Work area setting system

Abstract

To provide a technology that makes it easier to perform automatic operation control of a work machine.SOLUTION: An attachment tip passing position determining part 30 that determines passing points through which the tip of an attachment 4 of a work machine 1 passes when moving from outside the work area 50 to inside the area and / or from inside the work area to outside the area. The passing point is a lifting rotation start point (P1) or a return rotation end point P4. The attachment 4 is moved in the trajectory region between the lifting rotation start point P1 and a lifting rotation end point P2, and in the trajectory region between a return rotation start point P3 and the return rotation end point P4, prioritizing teaching instructions over instructions that differ from the teaching instructions.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a work area setting system. [Background technology]

[0002] Regarding technology for detecting work objects in automated driving technology for work machines, Patent Document 1 describes a technology for calculating the distance from a wheel loader to the ground to be excavated, or the angle of repose of the ground, based on measurement data from a three-dimensional measurement device. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-178599 Summary of the Invention [Problem to be solved by the invention]

[0004] For example, consider a case where there are multiple piles of natural ground within the detection area of ​​a three-dimensional measuring device. In this case, it is difficult to identify the calculation range of the excavation target using the technology described in Patent Document 1. Also consider a case where a work machine is made to perform repetitive work during automatic operation. In this case, it is desirable to classify the movement of the work machine during repetitive work so that it can be easily controlled.

[0005] An object of the present invention is to provide a technique that makes it easier to perform automatic driving control of a work machine. [Means for solving the problem]

[0006] The work area setting system according to the present invention includes an area setting unit for setting a work area of ​​a predetermined range in which work objects to be worked on by a work machine are piled.

[0007] In addition to the work area setting system, the work object detection system of the present invention includes a three-dimensional measuring device that acquires data on the work object and its surroundings, and a calculation unit that calculates three-dimensional information regarding the position, range, and shape of the work object present in the work area from the measurement data acquired by the three-dimensional measuring device. [Effects of the Invention]

[0008] According to the present invention, automatic driving control of a work machine can be more easily performed. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a side view showing a hydraulic excavator as a work machine and a pile of earth and sand as a work object. [Figure 2] FIG. 10 is a plan view for explaining the procedure for setting a work area. [Figure 3] This is a plan view of the work area shown in Figure 2 with three-dimensional information about the location, extent, and shape of the debris pile added. [Figure 4] FIG. 2 is a block diagram of a controller installed in a hydraulic excavator that constitutes a work object detection system. [Figure 5] 5 is a flowchart showing the processing in the detection controller shown in FIG. 4. [Figure 6] FIG. 10 is a plan view illustrating the process of calculating three-dimensional information regarding the position, range, and shape of a pile of earth and sand when the pile of earth and sand straddles a work area and an area outside the work area. [Figure 7] FIG. 10 is a plan view illustrating the process of calculating three-dimensional information regarding the position, range, and shape of a pile of earth and sand when the pile of earth and sand straddles a work area and an area outside the work area. [Figure 8] FIG. 10 is a view of a second embodiment corresponding to FIG. [Figure 9] FIG. 10 is a view equivalent to FIG. 3 of the second embodiment. [Figure 10] FIG. 10 is a view taken along the arrows F10-F10 in FIG. 9. [Figure 11]FIG. 5 is a view of the second embodiment corresponding to FIG. 4. [Figure 12] 11 is a flowchart for setting the work area shown in FIG. 9 and the initial work height shown in FIG. 10. [Figure 13] 12 is a flowchart showing a process performed by a controller shown in FIG. 11. DETAILED DESCRIPTION OF THE INVENTION

[0010] (First embodiment) Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following description, a hydraulic excavator 1 will be used as an example of a work machine. A work area setting system and a work object detection system according to a first embodiment will be described.

[0011] (Hydraulic excavator configuration) As shown in FIG. 1, a hydraulic excavator 1 is a machine that performs work using an attachment 4, and includes a lower traveling body 2, an upper rotating body 3, and the attachment 4.

[0012] The lower traveling body 2 is the part that allows the hydraulic excavator 1 to travel, and has crawlers 5. The upper rotating body 3 is attached to the upper traveling body 2 so as to be able to rotate via a rotating device 6. The upper rotating body 3 has a cab 7, which serves as an operator's room, at its front.

[0013] The attachment 4 is attached to the upper rotating body 3 so as to be rotatable in the vertical direction. The attachment 4 has a boom 10, an arm 11, and a bucket 12. The base end of the boom 10 is attached to the upper rotating body 3. The base end of the arm 11 is attached to the tip of the boom 10. The bucket 12 is attached to the tip of the arm 11. The bucket 12 is a tip attachment that performs tasks such as digging, leveling, and scooping of work objects such as a pile of earth and sand 100.

[0014] The boom 10, arm 11, and bucket 12 are driven by a boom cylinder 13, an arm cylinder 14, and a bucket cylinder 15, respectively. The boom cylinder 13, the arm cylinder 14, and the bucket cylinder 15 are all hydraulic actuators. For example, the boom cylinder 13 drives the boom 10 in the up and down directions by extending and retracting.

