Work machine and control method of work machine

Abstract

To provide a work machine capable of improving work efficiency.SOLUTION: A work machine 1000 includes: a machine body 10; a control device 40; a first GNSS antenna 20a and a second GNSS antenna 20b; and a posture detector 30. The control device 40 calculates a height value Za of the tip of a blade 17a from positional information of the machine body 10 from the first GNSS antenna 20a and the second GNSS antenna 20b, calculates a difference Δz between the height value Za of the tip of the blade 17a and a target depth value Zt stored in the control device 40, determines whether the difference Δz is outside a predetermined range set in the control device 40, and when the difference Δz is determined to be outside the predetermined range, drives a lifting device 19 to vertically move a mixing rotor 17 so that the difference Δz falls within the predetermined range.SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] The present invention relates to a work machine used when carrying out ground improvement work, and also to a control method for a work machine used when carrying out ground improvement work. [Background technology]

[0002] BACKGROUND ART Conventionally, a stabilizer disclosed in Patent Document 1, for example, is known as a work machine that excavates soil from the ground and mixes the soil with a soil improvement material when carrying out ground improvement work. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 9-324416 Summary of the Invention [Problem to be solved by the invention]

[0004] With conventional stabilizers, the operator (user) manually raised and lowered the mixing rotor, which mixes soil and ground improvement material, using a lifting lever to advance the rotor to the target depth in the ground. In recent years, there has been a shortage of operators, so there is a demand for greater work efficiency.

[0005] An object of the present invention is to provide a work machine that can improve work efficiency.

[0006] An object of the present invention is to provide a control method for a work machine that can improve work efficiency. [Means for solving the problem]

[0007] The present invention provides the following aspects. (Section 1) A work machine that mixes soil and ground improvement material while traveling on the ground, a machine body including a vehicle body, a running body attached to the vehicle body, a mixing rotor having blades, and an elevating device for moving the mixing rotor up and down; a control device; a GNSS antenna that acquires position information of the machine body and outputs the position information to the control device; Equipped with The control device Calculating a height value Za of the tip of the blade from the position information; Calculating a difference Δz between the height value Za of the tip of the blade and the target depth value Zt stored in the control device; determining whether the difference Δz is outside a predetermined range set in the control device, and when it is determined that the difference Δz is outside the predetermined range, driving the lifting device to move the mixing rotor up and down so that the difference Δz falls within the predetermined range; Work machinery.

[0008] (Section 2) A work machine that mixes soil and ground improvement material while traveling on the ground, a machine body including a vehicle body, a running body attached to the vehicle body, a mixing rotor having blades, and an elevating device for moving the mixing rotor up and down; a control device; a GNSS antenna that acquires position information of the machine body and outputs the position information to the control device; Equipped with The control device Calculating a height value Za of the tip of the blade from the position information; determining whether or not the height value Za of the blade tip is outside a predetermined range set in the control device, and if the height value Za of the blade tip is outside the predetermined range, driving the lifting device to move the mixing rotor up and down so that the height value Za of the blade tip falls within the predetermined range; Work machinery.

[0009] (Section 3) a posture detector that detects the posture of the machine body and outputs posture information of the machine body to the control device; The control device corrects a height value Za of the tip of the blade based on the posture information. Item 1 or 2. The work machine according to item 1 or 2.

[0010] (Section 4) the machine body includes an arm that rotates around a rotation axis and supports the mixing rotor at its tip end, the lifting device is configured to move the mixing rotor up and down by rotating the arm; The GNSS antenna is configured to detect a height position Z1 of a rotation axis, The height value Za of the tip of the blade is calculated based on the height position Z1 and the rotation angle α of the arm. Item 1 or 2. The work machine according to item 1 or 2.

[0011] (Section 5) The control device creates a virtual map by relating the area to be subjected to ground improvement work to an XY plane having XY coordinates, converts the horizontal positioning information acquired from the GNSS antenna into coordinates (X1, Y1) on the XY plane, and calculates and displays the operating position (Xa, Ya) of the mixing rotor on the virtual map based on the direction of travel of the machine body and the coordinates (X1, Y1). Item 1 or 2. The work machine according to item 1 or 2.

