Work machine control device, work machine, external device, work machine system, and workability improvement method

Abstract

To provide a work machine control device that can suppress, compared to conventional devices, a decrease in work productivity caused by obstacles such as earth and sand that accumulate during work.SOLUTION: A work machine control device (40) includes a controller (50) that performs predetermined control to enable acquisition of position information of a work target position (TP) when position information of the work target position (TP) at a work site cannot be acquired based on data relating to the work site input from a position information acquisition device (20).SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present disclosure relates to technology for work machines such as hydraulic excavators. [Background technology]

[0002] Patent Document 1 discloses a technology for providing a shovel with high excavation efficiency by appropriately grasping the topography of the work target. This shovel is equipped with a spatial recognition device and a control device, and the control device combines first data acquired by the spatial recognition device placed at a first viewpoint and second data acquired by the spatial recognition device placed at a second viewpoint different from the first viewpoint.

[0003] Patent Document 2 discloses a technique for measuring piles of earth and sand that extend from inside the bucket to outside the bucket. The excavator in Patent Document 2 has a lower traveling body, an upper rotating body mounted so as to be rotatable relative to the lower traveling body, an attachment including a boom, an arm, and a bucket attached to the upper rotating body, and a distance measuring device that measures the distance to the ground located in the excavation direction of the bucket while excavating.

[0004] Patent Document 3 discloses an automatically operated shovel that excavates while sequentially changing the excavation depth within a limit excavation depth. This automatically operated shovel includes a hydraulic shovel and an automatic operation controller that is built into the hydraulic shovel and that causes the hydraulic shovel to repeatedly perform a cycle of operations from excavation to soil discharge by a playback operation. The automatic operation controller includes means for setting the number of times excavation can be repeated at different excavation depths corresponding to the limit excavation depth, and means for repeating the cycle of operations the set number of times during playback while deepening the excavation depth for each cycle of operations. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Publication No. 2021-008776 [Patent Document 2] Japanese Patent Publication No. 2022-059042 [Patent Document 3] Japanese Patent Application Publication No. 11-158933 Summary of the Invention [Problem to be solved by the invention]

[0006] A work machine performs a series of operations to excavate soil and sand using a bucket and move the soil held in the bucket to another location. For example, during an excavation operation in which the bucket is moved toward the undercarriage, some of the soil may overflow from the bucket or fall to the ground. In this case, soil may accumulate between the undercarriage and the target position for the work using the bucket. The accumulated soil may reduce the productivity of the work performed by the work machine.

[0007] The above-mentioned problems can arise not only when the tip attachment is a bucket and the work object is soil and sand, but also when the tip attachment is other equipment such as a fork, grapple, or lifting magnet and the work object is other objects such as wood or scrap wood.

[0008] The present disclosure aims to provide a work machine control device, a work machine, an external device, a work machine system, and a workability improvement method that can reduce, compared to conventional methods, the decline in work productivity caused by obstacles such as soil and sand that accumulate during work. [Means for solving the problem]

[0009] A work machine control device according to one aspect of the present disclosure includes a controller that performs predetermined control to enable acquisition of position information of a work target position at a work site when the position information cannot be acquired based on work site information, which is information about the work site input from a position information acquisition device.

[0010] A work machine according to another aspect of the present disclosure includes a machine body, a work device rotatably supported on the machine body, a position information acquisition device that acquires work site information that is information relating to the work site, and the work machine control device.

[0011] An external device according to another aspect of the present disclosure includes the work machine control device.

[0012] A work machine system according to another aspect of the present disclosure includes a work machine and an external device, and includes the work machine control device.

[0013] A workability improvement method according to another aspect of the present disclosure includes a step in which a controller acquires position information of a work target position at a work site based on work site information, which is information about the work site input from a position information acquisition device, and a step in which, if the controller is unable to acquire the position information, the controller performs predetermined control to enable the controller to acquire the position information of the work target position. [Effects of the Invention]

[0014] The present disclosure provides a work machine control device, a work machine, an external device, a work machine system, and a workability improvement method that can reduce the decline in work productivity caused by obstacles such as soil and sand that accumulate during work compared to conventional methods. [Brief explanation of the drawings]