[0015] The hydraulic excavator 1 also includes an angle sensor 16 and an inclination angle sensor 20 .

[0016] The angle sensor 16 detects the rotation angle of the upper rotating body 3 relative to the lower traveling body 2. As the angle sensor 16, for example, an encoder, a resolver, or a gyro sensor is used.

[0017] The inclination angle sensor 20 detects the attitude of the attachment 4. The inclination angle sensor 20 has a boom inclination angle sensor 17, an arm inclination angle sensor 18, and a bucket inclination angle sensor 19.

[0018] The boom inclination angle sensor 17 detects the attitude of the boom 10. The boom inclination angle sensor 17 is a sensor that acquires the inclination angle of the boom 10 with respect to the horizontal line. The boom inclination angle sensor 17 is attached to, for example, the boom 10. As the boom inclination angle sensor 17, for example, an inclination sensor or an acceleration sensor is used. Note that the boom inclination angle sensor 17 may detect the attitude of the boom 10 by detecting the rotation angle of the boom foot pin 10a (boom base end). The boom inclination angle sensor 17 may also detect the attitude of the boom 10 by detecting the stroke amount of the boom cylinder 13.

[0019] The arm inclination angle sensor 18 detects the posture of the arm 11. The arm inclination angle sensor 18 is a sensor that acquires the inclination angle of the arm 11 with respect to the horizontal line. The arm inclination angle sensor 18 is attached to the arm 11, for example. An inclination sensor or an acceleration sensor, for example, is used as the arm inclination angle sensor 18. Note that the arm inclination angle sensor 18 may detect the posture of the arm 11 by detecting the rotation angle of the arm connecting pin 11a (base end of the arm). The arm inclination angle sensor 18 may also detect the posture of the arm 11 by detecting the stroke amount of the arm cylinder 14.

[0020] The bucket inclination angle sensor 19 detects the attitude of the bucket 12. The bucket inclination angle sensor 19 is a sensor that acquires the inclination angle of the bucket 12 with respect to the horizontal line. The bucket inclination angle sensor 19 is attached, for example, to a link member 21 that drives the bucket 12. For example, an inclination sensor or an acceleration sensor is used as the bucket inclination angle sensor 19. Note that the bucket inclination angle sensor 19 may detect the attitude of the bucket 12 by detecting the rotation angle of the bucket connecting pin 12a (the base end of the bucket). The bucket inclination angle sensor 19 may also detect the attitude of the bucket 12 by detecting the stroke amount of the bucket cylinder 15.

[0021] (Work area setting system and work object detection system) The hydraulic excavator 1 is equipped with a work object detection system. The work object detection system has a three-dimensional measuring device 9 and a controller 8.

[0022] The three-dimensional measuring device 9 is an imaging device that acquires data on the work object and its surroundings. In this embodiment, the three-dimensional measuring device 9 is attached to the hydraulic excavator 1, but it does not have to be attached to the hydraulic excavator 1. The three-dimensional measuring device 9 may be installed in a position where it can capture an image of the work object, such as around the area where the work object is loaded.

[0023] For example, a lidar (LIDAR), a laser radar, a millimeter wave radar, or a stereo camera is used as the three-dimensional measuring device 9. Alternatively, a combination of a lidar and a camera may be used as the three-dimensional measuring device 9.

[0024] 2 is a terminal, such as a tablet terminal, operated by a worker at the work site. The mobile terminal 29 is capable of communicating with the hydraulic excavator 1.

[0025] The controller 8 may be disposed outside the hydraulic excavator 1, or may be mounted on the hydraulic excavator 1 as shown in Fig. 4. The controller 8 has a control controller 22 and a detection controller 23.

[0026] The control controller 22 has an area setting unit 24, a work area determination unit 25, and an attachment tip passing position determination unit 30. The detection controller has a data receiving unit 27 and a calculation unit .

[0027] The area setting unit 24 is used to set (determine) a work area 50 (see FIGS. 2 and 3) of a predetermined range in which a pile of earth and sand 100 to be worked on by the hydraulic excavator 1 is piled up. The area setting unit 24 constitutes a work area setting system. The area setting unit 24, the three-dimensional measuring device 9, and the calculation unit 28 constitute a work object detection system.

[0028] The work area determination unit 25 is for determining an area that includes the work object. For example, the work area determination unit 25 determines the range of the pile of earth and sand (described later) calculated by the calculation unit 28.

[0029] 2, 3, and the like show a three-dimensional coordinate system based on the hydraulic excavator 1. The direction from the hydraulic excavator 1 toward the work area 50 is the X-axis direction (X-axis). The Y-axis is an axis perpendicular to the X-axis on a horizontal plane, and the Z-axis is an axis perpendicular to both the X-axis and the Y-axis. The Z-axis is an axis facing vertically. The Z-axis direction is a vertically upward direction.