[0012] (Section 6) Further comprising a display device, the control device outputs a travel trajectory of the work machine to the display device based on position information from the GNSS antenna; When the mixing process of the ground is performed by the mixing rotor with the height of the tip of the blade within the predetermined range, the control device outputs the traveling trajectory colored in a predetermined color to the display device. 3. A work machine according to claim 1 or 2.

[0013] (Section 7) A control method for a work machine that mixes soil and soil improvement material while traveling on the ground, the work machine comprising a vehicle body, a traveling body, a mixing rotor having blades, a lifting device that moves the mixing rotor up and down, and a control device, the control method comprising: Acquiring position information of the machine body by a GNSS antenna; calculating a height value Za of the tip of the blade of the mixing rotor based on the position information; Calculating a difference Δz between the height value Za of the tip of the blade and the target depth value Zt; determining whether the difference Δz is outside a predetermined range, and if the difference Δz is outside the predetermined range, driving the lifting device to move the mixing rotor up and down so that the difference Δz falls within the predetermined range; A control method comprising:

[0014] (Section 8) A control method for a work machine that mixes soil and soil improvement material while traveling on the ground, the work machine comprising a vehicle body, a traveling body, a mixing rotor having blades, a lifting device that moves the mixing rotor up and down, and a control device, the control method comprising: Acquiring position information of the machine body by a GNSS antenna; calculating a height value Za of the tip of the blade of the mixing rotor based on the position information; determining whether or not the height value Za of the blade tip is outside a predetermined range, and if the height value Za of the blade tip is outside the predetermined range, driving the lifting device to move the mixing rotor up and down so that the height value Za of the blade tip falls within the predetermined range; A control method comprising:

[0015] (Section 9) The method further includes acquiring posture information of the machine body by a posture detector, and correcting a height value Za of the tip of the blade based on the posture information. Item 7 or 8. The control method according to item 7 or 8.

[0016] (Section 10) and outputting a travel path of the work machine colored in a predetermined color when the mixing process of the ground is performed by the mixing rotor with the height of the tip of the blade within the predetermined range. Item 7 or 8. The control method according to item 7 or 8. [Effects of the Invention]

[0017] According to the present invention, the height of the tip of the mixing rotor blade can be automatically adjusted to the target depth, thereby improving the efficiency of ground improvement work. [Brief explanation of the drawings]

[0018] [Figure 1] FIG. 1 is a side view of a work machine. [Figure 2] FIG. [Figure 3] FIG. 2 is a control block diagram of the work machine. [Figure 4] 2 is an enlarged view showing the arm, support member and mixing rotor of the work machine; [Figure 5] Schematic diagram showing the direction of travel of a work machine on an XY plane. [Figure 6] 3 is a flowchart showing a control method according to the first embodiment of the work machine. [Figure 7] FIG. 4 is a schematic diagram showing the positional relationship between the tip of the blade of the mixing rotor and the target depth in the control method according to the first embodiment. [Figure 8] FIG. 4 is a schematic diagram showing the positional relationship between the tip of the blade of the mixing rotor and the target depth in the control method according to the first embodiment. [Figure 9] FIG. 3 is a diagram showing a travel path of a work machine. [Figure 10] 6 is a flowchart showing a control method according to a second embodiment of the work machine. [Figure 11] FIG. 10 is a schematic diagram showing the positional relationship between the tip of the blade of the mixing rotor, the upper limit of the target depth, and the lower limit of the target depth in a control method according to a second embodiment. [Figure 12]FIG. 10 is a schematic diagram showing the positional relationship between the tip of the blade of the mixing rotor, the upper limit of the target depth, and the lower limit of the target depth in a control method according to a second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0019] The structure of a work machine 1000 and a control method for the work machine 1000 of the present invention will be described with reference to the drawings. When there are multiple identical components, in order to make the drawings easier to understand, only some of the identical components may be labeled with reference numerals.