[0015] [Figure 1] 1 is a diagram showing a work machine system according to an embodiment, the work machine system including a work machine according to an embodiment and an external device. [Figure 2] FIG. 2 is a block diagram illustrating components of the work machine system. [Figure 3] 3 is a flowchart showing a calculation process performed by a controller of the work machine control device according to the embodiment. [Figure 4] FIG. 2 is a plan view for explaining a work area and a plurality of work target positions at a work site. [Figure 5] 4 is a conceptual diagram for explaining the positional relationship between the position information acquisition device of the work machine, the work target range, and a predetermined height. FIG. [Figure 6] 3 is a conceptual diagram for explaining the positional relationship between the position information acquisition device, the task target position, the obstacle (deposit), and the predetermined height. FIG. [Figure 7] 10 is a conceptual diagram for explaining a case where an object other than the deposit is present between the position information acquisition device and the task target position. FIG. [Figure 8] FIG. 10 is a conceptual diagram for explaining a predetermined height in a modified example of the embodiment. [Figure 9] 3A to 3C are conceptual diagrams for explaining an excavation operation, a lifting and swinging operation, an earth-discharging operation, and a return swinging operation as examples of operations performed by the work machine. [Figure 10] 10 is a flowchart showing a calculation process performed by a controller of a work machine control device according to a modified example of the embodiment. [Figure 11] 10 is a flowchart showing a calculation process performed by a controller of a work machine control device according to another modified example of the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0016] An embodiment of the present disclosure will be described with reference to the drawings. Fig. 1 is a side view showing a work machine system 300 according to an embodiment. The work machine system 300 includes a work machine 100 and an external device 200. Fig. 2 is a block diagram showing components of the work machine system 300.

[0017] The work machine 100 comprises a lower traveling body 1 including a traveling device, an upper rotating body 2 supported on the lower traveling body 1 so as to be rotatable relative to the lower traveling body 1 about a rotation axis Z extending vertically, a work device 3 supported on the upper rotating body 2, multiple actuators, a position information acquisition device 20, an attitude detection unit 30, and a work machine control device 40. The work machine control device 40 comprises a controller 50. The controller 50 controls the operation of the work machine 100. The lower traveling body 1 and the upper rotating body 2 are an example of a machine main body in this disclosure.

[0018] The work machine 100 according to this embodiment is a hydraulic excavator, but the work machine in this disclosure is not limited to a hydraulic excavator and may be a crane, bulldozer, or other work machine.

[0019] The forward / backward and left / right directions shown in the figure may be directions based on the orientation of the upper rotating body 2, may be directions based on the orientation of the lower running body 1, or may be directions based on any of the various coordinate systems (e.g., reference coordinate system) described below.

[0020] The upper rotating body 2 includes a rotating frame 2A, a cab 2B, and a rear outer wall 2C. The rotating frame 2A is a frame that is rotatably supported on the lower traveling body 1, and forms a base portion of the upper rotating body 2.

[0021] The cab 2B is disposed, for example, at the left front portion of the revolving frame 2A. A driver's seat, operating devices, etc. are disposed inside the cab 2B. The operating devices include operating devices that receive various operations by the operator, such as boom operation for raising and lowering the boom 4, arm operation for rotating the arm 5, tip attachment operation for rotating the tip attachment 6, swing operation for swinging the upper swing structure 2 relative to the undercarriage 1, and travel operation for traveling the undercarriage 1. The operating devices may be configured with at least one of an operating lever, an operating pedal, and an operating button. The operating devices are used when the operator operates the work machine 100 from inside the cab 2B. The operating devices are not used when the work machine 100 is automatically operated or when the work machine 100 is remotely controlled.

[0022] The rear outer wall 2C is disposed behind the cab 2B and is an outer wall that defines the machinery room. Various devices are disposed in the machinery room, including power equipment such as an engine, a battery, and a generator, hydraulic equipment such as a hydraulic pump, and electrical equipment. The hydraulic pump is driven by the power equipment. A counterweight may be disposed at the rear or behind the rear outer wall 2C. The counterweight is a weight used to balance the work machine 100.

[0023] The work device 3 includes a boom 4 that is attached to the upper rotating body 2 so that it can be raised and lowered, an arm 5 that is attached to the boom 4 so that it can rotate, and a tip attachment 6 that is attached to the arm 5 so that it can rotate. In this embodiment, the tip attachment 6 is a bucket 6, but the tip attachment may be another tip attachment such as a grapple, fork, or lifting magnet.

