling work based on the operation amount of the arm 15c and the distance L will be described later. In FIG. 7, the operation amount of the arm 15c is described as the "arm lever operation amount". When the operation amount of the arm 15c is not equal to or greater than the threshold value, or the distance from the target construction terrain T1 to the tip attachment 15d is not equal to or less than the threshold value (S430: NO), the controller 50 transfers the process to step S410. When the operation amount of the arm 15c is equal to or greater than the threshold value and the distance L from the target construction terrain T1 to the tip attachment 15d is equal to or less than the threshold value (S430: YES), the controller 50 integrates (for example, time-integrates) the operation amount of the boom 15b (S440). In FIG. 8, the operation amount of the boom 15b is described as the "boom lever operation amount". Then, the controller 50 calculates an offset amount O (see FIG. 1) based on the value obtained by time-integrating the operation amount of the boom 15b (S450).Based on the offset amount O, the controller 50 determines the working target terrain T2 (S460) and ends this process.

[0057] In the example shown in FIG. 7, when the controller 50 determines that the work being performed by the work machine 10 is a land leveling work, the controller 50 determines the offset amount O based on the value obtained by integrating the lever operation amount. The controller 50 may determine the offset amount O based on the value obtained by integrating the lever operation amount without determining the work being performed by the work machine 10.

[0058] Here, the offset amount O (see FIG. 1) may increase each time the attachment operation lever 35a (see FIG. 2) is lever-operated. The offset amount O may not return to zero even when the lever operation amount becomes zero. The offset amount O may be determined based on the value obtained by integrating the lever operation amount. The offset amount O may be determined based on the value obtained by time-integrating the lever operation amount. The target period for time integration may be any period. For example, the target period for time integration may be a predetermined period from the present to a predetermined time ago. For example, the target period for time integration may be all periods of one cycle of work.

[0059] The reason why the controller 50 determines the offset amount O based on the value obtained by integrating (for example, time-integrating) the lever operation amount is as follows. For example, consider a case where the offset amount O becomes a large value as the lever operation amount increases, and the offset amount O becomes a small value as the lever operation amount decreases (for example, in the case where the offset amount O = constant a × lever operation amount β). In this case, consider a situation where the lever operation amount of the attachment operation lever 35a suddenly decreases (for example, becomes zero) from a state where the lever operation amount is a certain amount. In this case, due to the sudden decrease in the lever operation amount, the offset amount O suddenly decreases. Then, the working target terrain T2 (see FIG. 1) before the sudden decrease in the offset amount O and the working target terrain T2 after the sudden decrease in the offset amount O will deviate greatly. Then, the operation signals (the signals input to the drive control unit 17 (see FIG. 2), the signals for moving the attachment 15) for the work machine 10 to work according to the working target terrain T2 may suddenly change before and after the sudden decrease in the offset amount O. In this case, the movement of the work machine 10 suddenly changes. On the other hand, when the controller 50 determines the offset amount O based on the value obtained by integrating (for example, time-integrating) the lever operation amount, even if the lever operation amount suddenly decreases, the offset amount O (see FIG. 1) does not suddenly decrease according to the lever operation amount. For example, even if the lever operation amount suddenly decreases, the offset amount O does not suddenly become zero (see FIG. 9). For example, depending on the period of time integration, the offset amount O may gradually decrease.

[0060] For example, consider a case where the attachment operation lever 35a (see Fig. 2) is suddenly operated from a state where it is not being operated, and the lever operation amount rapidly increases. Also in this case, similar to the case where the lever operation amount rapidly decreases, the working target terrain T2 before the offset amount O rapidly increases and the working target terrain T2 after the offset amount O rapidly increases will deviate greatly. Then, the movement of the work machine 10 may change suddenly. On the other hand, the controller 50 may determine the offset amount O based on the value obtained by integrating (for example, time-integrating) the lever operation amount, so that the offset amount O gradually increases without rapidly increasing in accordance with the lever operation amount. For example, the target period for time integration may be set so that the offset amount O gradually increases. In this way, by making it based on the value obtained by integrating (for example, time-integrating) the lever operation amount, it is possible to suppress the offset amount O from changing suddenly even when the attachment operation lever 35a is suddenly operated.