[0020] <1. Structure of the work machine> The work machine 1000 is a device that mixes soil with a soil improvement material while traveling on the ground. The soil improvement material may be a known material such as a solidification material.

[0021] As shown in Figures 1 to 3, the work machine 1000 includes a machine body 10, two GNSS antennas (a first GNSS antenna 20a and a second GNSS antenna 20b), an attitude detector 30, a control device 40, an input device 50, and a display device 60.

[0022] In the following, a stabilizer will be described as an example of the machine body 10. A known stabilizer (for example, the STB series manufactured by Toyo Stabilizer Co., Ltd.) can be used as the stabilizer. Therefore, only a brief description of the structure of the stabilizer will be given.

[0023] The machine main body 10 includes a vehicle body 11, an engine 12, running bodies 13 (first running body 13a, second running body 13b), arms 14 (first arm 14a, second arm 14b), support members 15 (first support member 15a, second support member 15b), connecting members 16, a mixing rotor 17, a drive device 18, and a lifting device 19. In Fig. 1, arrow V indicates the traveling direction of the work machine 1000 when performing ground improvement work (i.e., when the mixing rotor 17 is operating).

[0024] The engine 12 is disposed in a vehicle body 11. The vehicle body 11 is provided with a driver's seat.

[0025] The first running body 13a and the second running body 13b are attached to the vehicle body 11. The first running body 13a and the second running body 13b are, for example, caterpillar tracks or wheels.

[0026] The first arm 14a and the second arm 14b are spaced apart in the vehicle width direction and attached to the vehicle body 11 via a connecting member 16. The first support member 15a is fixed to the lower part of the first arm 14a. The second support member 15b is fixed to the lower part of the second arm 14b. The arms 14 (first arm 14a and second arm 14b) are rotatably connected to the connecting member 16 (first support member 15a and second support member 15b) via a rotation shaft 14c. As shown in FIG. 4, the arm 14 is controlled to rotate downward from the horizontal direction at a rotation angle α. More specifically, the rotation angle α is defined as the angle between the horizontal line and a line passing through the rotation shaft 14c of the arm 14 and the rotation center axis 17c of the mixing rotor 17. That is, when the rotation angle α is 0 degrees, the rotation axis 14c and the rotation center axis 17c are located at the same horizontal height, and as the rotation angle α increases, the rotation center axis 17c moves downward.

[0027] The mixing rotor 17 mixes the soil and the ground improvement material by rotating. The mixing rotor 17 rotates counterclockwise in FIG. 1 around a rotation center axis 17c. The mixing rotor 17 is rotatably coupled to the first support member 15a and the second support member 15b between the first support member 15a and the second support member 15b. The mixing rotor 17 has blades 17a at its radially outer end. Here, as shown in FIG. 4, the distance between the rotation axis 14c of the arm 14 and the rotation center axis 17c of the mixing rotor 17 is represented as A, and the distance (radius) from the rotation center axis 17c of the mixing rotor 17 to the tip of the blades 17a is represented as R. For example, in this embodiment, A is 2.5 m and R is 1.0 m.

[0028] The driving device 18 drives and rotates the mixing rotor 17. The driving device 18 is, for example, a motor. The driving device 18 is coupled to the mixing rotor 17 via a transmission mechanism that transmits the power of the driving device 18.

[0029] The lifting device 19 acts on the connecting member 16 to rotate the arm 14, thereby moving the mixing rotor 17, which is indirectly connected to the connecting member 16, up and down. The lifting device 19 operates based on a signal from the control device 40. The lifting device 19 is, for example, a hydraulic cylinder. When the piston rod of the hydraulic cylinder extends, the mixing rotor 17 descends via a link mechanism (not shown). On the other hand, when the piston rod of the hydraulic cylinder contracts, the mixing rotor 17 ascends via a link structure. Note that the lifting device 19 is not limited to the form of this embodiment and can be selected from various mechanisms. For example, the lifting device 19 may be a rotary motor or a reducer that rotates the arm 14.