[0030] 2, 4, etc., the procedure for setting the work area 50 will be described. The operator teaches the hydraulic excavator 1 about the work area 50, for example, as follows.

[0031] The operator of the hydraulic excavator 1 is instructed via the mobile terminal 29 to specify points A and C for identifying the boundary between the area to be used as the work area 50 and the outside of the area. The operator of the hydraulic excavator 1 places the tip of the attachment 4 (the tip of the claw of the bucket 12) at points A and C on the ground G.

[0032] The area setting unit 24 calculates the coordinates of point A and point C from signals from the angle sensor 16 that detects the rotation angle of the upper rotating body 3 and the inclination angle sensors 20 (boom inclination angle sensor 17, arm inclination angle sensor 18, bucket inclination angle sensor 19) that detect the attitude of the attachment 4. A specific example of teaching is as follows: The operator operates the attachment 4 and moves the tip of the attachment 4 (the tip of the claw of the bucket 12) to the position to be set as point A. Then, the operator presses, for example, an enter button on the portable terminal 29. The area setting unit 24 calculates the coordinates of the tip of the attachment 4 when, for example, the enter button is pressed, and sets the calculated coordinates as the coordinates of point A. Teaching and calculation are performed similarly for point C. Note that the calculation of the coordinates of points A and C may be performed elsewhere than the area setting unit 24, and the results may be transmitted to the area setting unit 24.

[0033] The coordinates of the remaining two points B and D that specify the work area 50 are determined from the coordinates of points A and C. That is, the area setting unit 24 determines points B and D from points A and C. Once the coordinates of all points A to D have been determined, the area setting unit 24 sets (determines) and stores the work area 50.

[0034] Point A is the point (first point) closer to the hydraulic excavator 1 of the two locations where the tip of the attachment 4 (the claw tip of the bucket 12) is placed. Point C is the point (second point) farther from the hydraulic excavator 1 of the two locations where the tip of the attachment 4 (the claw tip of the bucket 12) is placed. Points A and C are points located at diagonal corners of a rectangular working area 50 in a plan view. For example, when the upper rotating body 3 is positioned so as to face the midpoint between points A and C, the fore-and-aft direction of the upper rotating body 3 is defined as the direction in which two sides of the rectangular working area 50 (two opposing sides, specifically, line segments AB and DC) extend in a plan view. Furthermore, the width direction of the upper rotating body 3 at this time is defined as the direction in which the remaining two sides of the rectangular working area 50 (specifically, line segments AD and BC) extend in a plan view.

[0035] The two-dimensional coordinates of point A are A(XA, YA), and the two-dimensional coordinates of point C are C(XC, YC). The two-dimensional coordinates of points B and D are B(XC, YA) and D(XA, YC), respectively, from the two-dimensional coordinates of points A and C.

[0036] The area setting unit 24 stores the points (points A and C) where the tip of the attachment 4 (the tip of the claw of the bucket 12) is placed as points that identify the boundary of the work area 50 with the outside of the area. The area setting unit 24 also stores the points (points B and D) determined from points A and C as points that identify the boundary of the work area 50 with the outside of the area. When setting the work area 50, the points that identify the work area 50 are determined by actual operations, so the worker can grasp the work area 50.

[0037] The area setting unit 24 transmits the coordinate data of points A and C to the data receiving unit 27 of the detection controller 23. The data receiving unit 27 passes the coordinate data of points A and C to the calculation unit .

[0038] In the above example, the tip of the attachment 4 (the tip of the claw of the bucket 12) is placed at two points, point A and point C, on the ground surface G, and the coordinates of points A, B, C, and D are determined. Alternatively, the work area 50 may be set (determined) by placing the tip of the attachment 4 (the tip of the claw of the bucket 12) at all of points A, B, C, and D on the ground surface G. In this case, the area setting unit 24 calculates the coordinates of points A, B, C, and D that identify the work area 50 from signals from the angle sensor 16 that detects the rotation angle of the upper rotating body 3 and the inclination angle sensors 20 (boom inclination angle sensor 17, arm inclination angle sensor 18, bucket inclination angle sensor 19) that detect the attitude of the attachment 4. Note that the coordinates of points A to D may be calculated elsewhere than in the area setting unit 24, and the calculation results may be transmitted to the area setting unit 24.

[0039] Of the two locations where the tip of the attachment 4 (the tip of the claw of the bucket 12) is placed, if the remaining two points B and D are determined from the first location, which is closer to the hydraulic excavator 1, and the second location, which is farther from the hydraulic excavator 1, the amount of operation of the hydraulic excavator 1 can be reduced.

[0040] The operator of hydraulic excavator 1 specifies lifting swing start point P1 through instructions from mobile terminal 29. Lifting swing start point P1 is the start point when bucket 12, which has scooped up and lifted up earth and sand, leaves work area 50. Point P1 is the point through which the tip of attachment 4 (the tip of the claw of bucket 12) passes.