[0061] (Operation: Specific example of reset of offset amount O) For example, the determination of the offset amount O (see FIG. 1) performed by the controller 50 may include resetting the offset amount O. The resetting of the offset amount O may be performed as the determination of the offset amount O. Specifically, in the example of FIG. 3, when the lever operation amount disappears, the offset amount O may be reset (set to zero or a default value). Specifically, in the example of FIG. 4, when the lever operation amount and / or the attachment actual speed disappear, the offset amount O may be reset (to 0 or a default value). Specifically, in the example of FIG. 5, when the lever operation amount and / or the distance from the target construction terrain T1 to the tip attachment 15d disappear, the offset amount O may be reset (to 0 or a default value). Specifically, in the example of FIG. 6, when the lever operation amount is below the threshold (grading work), the offset amount O may be reset (to 0 or a default value). Specifically, in the example of FIG. 7, based on the comparison between the value obtained by integrating (e.g., time integration) the lever operation amount and a threshold, the offset amount O may be reset (to 0 or a larger default value). For example, when the value obtained by integrating the lever operation amount exceeds the threshold, the offset amount O may be reset. For example, depending on the setting of the target period for time integration, although the value obtained by integrating the lever operation amount may decrease, when the value obtained by integrating the lever operation amount becomes below the threshold, the offset amount O may be reset.

[0062] Also, for example, the resetting of the offset amount O may be performed as a process separate from the determination of the offset amount O. A specific example in which the controller 50 resets the offset amount O as a process separate from the determination of the offset amount O will be described using the flowchart shown in FIG. 8. Also, the relationship between the lever operation amount, the offset amount O, etc. in the flowchart of FIG. 8 is shown in FIG. 9.

[0063] Regarding steps S510 to S560 shown in FIG. 8, since they are the same as steps S410 to S460 described with reference to FIG. 7, the description thereof will be omitted. When calculating the offset amount O from the integrated value of the lever operation amount, there is a possibility that the offset amount O may remain without being reset. Therefore, the controller 50 (see FIG. 2) may perform the following reset process. In the example of FIG. 8, the controller 50 resets the offset amount O on the condition that the working machine 10 has performed a predetermined operation. Specifically, the controller 50 resets the offset amount O on the condition that the working machine 10 has completed one cycle of land leveling work.

[0064] As shown in FIG. 8, the controller 50 (see FIG. 2) determines whether or not one cycle of land leveling work by the working machine 10 has been completed after step S560. Specifically, the controller 50 determines whether or not the operation amount of the arm 15c (see FIG. 1) is equal to or less than the threshold value, or the distance L (see FIG. 1) from the target construction terrain T1 (see FIG. 1) to the tip attachment 15d (see FIG. 1) is equal to or greater than the threshold value (S570) (the reason for such determination will be described later). If the operation amount of the arm 15c is not less than the threshold value and the distance from the target construction terrain T1 to the tip attachment 15d is not more than the threshold value (S570: NO), the process proceeds to step S540. If the operation amount of the arm 15c is equal to or less than the threshold value, or the distance from the target construction terrain T1 to the tip attachment 15d is equal to or greater than the threshold value (S570: YES), the controller 50 resets the offset amount O and determines the working target terrain T2 (see FIG. 1) (S580).

[0065] The controller 50 (see FIG. 2) is not limited to resetting the offset amount O (see FIG. 1) on the condition that the work machine 10 (see FIG. 1) completes one cycle of land leveling work in the example of FIG. 8. Also, in the examples of step S430 in FIG. 7 and step S530 in FIG. 8, it is determined whether the work being performed by the work machine 10 is land leveling work. In this determination, it is set as the determination condition for the work to be land leveling work that the operation amount of the arm 15c (see FIG. 1) is equal to or greater than the threshold value and the distance L (see FIG. 1) from the target construction terrain T1 to the tip attachment 15d (see FIG. 1) is equal to or less than the threshold value. The reason is as follows. Generally, in land leveling work when the work machine 10 operates by machine control, the operator manually operates the arm 15c, and the boom 15b (see FIG. 1) and the tip attachment 15d (for example, a bucket) (see FIG. 1) are automatically operated. When the work of the work machine 10 shifts from excavation work to land leveling work, it is assumed that the tip attachment 15d is located at a position close to the target construction terrain T1. For example, in land leveling work, it is assumed that the tip attachment 15d is moved along the target construction terrain T1 at a position close to the target construction terrain T1. Therefore, in the example of FIG. 8, as the determination condition for the work to be land leveling work, it is set as "when the tip attachment 15d is located near the target construction terrain T1, the manual operation of the attachment 15 (for example, the arm 15c) (see FIG. 1) is equal to or greater than the threshold value".