[0030] The GNSS antenna 20 is installed so that the measurement position (horizontal positioning information and vertical positioning information) is the center of the vehicle width direction on the rotation axis 14c of the arm 14. The GNSS antenna 20 is supported on the machine body 10 in a gimbal-type manner so as not to be affected by the rotation of the arm 14. The GNSS antenna 20 consists of a pair of first and second GNSS antennas 20a and 20b. The first GNSS antenna 20a is located near the rotation axis 14c of the first arm 14a. The second GNSS antenna 20b is located near the rotation axis 14c of the second arm 14b. The first and second GNSS antennas 20a and 20b are positioned at a height, with their midpoints equidistant from the center of the vehicle width direction. The first and second GNSS antennas 20a and 20b detect the position and orientation of the machine body 10 using satellite signals transmitted from satellites and output the position information of the machine body 10 to the control device 40. It is preferable that the positioning accuracy by the GNSS antenna 20 has an error of less than 5 to 10 cm. The control device 40 calculates the three-dimensional position coordinates of the center of the vehicle width direction on the rotation axis 14c as the intermediate coordinates (average position) of the position information obtained from the first GNSS antenna 20a and the second GNSS antenna 20b.

[0031] The attitude detector 30 detects the attitude of the machine body 10 and outputs attitude information of the machine body 10 to the control device 40. The attitude detector 30 detects the tilt of the machine body 10 forward and backward, etc. As the attitude detector 30, for example, an attitude sensor or an inclinometer can be used, and more specifically, a non-contact ultrasonic sensor can be used.

[0032] The control device 40 controls the operation of the work machine 1000. The control device 40 includes, for example, a CPU that performs calculation processing, and memories such as a ROM and a RAM.

[0033] The control device 40 may use the horizontal positioning information from the GNSS antenna 20 to monitor the horizontal position and traveling status of the work machine 1000 (or the lower end of the blade 17a), or may function to control the traveling of the work machine 1000. For example, the control device 40 associates the area (land parcel) to be the target of ground improvement work with a virtual map on an XY plane. In other words, the control device 40 creates a virtual map by associating the area with an XY plane having XY coordinates. The control device 40 then converts (or maps) the horizontal positioning information acquired by the GNSS antenna 20 into coordinates (X1, Y1) on the virtual map on the XY plane associated with the area to be the target of ground improvement work. The X and Y directions are associated with the four directions of north, south, east, and west. For example, either the X or Y direction may be set as north. Alternatively, the X direction may be set to be one side of the land parcel to be worked on. 5, the orientation detected by the GNSS antenna 20 is quantified as the tilt angle β between the X axis and the traveling direction V of the work machine 1000 of the machine body 10. Then, by adding the vertical positioning information (Z1) to the horizontal positioning information (X1, Y1), the control device 40 can represent the three-dimensional space of the land that is the target of the ground improvement work as an XYZ coordinate system, and convert and acquire the position information from the GNSS antenna 20 into coordinates (X1, Y1, Z1).

[0034] The input device 50 receives various inputs from the user and outputs them to the control device 40. The input device 50 is disposed in the driver's seat. The input device 50 is, for example, a button or a keyboard. The input device 50 may be a touch panel, in which case the input device 50 also serves as the display device 60.

[0035] The display device 60 displays an information screen and an operation screen output from the control device 40. The display device 60 is disposed at the driver's seat. The display device 60 is, for example, a liquid crystal display or an organic EL display.