[0024] Each of the multiple actuators operates by receiving a supply of hydraulic oil discharged from the hydraulic pump. The multiple actuators include a boom cylinder 7 for raising and lowering the boom 4, an arm cylinder 8 for rotating the arm 5, a tip attachment cylinder 9 for rotating the tip attachment 6, a swing motor 11 for rotating the upper swing body 2 relative to the lower traveling body 1, and a travel motor (not shown) for traveling the lower traveling body 1.

[0025] The position information acquisition device 20 acquires work site information, which is information about the work site WS. The position information acquisition device 20 may be attached to, for example, the cab 2B. Specifically, the position information acquisition device 20 may be attached to the front part of the top surface of the cab 2B.

[0026] The position information acquisition device 20 acquires work site information, which is information relating to the work site WS, and inputs the acquired work site information to the controller 50. The position information acquisition device 20 may be configured to acquire three-dimensional data (e.g., point cloud data) of objects present at the work site WS, such as the ground, obstacles, and other work machines.

[0027] The position information acquisition device 20 may be a distance measurement sensor that acquires distance information regarding the distance to an object by irradiating light such as laser light. The distance measurement sensor may be, for example, a LiDAR (Light Detection and Ranging). The position information acquisition device 20 may also be a stereo camera, an ultrasonic sensor, a total station, an infrared sensor, or any other sensor capable of acquiring work site information regarding the work site. The position information acquisition device 20 may also be an imaging device that captures images of the work site WS as work site information. The position information acquisition device 20 may also be a combination of two or more of these devices.

[0028] The attitude detection unit 30 acquires attitude information, which is information relating to the attitude of the work machine 100. The attitude detection unit 30 may include a plurality of attitude detectors. As shown in FIG. 1 , the plurality of attitude detectors may include a boom attitude detector 31, an arm attitude detector 32, and a tip attachment attitude detector 33. The plurality of attitude detectors may further include a rotating bed attitude detector 34.

[0029] The boom attitude detector 31 may be a sensor that detects the attitude of the boom 4, or may be a sensor that detects the state of the boom cylinder 7 that correlates with the attitude of the boom 4. The arm attitude detector 32 may be a sensor that detects the attitude of the arm 5, or may be a sensor that detects the state of the arm cylinder 8 that correlates with the attitude of the arm 5. The tip attachment attitude detector 33 may be a sensor that detects the attitude of the tip attachment 6, or may be a sensor that detects the state of the tip attachment cylinder 9 that correlates with the attitude of the tip attachment 6. The rotating structure attitude detector 34 may be a sensor that detects the attitude of the upper rotating structure 2, or may be a sensor that detects the state of the swing motor 11 that correlates with the attitude of the upper rotating structure 2.

[0030] Each of the plurality of attitude detectors may include, for example, an inertial measurement unit (IMU), a sensor (e.g., a stroke sensor) that detects the degree of extension / contraction of a cylinder, or other sensors. The rotating body attitude detector 34 may include a sensor that detects the rotation angle of the upper rotating body 2 relative to the lower running body 1, or a sensor that detects the inclination angle of the upper rotating body 2 relative to the horizontal plane.

[0031] The attitude detection unit 30 inputs the acquired attitude information to the controller 50 of the work machine control device 40. The controller 50 can calculate the attitude of the work machine 100 using the attitude information input from the attitude detection unit 30.

[0032] The controller 50 of the work machine control device 40 performs specific control. The specific control may be, for example, control for automatic operation (automatic operation control) that automates the operation of the work machine 100, control for semi-automatic operation (semi-automatic operation control) that automates part of the operation of the work machine 100, control for an operator to remotely operate the work machine 100 using a remote operation device (not shown) that is located in a remote location away from the work machine 100 (remote operation control), or other control for assisting work-related personnel such as an operator, work manager, or assistant. In other words, the specific control may be control for assisting work-related personnel such as the work manager or assistant who monitors the automatic operation, control for assisting an operator who uses the remote operation device in the remote location, or control for assisting an operator when the operator is on board the work machine 100.