[0066] On the other hand, when one cycle of land leveling work is completed, usually, it is assumed that the arm 15c is not operated, the boom 15b is raised, and the tip attachment 15d is separated from the target construction terrain T1. Therefore, in step S570 of FIG. 8, it is set as the determination condition for the completion of one cycle of land leveling work that the operation amount of the arm 15c is equal to or less than the threshold value or the distance L is equal to or greater than the threshold value. Note that the determination conditions for the work to be land leveling work and the completion of one cycle of land leveling work can be set in various ways. For example, the controller 50 may determine the land leveling work using the pressure information of the actuator 21 (see FIG. 1) or the attitude information of the attachment 15, or may determine the land leveling work from a combination including these.

[0067] (Effect 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 (see FIG. 1), an attachment 15 (see FIG. 1), an attachment operation lever 35a, and a controller 50. The attachment 15 is operably attached to the machine body 10a and performs work. The attachment operation lever 35a is for operating the attachment 15.

[0068] [Configuration 1] The controller 50 determines an offset amount O according to the lever operation amount with respect to the attachment operation lever 35a. The offset amount O is the distance from a target construction terrain T1 which is the finishing target to a work target terrain T2 which is the work target of the work machine 10.

[0069] In the above [Configuration 1], the offset amount O from the target construction terrain T1 is determined according to the lever operation amount to the attachment operation lever 35a when performing work with the target construction terrain T1 as the target. It is possible to use the work target terrain T2 based on the offset amount O as the work target. Therefore, it is possible to suppress the occurrence of work that exceeds the final target construction terrain T1.

[0070] (Effect of the Second Invention) [Configuration 2] As shown in FIG. 2, the work support system 1 further includes an attachment actual speed detection unit 56. The attachment actual speed detection unit 56 detects the actual speed of the attachment 15. The controller 50 determines the offset amount O based on the lever operation amount and the actual speed.

[0071] In the above [Configuration 2], the offset amount O is determined based on the lever operation amount and the actual speed of the attachment 15. Not only when the position of the attachment 15 changes due to lever operation, but also when the position of the attachment 15 changes due to other external factors, the offset amount O is determined based on the operating speed of the attachment 15. Therefore, it is possible to suppress the occurrence of work that exceeds the final target construction terrain T1 due to other external factors.

[0072] (Effect of the Third Invention) [Configuration 3] As shown in FIG. 1, the attachment 15 has a tip attachment 15d. As shown in FIG. 2, the work support system 1 further includes a distance detection device 34 that detects the distance from the target construction terrain T1 to the tip attachment 15d. As shown in FIG. 5, the controller 50 determines the offset amount O based on the lever operation amount and the distance L from the target construction terrain T1 to the tip attachment 15d.

[0073] In the above [Configuration 3], the offset amount O is determined based on the lever operation amount and the distance from the target construction terrain T1 to the tip attachment 15d. Therefore, it is possible to determine an offset amount O suitable for the distance L. For example, when divided into different operations according to the distance from the target construction terrain T1 to the tip attachment 15d, it is possible to determine an offset amount O suitable for each of the different operations.

[0074] (Effect of the Fourth Invention) [Configuration 4] As shown in FIG. 6, when the lever operation amount is equal to or greater than a predetermined threshold value, the controller 50 (see FIG. 2) determines the offset amount O (see FIG. 1) to a predetermined fixed value.

[0075] In the above [Configuration 4], the offset amount O is determined to a predetermined fixed value when the lever operation amount is equal to or greater than the threshold value. Thereby, the offset amount O can be set to a stable value.

[0076] (Effect of the Fifth Invention) [Configuration 5] As shown in FIG. 6, when the lever operation amount is less than a predetermined threshold value, the controller 50 (see FIG. 2) determines the offset amount O (see FIG. 1) to be zero.

[0077] In the above [Configuration 5], when the lever operation amount is less than the threshold value, the offset amount O (see FIG. 1) is determined to be zero, and the target construction terrain T1 (see FIG. 1) becomes the target of the work. Generally, when the lever operation amount is small, it is assumed that the work performed by the work machine 10 is a leveling work at a position close to the target construction terrain T1. As a result, it is possible to suppress the offset amount O from being set in the work at a position close to the target construction terrain T1.

[0078] (Effect of the Sixth Invention) [Configuration 6] When the attachment operation lever 35a (see FIG. 2) returns to the default position, the controller 50 (see FIG. 2) resets the offset amount O (see FIG. 1).

[0079] In the above [Configuration 6], when the attachment operation lever 35a (see FIG. 2) returns to the default position, the offset amount O (see FIG. 1) is reset. When the attachment operation lever 35a returns to the default position, the next work may be different from the previous work. Therefore, by resetting the offset amount O at the timing when the attachment operation lever 35a returns to the default position, it is possible to suppress the offset amount O of the previous work from being applied to the next work.