[0036] When performing ground improvement, the user inputs the desired depth from the ground surface (hereinafter, this depth will be referred to as the "target depth") to the control device 40, indicating the desired depth to which the ground improvement should be performed (i.e., the desired depth to which the tip of the blade 17a of the mixing rotor 17 should be extended). The control device 40 stores a target depth value Zt associated with the target depth. Here, the target depth value Zt is a vertical position (minus altitude) on the GNSS. The target depth input value input by the user may be a value of the vertical position (altitude) on the GNSS, and the target depth input value may directly become the target depth value Zt on the GNSS. Alternatively, the target depth input value input by the user may be a depth value (the distance from the ground surface to the tip of the blade 17a) with the ground surface of the area to be worked on (the position where the traveling object 13 is in contact with the ground) as the reference plane (Z = 0). In this case, the control unit 40 converts the target depth input value into a vertical position (information) on the GNSS based on the vertical positioning information of the machine body 10 from the GNSS antenna 20 and the positional relationship between the GNSS antenna 20 (measurement position) and the mobile unit 13 (ground position), and calculates the target depth value Zt. The control unit 40 calculates the height value Za (Z coordinate) of the tip of the blade 17a based on the position information of the machine body 10 from the first GNSS antenna 20a and the second GNSS antenna 20b. The corrected height value Za of the tip of the blade 17a can be calculated based on the posture information of the machine body 10 from the posture detector 30. The control unit 40 then calculates the difference between the height value Za of the tip of the blade 17a and the target depth value Zt and determines whether this difference Δz is outside a predetermined range. If the control unit 40 determines that the difference is outside the predetermined range, it drives the lifting device 19 to adjust the tip position of the blade 17a so that the difference Δz falls within the predetermined range. The control device 40 may output the height of the tip of the blade 17a and the calculated difference to the display device 60 for display.

[0037] 2. Control method Next, the method for controlling the height of the mixing rotor 17 will be described in more detail.

[0038] [2-1. First embodiment] First, a control method according to the first embodiment will be described with reference to FIGS.

[0039] The user inputs the target depth value Zt into the control device 40. In one embodiment, the ground level is set to zero (i.e., the ground level is set to the origin of the Z coordinate), and the user inputs the target depth value Zt as a negative value (e.g., "-100 cm") as the depth from the ground.

[0040] While the work machine 1000 is operating, the control device 40 calculates the height value Za of the tip of the blade 17a when the ground is the origin of the Z coordinate, based on position information of the machine body 10 from the first GNSS antenna 20a and the second GNSS antenna 20b (step S101). If necessary, the control device 40 recalculates the height value Za of the tip of the blade 17a based on attitude information of the machine body 10 from the attitude detector 30. For example, if the machine body 10 is tilted forward or backward relative to the horizontal, the height value Za is corrected based on the degree of tilt.

[0041] The height value Za of the tip of the blade 17a can be precisely calculated using vertical positioning information (Z1) acquired by the GNSS antenna 20. The height value Za changes depending on the rotation angle α of the arm 14. In particular, the height value Za can be calculated using the vertical coordinate Z1, the distance A, the distance R, and the angle α shown in FIG. 4. Specifically, it is expressed by the following equation: Za = Z1-(Asinα+R)

[0042] The control device 40 calculates the difference Δz (Δz=Za−Zt) between the height value Za of the tip of the blade 17a and the target depth value Zt (step S102).

[0043] The control device 40 determines whether the difference Δz is outside a predetermined range set in advance in the control device 40 (step S103, step S105). The predetermined range is the deviation of the height value Za of the tip of the blade 17a from the target depth value Zt, which is the deviation that the user can tolerate. If the difference Δz is within the predetermined range, it can be considered that the tip of the blade 17a has reached the target depth value Zt. The user sets the first threshold value T1 and the second threshold value T2 (T2 ≤ 0 < T1 or T2 < 0 ≤ T) as the predetermined range in the control device 40. The first threshold value T1 and the second threshold value T2 can be arbitrarily set by the user as long as zero is included in the range of T2 to T1.

[0044] The control device 40 determines whether the difference Δz is greater than the first threshold value T1 (step S103).

[0045] When the control device 40 determines that the difference Δz is greater than the first threshold value T1 (Yes in step S103), since the tip of the blade 17a is in a state of being located above the target depth value Zt beyond the allowable range of the user (see FIG. 7), the control device 40 lowers the mixing rotor 17 by the lifting device 19 so that the difference Δz falls within the range of T2 to T1 (step S104).