[0041] The coordinates of the lifting rotation start point P1 are calculated from signals from an angle sensor 16 that detects the rotation angle of the upper rotating body 3 and an inclination angle sensor 20 (boom inclination angle sensor 17, arm inclination angle sensor 18, bucket inclination angle sensor 19) that detects the posture of the attachment 4 (the same applies to the lifting rotation end point P2, return rotation start point P3, and return rotation end point P4 described below).

[0042] 2, the lifting rotation start point P1 is, for example, on a line segment CD that identifies the work area 50 in a plan view. The lifting rotation start point P1 is set above the ground surface G. For example, if the line segment CD is set on the ground surface G, the lifting rotation start point P1 is set above the line segment CD in a side view. The lifting rotation start point P1 is set on the boundary between the work area 50 and the outside of the area in a plan view.

[0043] The attachment tip passing position determining unit 30 determines the lifting rotation start point P1 as a passing point through which the tip of the attachment 4 (the tip of the claw of the bucket 12) passes when it moves from inside the work area 50 to outside the area.

[0044] Furthermore, the operator of the hydraulic excavator 1 is prompted to specify lifting swing end point P2 via instructions from the mobile terminal 29. The lifting swing end point P2 is the point when the bucket 12 containing the soil and sand reaches above the discharge location (for example, the loading platform of the transport vehicle for transporting the soil and sand). Point P2 is the point through which the tip of the attachment 4 (the tip of the claw of the bucket 12) passes.

[0045] When the attachment 4 is moved from the lifting rotation start point P1 to the lifting rotation end point P2, the signal data (angle data) of the angle sensor 16 and the inclination angle sensor 20 (boom inclination angle sensor 17, arm inclination angle sensor 18, bucket inclination angle sensor 19) are continuously and constantly recorded.

[0046] The operator of the hydraulic excavator 1 is prompted to specify a return swing start point P3 via a command from the portable terminal 29. The return swing start point P3 is the start point when the bucket 12, having discharged earth and sand, leaves the discharge location (for example, the loading platform of the transport vehicle used to transport the earth and sand). Point P3 is the point through which the tip of the attachment 4 (the tip of the claw of the bucket 12) passes.

[0047] Furthermore, the operator of the hydraulic excavator 1 is prompted to specify a return swing end point P4 via an instruction from the portable terminal 29. The return swing end point P4 is the point at which the bucket 12, having discharged earth and sand, reaches the work area 50. Point P4 is the point through which the tip of the attachment 4 (the tip of the claw of the bucket 12) passes.

[0048] 2, the return turn end point P4 is, for example, on a line segment CD that identifies the working area 50 in a plan view. The return turn end point P4 is set above the ground surface G. For example, if the line segment CD is set on the ground surface G, the return turn end point P4 is set above the line segment CD in a side view. The return turn end point P4 is set on the boundary of the working area 50 with the outside of the area in a plan view.

[0049] The attachment tip passing position determining unit 30 determines the return swing end point P4 as a passing point through which the tip of the attachment 4 (the tip of the claw of the bucket 12) passes when it moves from outside the working area 50 to inside the area.

[0050] The attachment tip via position determining unit 30 may determine only one of the lifting rotation start point P1 and the return rotation end point P4 as the via point.

[0051] When moving the attachment 4 from the return rotation start point P3 to the return rotation end point P4, the controller 8 continuously and constantly records the signal data (angle data) of the angle sensor 16 and the inclination angle sensor 20 (boom inclination angle sensor 17, arm inclination angle sensor 18, bucket inclination angle sensor 19).

[0052] It is not necessarily necessary to perform the teaching of the work area 50, the teaching of the lifting rotation start point P1, the lifting rotation end point P2, the return rotation start point P3, and the return rotation end point P4, the teaching of the trajectory from the lifting rotation start point P1 to the lifting rotation end point P2, and the teaching of the trajectory from the return rotation start point P3 to the return rotation end point P4 by instructions from the mobile terminal 29.

[0053] Next, detection of the pile of earth and sand 100 will be described with reference to FIGS.

[0054] The data receiving unit 27 receives the coordinate data of points A and C from the area setting unit 24. (Step 1 is shown as S1 in FIG. 5, and the other steps are shown in the same way.) A work area 50 specified by points A to D is determined (S2).

[0055] Meanwhile, point cloud data of the pile of earth and sand 100 and its surroundings is acquired by the three-dimensional measuring device 9. The data receiving unit 27 receives the point cloud data acquired by the three-dimensional measuring device 9 (S3). The data receiving unit 27 stores the received point cloud data (S4). The calculation unit 28 extracts the stored point cloud data and the coordinate data of point A and point C from the data receiving unit 27 (S5).

[0056] The calculation unit 28 calculates three-dimensional information relating to the position, range, and shape of the pile of earth and sand 100 present in the work area 50 from the point cloud data (measurement data acquired by the three-dimensional measurement device 9) (S6).