[0033] The controller 50 uses the work site information input from the position information acquisition device 20 to perform control of the work machine 100, such as the specific control.

[0034] The controller 50 performs the specific control using the work site information input from the position information acquisition device 20 and the attitude information input from the attitude detection unit 30. Specifically, for example, if the specific control is automatic driving control or semi-automatic driving control, the controller 50 outputs a control command to the control target 70 so that the work machine 100 performs an operation corresponding to automatic driving data (described below) that is stored in advance in the data storage unit 56.

[0035] Next, an example of the specific control will be described. In the specific example shown in Fig. 4, the work machine 100 is placed at a work site WS, and performs a predetermined task in a work target range WR of a work target set at the work site WS. The predetermined task may be, for example, loading work, ground leveling work, or other work. The controller 50 performs the specific control so that the work machine 100 performs the predetermined task.

[0036] Specifically, for example, the controller 50 performs automatic driving control or semi-automatic driving control using the point cloud data input from the position information acquisition device 20 and the attitude information input from the attitude detection unit 30. The controller 50 outputs a control command to the control target 70 so that the work machine 100 performs an operation corresponding to the automatic driving data stored in advance in the data storage unit 56.

[0037] The loading operation includes a plurality of operations. The plurality of operations may include, for example, an excavation operation shown in Fig. 9(A), a lifting and swinging operation shown in Fig. 9(B), an earth-discharging operation shown in Fig. 9(C), and a return swinging operation shown in Fig. 9(D). The excavation operation, the lifting and swinging operation, the earth-discharging operation, and the return swinging operation are performed in this order.

[0038] The excavation operation is an operation for excavating a work target range WR at the work site WS. The excavation operation may include, for example, a boom raising operation in which the boom 4 is raised, an arm pulling operation in which the arm 5 approaches the boom 4, and a bucket pulling operation in which the bucket 6 approaches the boom 4. The work target range WR may be, for example, a target excavation area indicated by a rectangular frame in FIG. 4.

[0039] The lifting and swinging operation is an operation for moving the bucket 6 holding the excavated soil from the work area WR to directly above the soil discharge area. The soil discharge area may be, for example, the bed of the dump truck 400, or an area for soil discharge formed at the work site WS. The lifting and swinging operation may include a boom-raising operation and a swinging operation in which the upper swing structure 2 swings relative to the lower running structure 1. The lifting and swinging operation may further include an arm-pushing operation in which the arm 5 moves away from the boom.

[0040] The earth discharging operation is an operation for discharging earth and sand from the bucket 6 to a discharge area. The earth discharging operation may include a bucket pushing operation (earth discharging operation) in which the bucket 6 moves away from the boom 4. The earth discharging operation may further include an arm pushing operation in which the arm 5 moves away from the boom 4.

[0041] The return swing operation is an operation for returning the bucket 6 from directly above the earth removal area to the work range WR. The return swing operation may include a boom lowering operation in which the boom 4 is lowered, and a swing operation in which the upper swing structure 2 swings relative to the lower traveling structure 1. The return swing operation may further include an arm pulling operation or an arm pushing operation.

[0042] Teaching data corresponding to a loading operation that includes a plurality of operations may be stored in the data storage unit 56, or may be stored in an external device 200 that is separate from the work machine 100.

[0043] When the controller 50 is performing the specific control, if it is unable to acquire position information of the work target position TP at the work site WS based on work site information (e.g., three-dimensional data such as point cloud data) regarding the work site WS input from the position information acquisition device 20, the controller 50 outputs a command (shift command) to move an obstacle OB located between the position information acquisition device 20 and the work target position TP.

[0044] There is a correlation between the controller 50 being unable to acquire the position information of the work target position TP based on the work site information and the presence of an obstacle OB between the position information acquisition device 20 and the work target position TP. This is because the obstacle OB is present between the position information acquisition device 20 and the work target position TP and prevents the position information acquisition device 20 from acquiring the position information of the work target position TP. In this embodiment, the controller 50 outputs a shift command to move the obstacle OB when it is unable to acquire the position information of the work target position TP based on the work site information, thereby making it possible to suppress a decrease in work productivity caused by obstacles OB such as soil and sand that accumulate during work compared to conventional cases.