[0046] When the control device 40 determines that the difference Δz is not greater than the first threshold value T1 (No in step S103), it determines whether the difference Δz is less than the second threshold value T2 (step S105).

[0047] When the control device 40 determines that the difference Δz is less than the second threshold value T2 (in the case of Yes in step S105), since the tip of the blade 17a is in a state of being located below the target depth value Zt beyond the allowable range of the user (see FIG. 8), the control device 40 raises the mixing rotor 17 by the lifting device 19 so that the difference Δz falls within the range of T2 to T1 (step S106).

[0048] In one specific example, when the first threshold T1 is set to "+5 cm" and the second threshold T2 is set to "-5 cm", if the calculated difference Δz is "+8 cm", the mixing rotor 17 is lowered, and if the calculated difference Δz is "-8 cm", the mixing rotor 17 is raised.

[0049] The control device 40 may output the travel trajectory of the work machine 1000 to the display device 60 based on the position information from the first GNSS antenna 20a and the second GNSS antenna 20b. As shown in FIG. 9, when the ground mixing process is being carried out with the difference Δz within a predetermined range, the control device 40 may output the travel trajectory W colored in a predetermined color to the display device 60. A color that can be visually distinguished by the user is selected as the predetermined color. The travel trajectory W colored in the predetermined color represents an area that has been mixed. Therefore, the user can visually distinguish between areas that have been mixed and areas that have not been mixed, and can visually grasp the progress of the ground improvement work.

[0050] The virtual map shown in FIG. 9 displays a rectangular section of the area to be worked on for ground improvement as a virtual map on the XY plane, with the Y direction set to north and the lower left corner of the section set to the origin (0 coordinate). Using the position and orientation information (orientation of the traveling direction V of the machine body 10) acquired by the GNSS antenna 20, the operating position of the mixing rotor 17 (the lower end of the mixing rotor 17) can be calculated as coordinates (Xa, Ya). The coordinates (Xa, Ya) vary depending on the rotation angle α of the arm 14. Specifically, the coordinates (Xa, Ya) can be calculated using the horizontal coordinates (X1, Y1) obtained by the GNSS antenna 20, the distance A and rotation angle α shown in FIG. 4, and the tilt angle β shown in FIG. 5. Specifically, this is expressed by the following equation: (Xa, Ya)=(X1+Acosα·cosβ, Y1+Acosα·sinβ) Based on the posture information of the machine body 10 from the posture detector 30, the coordinates (Xa, Ya) can also be corrected in the same way.

[0051] As shown in FIG. 9, display device 60 may display the coordinates (Xa, Ya, Za) of the operating position of mixing rotor 17 (the lower end of mixing rotor 17) to the user.

[0052] [2-2. Second embodiment] Next, a control method according to the second embodiment will be described with reference to FIGS.

[0053] The user inputs a target depth upper limit ZU and a target depth lower limit ZL (ZU > ZL) into the control device 40. In one embodiment, the ground level is set to zero, and the user inputs the target depth upper limit ZU and target depth lower limit ZL as negative values ​​representing depths from the ground level. The target depth upper limit ZU and target depth lower limit ZL can be set arbitrarily by the user. The control device 40 adjusts the height of the mixing rotor 17 so that the height value Za of the tip of the blade 17a falls between ZL and ZU.

[0054] The control device 40 calculates the height value Za of the tip of the blade 17a when the ground is the origin of the Z coordinate based on the position information of the machine body 10 from the first GNSS antenna 20a and the second GNSS antenna 20b and the attitude information of the machine body 10 from the attitude detector 30 (step S201).

[0055] The control device 40 determines whether the height value Za of the tip of the blade 17a is greater than the target depth upper limit value ZU (step S202).

[0056] If the control device 40 determines that the height value Za of the tip of the blade 17a is greater than the target depth upper limit value ZU (Yes in step S202), the tip of the blade 17a is positioned above the target depth upper limit value ZU (see Figure 11), so the control device 40 lowers the mixing rotor 17 using the lifting device 19 so that the height value Za of the tip of the blade 17a is between ZL and ZU (step S203).