[0057] The three-dimensional information is, for example, the three-dimensional coordinates of points a, b, c, d, and e shown in FIG. 3. Points a, b, c, and d identify an area including the bottom of the pile of sand 100, and point e identifies the apex of the pile of sand 100. The pile of sand 100 illustrated in FIG. 1 is conical. In contrast, the shape identified by points a, b, c, d, and e is a square pyramid. The calculation unit 28 calculates the range of the pile of sand in the shape of a square pyramid so as to encompass the conical pile of sand 100, i.e., three-dimensional information regarding the position, range, and shape of the pile of sand 100. The calculation unit 28 may also calculate the range of an octagonal pyramid so as to encompass the conical pile of sand 100. The three-dimensional information regarding the position, range, and shape of the pile of sand 100 is not limited to the range of the pile of sand in the shape of a square pyramid.

[0058] The calculation unit 28 transmits the calculated three-dimensional information relating to the position, range, and shape of the pile of earth and sand 100 to the work area determination unit 25 of the controller 22 (S7). This completes the detection of the pile of earth and sand 100.

[0059] The three-dimensional information regarding the position, range, and shape of the pile of earth 100 is calculated each time the pile of earth 100 is excavated with the attachment 4 (bucket 12). The three-dimensional information is also calculated when processing of the pile of earth 100 is completed and a different pile of earth 100 is started.

[0060] If the area setting unit 24 sets a predetermined range of work area 50 in which a pile of earth and sand 100 to be worked on by the hydraulic excavator 1 is piled up, it becomes easy to identify the pile of earth and sand 100 to be excavated in the automatic operation control of the hydraulic excavator 1. Because the pile of earth and sand 100 is easy to identify, it also becomes easy to perform calculations in the calculation unit 28. In other words, it becomes easy to perform the automatic operation control of the hydraulic excavator 1. It also becomes possible to prevent erroneous detection when there is another pile of earth and sand outside the work area 50.

[0061] P5 shown in FIG. 3 indicates the excavation start point (work start position). The excavation start point P5 is the point where excavation begins with the attachment 4 (bucket 12). The work target area determination unit 25 has a work position determination unit 26. The work position determination unit 26 determines the excavation start point P5 in the work target object based on the three-dimensional information calculated by the calculation unit 28. This makes it possible to automatically determine an appropriate excavation position during automatic operation of the hydraulic excavator 1. In FIG. 3, the excavation start point P5 is aligned with point c in a plan view.

[0062] The attachment 4 (bucket 12) is moved from the return swing start point P3 to the return swing end point P4, and then moved from the return swing end point P4 to the excavation start point P5.

[0063] The excavation start point P5 changes each time depending on the excavation status of the pile of earth 100. On the other hand, the trajectory of the attachment 4 (bucket 12) from the return swing start point P3 to the return swing end point P4 does not change depending on the excavation status of the pile of earth 100. Therefore, there is no need to modify the trajectory of the attachment 4 (bucket 12) from the return swing start point P3 to the return swing end point P4 due to changes in the excavation status of the pile of earth 100.

[0064] By setting a work area 50 of a predetermined range in which the pile of earth 100 is piled, it is possible to separate (area-separate) the trajectory of the attachment 4 (bucket 12) from the return swing start point P3 to the return swing end point P4, and the trajectory of the attachment 4 (bucket 12) from the return swing end point P4 to the excavation start point P5. This eliminates the need to modify the trajectory of the attachment 4 (bucket 12) from the return swing start point P3 to the return swing end point P4, even if the condition of the pile of earth 100 changes due to excavation or the like. In other words, it is easy to perform automatic operation control of the hydraulic excavator 1.

[0065] The above-mentioned effect is more reliably achieved by the presence of the attachment tip via position determination unit 30, which determines the via points that the tip of the attachment 4 of the hydraulic excavator 1 will pass through when it moves from outside the work area 50 to inside the area and / or from inside the work area 50 to outside the area.

[0066] Furthermore, by determining the above-mentioned via points on the boundary between the work area 50 and the outside area in a plan view, the division of the area of ​​the trajectory of the attachment 4 (bucket 12) becomes clear, allowing the worker to work with peace of mind.

[0067] Furthermore, the trajectory region between the lifting rotation start point P1 and the lifting rotation end point P2, and the trajectory region between the return rotation start point P3 and the return rotation end point P4 are regions where teaching instructions are prioritized. These regions where teaching instructions are prioritized make it possible to know the trajectory of the attachment 4, ensuring safety for the worker.

[0068] Figures 6 and 7 are plan views for explaining the process of calculating three-dimensional information regarding the position, range, and shape of a pile of earth and sand 100 when the pile of earth and sand 100 straddles the work area 50 and outside the work area 50.

[0069] If the pile of earth and sand 100 straddles the work area 50 and an area outside the work area 50, the calculation unit 28 calculates three-dimensional information regarding the position, range, and shape of the part of the pile of earth and sand 100 that exists only in the work area 50.