[0080] (Effect of the Seventh Invention) [Configuration 7] As shown in FIG. 7, the controller 50 (see FIG. 2) determines the offset amount O (see FIG. 1) based on the value obtained by integrating the lever operation amount.

[0081] In the above [Configuration 7], the offset amount O (see Fig. 1) is determined based on the value obtained by integrating the lever operation amount. As a result, even when the lever operation is suddenly stopped, the value obtained by integrating the lever operation amount with respect to time does not decrease rapidly, so that a sudden change in the offset amount O is suppressed. Therefore, when the offset amount O is applied to the machine control, it is possible to suppress the work machine 10 from performing an unexpected operation due to a sudden change in the offset amount O.

[0082] (Effect of the Eighth Invention) [Configuration 8] As shown in Fig. 6, the controller 50 (see Fig. 2) determines whether the work is a leveling work for the target construction terrain T1 (see Fig. 1). When the controller 50 determines that one cycle of the leveling work has been completed, it resets the offset amount O.

[0083] In the above [Configuration 8], when the work is switched to the leveling work for the target construction terrain T1 (see Fig. 1), the offset amount O (see Fig. 1) can be reset.

[0084] (Modification) The above embodiment may be variously modified. For example, various examples (including modification examples) of the above embodiment may be variously combined. For example, the connection of each component shown in Fig. 2 and the like may be changed. For example, the number of components (including modification 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 components may be changed in various ways. For example, what was described as a lower component included in a certain upper component may not be included in this upper component and may be included in other components. For example, what was described as a plurality of different members or parts may be regarded as one member or part. For example, what was described as one member or part may be provided separately as a plurality of different members or parts. For example, the order of the steps in the flowcharts shown in FIGS. 3 to 8 may be changed, and some of the steps may not be performed. For example, each component may have only a part of each feature (operating function, arrangement, shape, operation, etc.).

[0085] For example, as shown in FIG. 10, the offset amount O may be an angle formed with the target construction terrain T1. The controller 50 (specifically, the offset amount determination unit 53 (see FIG. 2)) may use the terrain rotated by the offset amount O from the target construction terrain T1 as the work target terrain T2.

Description of Reference Numerals

[0086] 1 Working support system 10 Working machine 10a Machine body 11 Lower body 13 Upper slewing body 13a Cab 15 Attachment 15b Boom 15c Arm 15d Tip attachment 17 Drive control unit 21 Actuator 21a Slewing motor 21b Boom cylinder 21c Arm cylinder 21d Tip attachment cylinder 31 Attitude sensor 31a Slewing sensor 31b Boom sensor 31c Arm sensor 31d Tip attachment sensor 31e reference position sensor 33 position sensor 34 distance detection device 35 input device 35a attachment operation lever 50 controller 51 memory unit 52 lever operation detection unit 53 offset amount determination unit 54 offset amount reset unit 55 work target setting unit 56 attachment actual speed detection unit 59 operation control unit 70 teaching device

Claims

1. A machine body of a working machine, an attachment that is operably attached to the machine body and performs work, an operation lever for operating the attachment, a controller, and comprising, the controller, determines an offset amount, which is the distance from a target construction terrain of a finish to a work target terrain that is a work target of the working machine, according to a lever operation amount with respect to the operation lever, a work support system.

2. The work support system according to Claim 1, further comprising an attachment actual speed detection unit that detects an actual speed of the attachment, the controller determines the offset amount based on the lever operation amount and the actual speed, a work support system.

3. The work support system according to Claim 1, the attachment has a tip attachment, further comprising a distance detection unit that detects a distance from the target construction terrain to the tip attachment, the controller determines the offset amount based on the lever operation amount and the distance, a work support system.

4. The work support system according to Claim 1, when the lever operation amount is equal to or greater than a predetermined threshold value, the controller determines the offset amount to be a predetermined fixed value, a work support system.

5. The work support system according to Claim 1, when the lever operation amount is less than a predetermined threshold value, the controller determines the offset amount to be zero, a work support system.

6. The work support system according to Claim 1, when the operation lever returns to the default position, the controller resets the offset amount, a work support system.

7. The work support system according to Claim 1, the controller determines the offset amount based on a value obtained by integrating the lever operation amount, a work support system.

8. The work support system according to Claim 7, the controller, determines whether the work is a leveling work on the target construction terrain, when it is determined that one cycle of the leveling work has ended, the controller resets the offset amount, a work support system.

Images