[0057] If the control device 40 determines that the height value Za of the tip of the blade 17a is not greater than the target depth upper limit value ZU (No in step S202), it determines whether the height value Za of the tip of the blade 17a is smaller than the target depth lower limit value ZL (step S204).

[0058] If the control device 40 determines that the height value Za of the tip of the blade 17a is smaller than the target depth lower limit value ZL (Yes in step S204), the tip of the blade 17a is positioned below the target depth lower limit value ZL (see Figure 12), so the control device 40 raises the mixing rotor 17 using the lifting device 19 so that the height value Za of the tip of the blade 17a is between ZL and ZU (step S205).

[0059] In the control method of the second embodiment, as in the first embodiment, when the mixing process of the ground is being carried out by the mixing rotor 17 while the height value Za of the tip of the blade 17a is between the target depth upper limit value ZU and the target depth lower limit value ZL, the control device 40 may output the traveling trajectory W colored in a predetermined color to the display device 60.

[0060] <3. Effects> The work machine 1000 of the present invention can automatically adjust the height of the tips of the blades 17a of the mixing rotor 17 to the target depth. Therefore, the user does not need to manually raise and lower the mixing rotor 17, which reduces the burden on the user and improves work efficiency. Furthermore, because the mixing rotor 17 can be raised and lowered regardless of the skill level of the user operating the work machine 1000, variation between users is eliminated, and the quality of the ground improvement work can be stabilized.

[0061] The mixed processed area is displayed in color on the display device 60, allowing the user to visually distinguish between processed and unprocessed areas, thereby enabling appropriate management of the progress of the construction work.

[0062] <4. Modifications> The present invention is not limited to the above-described embodiment, and various modifications are possible without departing from the spirit of the present invention. Modifications of the present invention will be described below. The modifications described below can be applied to the above-described embodiment either alone or in appropriate combination without departing from the spirit of the present invention.

[0063] (1) The work machine 1000 may be remotely operable. The control device 40 may be capable of wireless communication with a remote operation device. The work machine 1000 is remotely operated by the remote operation device. Furthermore, numerical values ​​input by the user, such as the target depth value Zt, may be input from the remote operation device.

[0064] (2) The lifting device 19 of the work machine 1000 may raise and lower the mixing rotor 17 without rotating the arm 14. In other words, the angle α in FIG. 4 may be a fixed value. That is, the lifting device 19 is configured to move the connecting member 16 up and down. As the connecting member 16 moves up and down, the mixing rotor 17, which is indirectly connected to the connecting member 16, also moves up and down. The lifting device 19 operates based on a signal from the control device 40. The lifting device 19 is, for example, a hydraulic cylinder. As the piston rod of the hydraulic cylinder extends, the connecting member 16 moves down, and therefore the mixing rotor 17 also moves down. On the other hand, as the piston rod of the hydraulic cylinder contracts, the connecting member 16 moves up, and therefore the mixing rotor 17 also moves up. [Explanation of symbols]

[0065] 1000 Work Machines 10 Machine body 11 Body 13 Running body 13a First vehicle (vehicle) 13b Second running body (running body) 14 Arm 14c Pivot shaft 17 Mixing rotor 17a blade 17c Rotational axis 19 Lifting device 20 GNSS antenna 20a 1st GNSS antenna (GNSS antenna) 20b Second GNSS antenna (GNSS antenna) 30 Attitude detector 40 Control device 60 Display device Za Height of the blade tip Zt target depth Δz Difference between the height of the cutting edge and the target depth W Colored driving track ZU Upper limit of target depth ZL Lower limit of target depth

Claims

1. A work machine that mixes soil and ground improvement material while traveling on the ground, a machine body including a vehicle body, a running body attached to the vehicle body, a mixing rotor having blades, and an elevating device for moving the mixing rotor up and down; a control device; a GNSS antenna that acquires position information of the machine body and outputs the position information to the control device; Equipped with The control device Calculating a height value Za of the tip of the blade from the position information; Calculating a difference Δz between the height value Za of the tip of the blade and the target depth value Zt stored in the control device; determining whether the difference Δz is outside a predetermined range set in the control device, and when it is determined that the difference Δz is outside the predetermined range, driving the lifting device to move the mixing rotor up and down so that the difference Δz falls within the predetermined range; Work machinery.