[0070] According to this, when a pile of earth and sand 100 exists straddling the work area 50 and the area outside the work area 50, only the area inside the work area 50 can be targeted.

[0071] In Fig. 6, a pile of sand 100 exists across a line segment CD connecting points C and D that identify the work area 50. In this case, when calculating three-dimensional information regarding the position, range, and shape of the pile of sand 100, the calculation unit 28 calculates the three-dimensional information regarding the position, range, and shape of the pile of sand 100 using only the point cloud data within the work area 50, without using point cloud data of the portion of the pile of sand 100 that exists outside the work area 50. As shown in Fig. 6, of the calculated points a, b, c, d, and e, points c and d are located on the line segment CD that identifies the work area 50 in a planar view.

[0072] In Fig. 7, a pile of earth and sand 100 exists across a line segment BC connecting points B and C that identify the work area 50. In this case, when calculating three-dimensional information regarding the position, range, and shape of the pile of earth and sand 100, the calculation unit 28 calculates the three-dimensional information regarding the position, range, and shape of the pile of earth and sand 100 using only the point cloud data within the work area 50. As shown in Fig. 7, of the calculated points a, b, c, d, and e, points b and c are located on the line segment BC that identifies the work area 50 in a planar view.

[0073] (Second embodiment) 8 to 13, the differences between the work area setting system and the work object detection system of the second embodiment and the first embodiment will be described. Note that, among the work area setting system and the work object detection system of the second embodiment, the description of the commonalities with the first embodiment will be omitted.

[0074] In the example shown in Fig. 1, the height at which work (specifically, for example, excavation) is performed by the attachment 4 is approximately the same as the height of the lower traveling body 2. On the other hand, as shown in Fig. 8, the height at which work is performed may be lower than the lower traveling body 2. For example, the pile of earth 100 may be located inside the earth pit Pi, or may be surrounded by the wall W of the earth pit Pi.

[0075] In the first embodiment, the start point of work by the attachment 4 shown in Fig. 3, specifically the excavation start point P5, was determined by the work position determination unit 26 based on three-dimensional information calculated by the calculation unit 28 shown in Fig. 4. The height direction position of the start point of work by the attachment 4 shown in Fig. 3 was also determined by the work position determination unit 26 based on the three-dimensional information calculated by the calculation unit 28 shown in Fig. 4. On the other hand, in the present embodiment, the initial work height Z1 shown in Fig. 10 is determined by teaching. Specifically, the work object detection system includes an initial work height determination unit 240 (see Fig. 11) that determines the initial work height Z1 (described below).

[0076] (setting) In the work object detection system, teaching is performed as follows. As in the first embodiment, the operator of the hydraulic excavator 1 shown in Fig. 9 operates the hydraulic excavator 1 and teaches points A and C (S201 and S202 shown in Fig. 12). The heights of points A and C may be higher than the top end of wall W as shown in Fig. 10, may be the same height as the top end of wall W, or may be lower than the top end of wall W.

[0077] The initial work height Z1 is taught (S203 shown in FIG. 12). The initial work height Z1 is the height of the (initial) excavation start point P5 when work (e.g., excavation) on a work object is first performed by the attachment 4 after the work area 50 shown in FIG. 9 has been set. For example, the operator operates the attachment 4 to move the tip of the attachment 4 to a height to be set as the initial work height Z1 (see FIG. 10). At this time, the position of the tip of the attachment 4 in a plan view may be any position. Then, the operator presses the enter button on the mobile terminal 29, for example, to set the position of the tip of the attachment 4 at this time as the initial work height Z1. Specifically, the initial work height determination unit 240 shown in FIG. 11 sets the height of the point where the tip of the attachment 4 shown in FIG. 10 is placed as the initial work height Z1. In this way, the initial work height Z1 is determined by teaching, and therefore, when setting the initial work height Z1, the initial work height Z1 is determined by actual operation by the operator. Therefore, the worker can grasp the initial work height Z1. Furthermore, because the initial work height Z1 is determined by teaching, even if it is difficult to detect the pile of earth and sand 100 with the three-dimensional measuring device 9 (see FIG. 11), for example, the initial work height Z1 can be reliably determined.

[0078] The one-cycle depth Z2 may be set in the controller 8 (see FIG. 11) (for example, the calculation unit 28) (S204 shown in FIG. 12). The one-cycle depth Z2 is the working depth when the attachment 4 performs one work cycle, and specifically, the digging depth of the bucket 12. The controller 8 may receive a value (numerical value) of the one-cycle depth Z2 input to, for example, the mobile terminal 29 (see FIG. 11), and set the received value as the one-cycle depth Z2 (the same applies to the final depth Z3). The controller 8 may calculate the one-cycle depth Z2 based on information about the bucket 12 (for example, the capacity, shape, etc.). The one-cycle depth Z2 may be a fixed value previously set in the controller 8 (the same applies to the final depth Z3).