[0045] Specifically, the controller 50 may output a shift command to the control object 70 of the work machine 100 when it is unable to acquire position information of the work target position TP based on the work site information. In this case, the control object 70 operates at least one of the work implement 3 and the upper rotating body 2 in response to the shift command so as to eliminate the state in which the obstacle OB is interposed between the position information acquisition device 20 and the work target position TP. This enables the position information acquisition device 20 to acquire position information of the work target position TP.

[0046] The shift command may be a command to move an obstacle OB located on a line connecting the position information acquisition device 20 and the work target position TP to a position off the line. The shift command may be a command to control the operation of the work implement 3 so that the bucket 6 (tip attachment) pushes the obstacle OB in a direction that moves the obstacle OB away from the lower traveling structure 1. Specifically, the shift command may be a command to control the operation of the work implement 3 so that the bucket 6 (tip attachment) pushes the obstacle OB in a direction that moves the obstacle OB away from the lower traveling structure 1, thereby returning the obstacle OB to within the work target range WR. The shift command may be a command to control the operation of the work implement 3 so that the bucket 6 (tip attachment) pulls the obstacle OB in a direction that moves the obstacle OB closer to the lower traveling structure 1. The shift command may be a command to rotate the upper rotating structure 2 to the right or left so that the bucket 6 (tip attachment) pushes the obstacle OB to the right or left.

[0047] The controller 50 includes a computer including an arithmetic processing unit and a memory. The controller 50 may include, for example, a target setting unit 51, a position information determination unit 52, an obstacle determination unit 53, a control command output unit 54, a target change unit 55, and a data storage unit 56. The controller 50 realizes the functions of the target setting unit 51, the position information determination unit 52, the obstacle determination unit 53, the control command output unit 54, the target change unit 55, and the data storage unit 56 by the arithmetic processing unit executing a program stored in the memory.

[0048] The target setting unit 51 may set a work target range WR. The target setting unit 51 may set at least one work target position TP. In this embodiment, the target setting unit 51 sets a plurality of work target positions TP. The target setting unit 51 may set a work target position TP that will be the target of the next operation from among the plurality of work target positions TP.

[0049] The position information determination unit 52 determines whether or not the position information of the work target position TP at the work site WS has been acquired based on the work site information relating to the work site WS input from the position information acquisition device 20 .

[0050] When the position information of the work target position TP cannot be acquired based on the work site information, the obstacle determination unit 53 determines whether or not an object (obstacle OB) exists between the position information acquisition device 20 and the work target position TP.

[0051] The control command output unit 54 outputs a command to a control object 70 of the work machine 100. Specifically, if there is an obstacle OB between the position information acquisition device 20 and the work target position TP, the control command output unit 54 outputs a shift command to the control object 70 to move the obstacle OB. The control command output unit 54 also outputs a specific command, which is a command corresponding to a specific control, which will be described later, to the control object 70. Specifically, if the specific control is automatic driving control or semi-automatic driving control, the control command output unit 54 outputs an automatic driving command, which is a command corresponding to a series of operations in the automatic driving control or semi-automatic driving control of the work machine 100, to the control object 70.

[0052] The target changing unit 55 changes the task target position TP that is set at that time to another task target position TP. That is, the target changing unit 55 changes the task target position TP.

[0053] The data storage unit 56 stores specific data, which is data for specific control. The specific data may be, for example, automatic driving data for automatic driving or semi-automatic driving. The automatic driving data is used, for example, to calculate a control command that the controller 50 outputs to the controlled object 70 so that the work machine 100 performs a predetermined operation. The automatic driving data may be, for example, teaching data corresponding to operations that the operator applies to the operating device in the cab 2B or the remote operating device, or may be data created using various information terminals.

[0054] Each of the various positions required for specific control, such as the position of the position information acquisition device 20, the work target range WR, and multiple work target positions TP, may be information represented by coordinates in a coordinate system based on the position information acquisition device 20 (acquisition device coordinate system), may be information represented by coordinates in a coordinate system based on the work machine 100 (machine coordinate system), may be information represented by coordinates in a coordinate system based on a specific position at the work site WS (site coordinate system), or may be information represented by coordinates in a global coordinate system. The controller 50 may be configured to be able to convert position information in any of these coordinate systems into position information in another coordinate system.