2. A work machine that mixes soil and ground improvement material while traveling on the ground, a machine body including a vehicle body, a running body attached to the vehicle body, a mixing rotor having blades, and an elevating device for moving the mixing rotor up and down; a control device; a GNSS antenna that acquires position information of the machine body and outputs the position information to the control device; Equipped with The control device Calculating a height value Za of the tip of the blade from the position information; determining whether or not the height value Za of the blade tip is outside a predetermined range set in the control device, and if the height value Za of the blade tip is outside the predetermined range, driving the lifting device to move the mixing rotor up and down so that the height value Za of the blade tip falls within the predetermined range; Work machinery.

3. a posture detector that detects the posture of the machine body and outputs posture information of the machine body to the control device; The control device corrects a height value Za of the tip of the blade based on the posture information.

3. A work machine according to claim 1 or 2.

4. the machine body includes an arm that rotates around a rotation axis and supports the mixing rotor at its tip end, the lifting device is configured to move the mixing rotor up and down by rotating the arm; The GNSS antenna is configured to detect a height position Z1 of a rotation axis, The height value Za of the tip of the blade is calculated based on the height position Z1 and the rotation angle α of the arm.

3. A work machine according to claim 1 or 2.

5. The control device creates a virtual map by relating the area to be subjected to ground improvement work to an XY plane having XY coordinates, converts the horizontal positioning information acquired from the GNSS antenna into coordinates (X1, Y1) on the XY plane, and calculates and displays the operating position (Xa, Ya) of the mixing rotor on the virtual map based on the direction of travel of the machine body and the coordinates (X1, Y1).

3. A work machine according to claim 1 or 2.

6. Further comprising a display device, the control device outputs a travel trajectory of the work machine to the display device based on position information from the GNSS antenna; When the mixing process of the ground is performed by the mixing rotor with the height of the tip of the blade within the predetermined range, the control device outputs the traveling trajectory colored in a predetermined color to the display device.

3. A work machine according to claim 1 or 2.

7. A control method for a work machine that mixes soil and soil improvement material while traveling on the ground, the work machine comprising a vehicle body, a traveling body, a mixing rotor having blades, a lifting device that moves the mixing rotor up and down, and a control device, the control method comprising: Acquiring position information of the machine body by a GNSS antenna; calculating a height value Za of the tip of the blade of the mixing rotor based on the position information; Calculating a difference Δz between a height value Za of the tip of the blade and a target depth value Zt; determining whether the difference Δz is outside a predetermined range, and if the difference Δz is outside the predetermined range, driving the lifting device to move the mixing rotor up and down so that the difference Δz falls within the predetermined range; A control method comprising:

8. A control method for a work machine that mixes soil and soil improvement material while traveling on the ground, the work machine comprising a vehicle body, a traveling body, a mixing rotor having blades, a lifting device that moves the mixing rotor up and down, and a control device, the control method comprising: Acquiring position information of the machine body by a GNSS antenna; calculating a height value Za of the tip of the blade of the mixing rotor based on the position information; determining whether or not the height value Za of the blade tip is outside a predetermined range, and if the height value Za of the blade tip is outside the predetermined range, driving the lifting device to move the mixing rotor up and down so that the height value Za of the blade tip falls within the predetermined range; A control method comprising:

9. The method further includes acquiring posture information of the machine body by a posture detector, and correcting a height value Za of the tip of the blade based on the posture information.

9. The control method according to claim 7 or 8.

10. and outputting a travel path of the work machine colored in a predetermined color when the mixing process of the ground is performed by the mixing rotor with the height of the tip of the blade within the predetermined range.

9. The control method according to claim 7 or 8.

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