[0079] The final depth Z3 may be set in the controller 8 (see FIG. 11) (S205 shown in FIG. 12). The final depth Z3 is the depth at which the attachment 4 completes a series of operations (e.g., multiple repeated excavation operations). When the attachment 4 completes operations at the final depth Z3, the operation in the pile of earth and sand 100 is completed. The final depth Z3 is the depth from a predetermined position (e.g., point A).

[0080] (Determination of excavation start point P5 by work position determination unit 26) The work position determination unit 26 (see FIG. 11) determines an excavation start point P5 (initial position of the excavation start point P5) when work is first performed with the attachment 4 after the work area 50 shown in FIG. 9 has been set. At this time, the work position determination unit 26 shown in FIG. 11 receives the initial work height Z1 (see FIG. 10) determined by the initial work height determination unit 240, and determines the initial work height Z1 shown in FIG. 10 as the height of the initial position of the excavation start point P5 (S210 shown in FIG. 13).

[0081] (Working at initial working height Z1) Next, the controller 8 (see FIG. 11) causes the attachment 4 to perform work (e.g., excavation) at the height of the initial work height Z1. At this time, the attachment 4 performs excavation work by a depth Z2 in one cycle from the initial work height Z1.

[0082] (Work at a position deeper than the initial work height Z1) After work at the initial work height Z1 is completed, the controller 8 causes the attachment 4 to perform work at a position that is one cycle deeper than the initial work height Z1 by a depth Z2 (work at "Z1-Z2"). For example, after work at the initial work height Z1 is completed for the entire earth pile 100 in a plan view (see FIG. 9), work at the "Z1-Z2" height may be performed. After work at the initial work height Z1 is completed for a portion of the earth pile 100 in a plan view, work at the "Z1-Z2" height may be performed. Similarly, the controller 8 (see FIG. 11) causes the attachment 4 to perform work at gradually deeper positions, specifically, at positions that are deeper by a depth Z2 per cycle, until the attachment 4 performs work at a final depth Z3. The controller 8 does not cause the attachment 4 to perform work at positions deeper than the final depth Z3.

[0083] (Correction of initial working height Z1) As described above, the initial work height Z1 is set by teaching. If the pile of earth and sand 100 is flat or has only a small amount of undulation, the attachment 4 can properly perform work at the initial work height Z1. On the other hand, it is conceivable that the pile of earth and sand 100 is located at a position higher than the initial work height Z1 (see the protruding portion 100a in FIG. 10). In this case, if the attachment 4 attempts to perform work at the initial work height Z1 at the excavation start point P5, it is conceivable that the attachment 4 will come into contact with the protruding portion 100a before reaching the excavation start point P5, and will not be able to properly perform work at the initial work height Z1 at the excavation start point P5.

[0084] Therefore, the work position determination unit 26 (see FIG. 11) determines whether the height of the excavation start point P5 should be the initial work height Z1 or a height obtained by correcting the initial work height Z1 (corrected initial work height Z1a) based on the three-dimensional information calculated by the calculation unit 28 (see FIG. 11). Details of this process are as follows: The work position determination unit 26 compares the three-dimensional information calculated by the calculation unit 28 (see FIG. 11) with the initial work height Z1 (S211 shown in FIG. 13). For example, the work position determination unit 26 compares the height of the pile of earth 100 at the excavation start point P5 and its surrounding area, which is in the three-dimensional information, with the initial work height Z1. For example, the work position determination unit 26 may compare the height of the apex of the pile of earth 100 in the three-dimensional information (for example, the height of the apex of the protruding portion 100a) with the initial work height Z1.

[0085] The work position determination unit 26 (see FIG. 11) determines whether or not work can be performed at the excavation start point P5 at the initial work height Z1 (S212 shown in FIG. 13). For example, if the height of the earth pile 100 at the excavation start point P5 is equal to or less than the initial work height Z1, work can be performed at the excavation start point P5 at the initial work height Z1. If work can be performed at the excavation start point P5 at the initial work height Z1 (NO in S212 shown in FIG. 13), the work position determination unit 26 sets the initial work height Z1 as the height of the excavation start point P5. Then, the controller 8 causes the attachment 4 to perform work at the initial work height Z1 at the excavation start point P5 (S213 shown in FIG. 13).