[0055] In the following specific example, the controller 50 is configured to convert point cloud data in the acquisition device coordinate system input from the position information acquisition device 20 into point cloud data in a predetermined reference coordinate system. The reference coordinate system may be the machine coordinate system, the site coordinate system, the global coordinate system, or another coordinate system.

[0056] The origin O of the reference coordinate system may be set at a specific position with the work machine 100 as the reference, for example. Specifically, the origin O of the reference coordinate system may be, for example, any position on the rotation axis Z. More specifically, the origin O of the reference coordinate system may be the intersection of the rotation axis Z and the ground. Furthermore, the origin O of the reference coordinate system may be, for example, a position on the rotation axis Z and between the lower traveling body 1 and the upper rotating body 2 (the origin O shown in FIG. 1 ).

[0057] In this embodiment, the reference coordinate system is a three-dimensional coordinate system. In this case, the reference coordinate system may be, for example, an orthogonal coordinate system defined by an x-axis parallel to the left-right direction, a y-axis parallel to the front-rear direction, and a z-axis parallel to the vertical direction. However, the reference coordinate system is not limited to the above specific example, and various other aspects can be adopted.

[0058] The coordinates of the position information acquisition device 20 may be, for example, the coordinates of the viewpoint of the position information acquisition device 20, or the coordinates of another part of the position information acquisition device 20. The controller 50 may store in advance information relating to the relative position of the position information acquisition device 20 with respect to a specific position of the work machine 100 (for example, origin O). Specifically, for example, the controller 50 may store the coordinates of the position information acquisition device 20 in the reference coordinate system whose origin is the specific position of the work machine 100. The coordinates of the position information acquisition device 20 may be, for example, the coordinates of the viewpoint of the position information acquisition device 20, or the coordinates of another part of the position information acquisition device 20.

[0059] The controlled object 70 is an object controlled by the controller 50. The output of the controlled object 70 changes in accordance with a control operation amount (control input), which is an operation amount input from the controller 50. The controlled object 70 may include a flow rate regulator and at least one of the plurality of actuators. The flow rate regulator adjusts the direction and flow rate of hydraulic oil supplied to at least one of the plurality of actuators in accordance with the control operation amount input from the controller 50. In other words, when the controller 50 inputs a control operation amount to the flow rate regulator, the flow rate regulator operates in accordance with the control operation amount input from the controller 50, and thereby hydraulic oil from the hydraulic pump is supplied to at least one of the plurality of actuators, and the actuator is operated.

[0060] The flow regulator may include, for example, a boom controller 71 , an arm controller 72 , a tip attachment controller 73 , and a swing controller 74 .

[0061] The boom controller 71 may include a spool, a pair of pilot ports, and a pair of proportional valves for adjusting the direction and flow rate of hydraulic oil supplied to the boom cylinder 7. The arm controller 72 may include a spool, a pair of pilot ports, and a pair of proportional valves for adjusting the direction and flow rate of hydraulic oil supplied to the arm cylinder 8. The end attachment controller 73 may include a spool, a pair of pilot ports, and a pair of proportional valves for adjusting the direction and flow rate of hydraulic oil supplied to the end attachment cylinder 9. The swing controller 74 may include a spool, a pair of pilot ports, and a pair of proportional valves for adjusting the direction and flow rate of hydraulic oil supplied to the swing motor 11. Each spool is operated by inputting pilot pressure to the pilot port corresponding to that spool, allowing hydraulic oil to be supplied to the actuator corresponding to that spool.

[0062] Each proportional valve is disposed in an oil passage connecting the pilot port of the spool corresponding to that proportional valve with a pilot pump (not shown), and adjusts the pilot pressure input to the pilot port. In other words, each proportional valve outputs a secondary pressure corresponding to a control operation amount (e.g., a current value) input from the controller 50, and that secondary pressure is input as a pilot pressure to the pilot port corresponding to that proportional valve. Each proportional valve adjusts the pilot pressure input to the pilot port corresponding to that proportional valve to a magnitude corresponding to the control operation amount input from the controller 50.

[0063] The work machine 100 is equipped with a communication device 82, and the external device 200 is equipped with a communication device not shown, so the work machine 100 and the external device 200 can send and receive data to and from each other via wireless or wired communication using various networks such as the Internet or a mobile phone network.