[0086] On the other hand, for example, if the height of the earth pile 100 at the excavation start point P5 is higher than the initial work height Z1, it is not possible to perform work at the excavation start point P5 at the initial work height Z1. If it is not possible to perform work at the excavation start point P5 at the initial work height Z1 (YES in S212 shown in FIG. 13), the work position determination unit 26 (see FIG. 11) performs the following process. In this case, the work position determination unit 26 corrects the height of the excavation start point P5 based on the three-dimensional information of the earth pile 100 (S214 shown in FIG. 13). Specifically, the work position determination unit 26 corrects the initial work height Z1 based on the three-dimensional information calculated by the calculation unit 28 (see FIG. 11) (the corrected value is referred to as the "corrected initial work height Z1a"). Then, the work position determination unit 26 sets the corrected initial work height Z1a as the height of the excavation start point P5. At this time, the work position determination unit 26 sets the corrected initial work height Z1a to, for example, a height equal to or greater than the height of the pile of earth 100 at the excavation start point P5 in the three-dimensional information. For example, the work position determination unit 26 may set the corrected initial work height Z1a to the height of the pile of earth 100 at the excavation start point P5 in the three-dimensional information. For example, the work position determination unit 26 may set the corrected initial work height Z1a to the height of the apex of the pile of earth 100 in the three-dimensional information. Then, the controller 8 (see FIG. 11) causes the attachment 4 to start work from the corrected initial work height Z1a (S215 shown in FIG. 13). This allows the attachment 4 to perform work appropriately.

[0087] The above-described embodiments may be modified as follows. For example, components of different embodiments may be combined. For example, the arrangement or shape of each component may be changed. For example, the connections between the components shown in FIGS. 4 and 11 may be changed. For example, the order of steps in the flowcharts shown in FIGS. 5, 12, and 13 may be changed, or some steps may not be performed. For example, the number of components may be changed, or some components may not be provided. For example, components may be fixed or connected directly or indirectly. For example, what is described as multiple different members or parts may be combined into a single member or part. For example, what is described as a single member or part may be provided as multiple different members or parts.

[0088] As the attachment at the tip, a device for clamping objects (such as a grapple) or a device for crushing or excavating (such as a breaker) may be used instead of the bucket 12. A grapple is an attachment that grabs scrap, wood, etc. by closing two or three opposing curved claws.

[0089] The work object does not have to be the pile of earth and sand 100, but may be a pile of crushed stone, a pile of scrap metal, a pile of rubber, or the like.

[0090] The working area 50 does not have to be rectangular in plan view, but may be, for example, circular, elliptical, or polygonal.

[0091] In the above embodiment, the location where the tip of the attachment 4 (the tip of the claw of the bucket 12) is placed is set as the point that identifies the boundary of the work area 50 with the outside of the area. Alternatively, drawing data of the work location may be used, and a predetermined location in the drawing data may be used by the area setting unit 24 as the point that identifies the boundary of the work area 50 with the outside of the area. In this case, the drawing data is stored in the area setting unit 24, for example.

[0092] At least some of the components of the controller 8 (e.g., area setting unit 24, calculation unit 28, etc.) that make up the work area setting system and the work object detection system do not have to be mounted on the hydraulic excavator 1. In other words, at least some of the components of the work area setting system and the work object detection system may be provided outside the hydraulic excavator 1.

[0093] Although the embodiments of the present invention have been described above, it is of course possible to make various other modifications within the scope of what can be imagined by those skilled in the art. [Explanation of symbols]

[0094] 1: Hydraulic excavator (work machine) 4: Attachment 9: Three-dimensional measuring device 24: Area setting section 26: Work position determination section 28: Arithmetic section 30: Attachment tip position determination unit 50:Work area 100: Mountain of earth and sand (work object) 240: Initial work height determination unit A: Point (1st place) C: Point (2nd place) B, D: Points (the remaining two corner points) P1: Lifting rotation starting point (via point) P2: Lifting rotation end point P3: Return turning start point P4: Return turn end point (via point) P5: Excavation start point (work start position) Z1: Initial working height Z1a: Corrected work start height

Claims

1. an area setting unit for setting a work area, which is data indicating the position of a predetermined range in which work objects to be worked on by a work machine are piled; an attachment tip via position determination unit that determines via points through which the tip of an attachment of the work machine passes when the tip of the attachment moves from outside the work area to inside the work area and / or from inside the work area to outside the work area; a three-dimensional measuring device for acquiring data on the work object and its surroundings; a calculation unit that calculates three-dimensional information relating to the position, range, and shape of the work object present in the work area from the measurement data acquired by the three-dimensional measurement device; a work position determination unit that determines a work start position, which is a position where the attachment starts work with respect to the work object, based on the three-dimensional information calculated by the calculation unit; Equipped with The point through which the tip of the attachment passes is a lifting and swinging start point, which is the point when the attachment starts to lift and swing; a lifting swing end point, which is the point at which the attachment ends the lifting swing; a return swing start point, which is the point when the attachment starts to return swing; a return swing end point, which is the point at which the attachment ends the return swing; There are the via point is the lifting rotation start point or the return rotation end point, the attachment is moved in a trajectory region between the lifting rotation start point and the lifting rotation end point, and in a trajectory region between the return rotation start point and the return rotation end point, by giving priority to the teaching instruction over an instruction different from the teaching instruction; The attachment is moved from the return swing start point to the return swing end point, and then moved from the return swing end point to the work start position depending on the condition of the work object. Work area setting system.

2. 2. The work area setting system according to claim 1, the attachment tip via position determination unit determines the via point on a boundary between the working area and an outside area in a plan view; Work area setting system.

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