[0064] The external device 200 may be an information terminal such as a tablet computer (a so-called tablet), a smartphone, a laptop personal computer, or a desktop personal computer. The external device 200 may also be a remote control device for remotely controlling the work machine 100 at a remote location away from the work machine 100. The external device 200 may also be a management device such as a server for managing work performed by the work machine 100. The external device 200 may also be an external storage device that stores data such as the teaching data. The external device 200 may also be a computer in a cloud service that is provided as a service over a network such as the Internet. The work machine system 300 may be equipped with multiple external devices 200.

[0065] Figure 3 is a flowchart showing the calculation processing performed by the controller 50 of the work machine control device 40. The controller 50 performs calculation processing as shown in Figure 3 along with specific controls such as automatic driving control, semi-automatic driving control, and remote operation control. Note that the following description will be given taking as an example a case where the position information acquisition device 20 is a LiDAR that acquires three-dimensional data (point cloud data) of the work site.

[0066] The target setting unit 51 of the controller 50 performs initial setting (step S11). The initial setting may include setting a work target range WR in the work site WS and setting multiple work target positions TP. The initial setting may further include setting the number of times to repeat work for the multiple work target positions TP.

[0067] For example, if the work target range WR is a rectangle as shown in FIG. 4 , the target setting unit 51 of the controller 50 may set the work target range WR by identifying the positions of three or more of the four corners A, B, C, and D of the rectangle. The position of the corner may be identified, for example, by the operator using an operation device in the cab 2B of the work machine 100 or an external device 200 (e.g., a remote control device) to position the tip of the bucket 6 at a position corresponding to the corner, and then by the operator making a predetermined input to the input device 81 of the work machine 100 or an input device (not shown) of the external device 200 (e.g., a remote control device). The target setting unit 51 of the controller 50 can calculate the position of the tip of the bucket 6 based on the attitude information input from the attitude detection unit 30. The position of the corner may also be identified, for example, by a person involved in the work inputting the coordinates of the corner into the external device 200.

[0068] The target setting unit 51 of the controller 50 sets a plurality of work target positions TP within the identified work range WR. Each of the plurality of work target positions TP set by the target setting unit 51 of the controller 50 may be the x coordinate and the y coordinate of the work target position TP.

[0069] The target setting unit 51 of the controller 50 may set multiple work target positions TP based on input for setting multiple work target positions TP by those involved in the work. The input may be made to the external device 200 or to the input device 81 of the work machine 100. The target setting unit 51 of the controller 50 may also set multiple work target positions TP based on a pre-stored algorithm for setting the work target positions TP and information about the work target range WR. In the specific example shown in FIG. 4, the target setting unit 51 of the controller 50 sets 15 work target positions TP within the work target range WR and sets the order in which excavation operations will be performed at these work target positions TP. In the specific example shown in FIG. 4, the target setting unit 51 of the controller 50 sets the order of excavation operations in the order of the numbers 1 to 15 of the 15 work target positions TP. However, the order of excavation operations is not limited to the specific example shown in FIG. 4.

[0070] The position information determination unit 52 of the controller 50 determines whether or not the position information of the currently set work target position TP (for example, the first work target position TP) has been acquired based on the three-dimensional data (point cloud data) related to the work site WS input from the position information acquisition device 20 (step S12). Specifically, for example, the position information determination unit 52 of the controller 50 may determine whether or not the ground level (z coordinate) at the x and y coordinates of the currently set work target position TP has been acquired based on the three-dimensional data (point cloud data). The position information determination unit 52 of the controller 50 may also determine whether or not there is data at the x and y coordinates of the currently set work target position TP.

[0071] As shown in Fig. 5, when no obstacle OB exists between the position information acquisition device 20 and the first task target position TP, the three-dimensional data (point cloud data) includes data corresponding to the first task target position TP. On the other hand, when an obstacle OB exists between the position information acquisition device 20 and the first task target position TP as shown in Fig. 6, the light emitted from the position information acquisition device 20, such as a LiDAR, is blocked by the obstacle OB, and therefore the three-dimensional data (point cloud data) does not include data corresponding to the first task target position TP. Therefore, the position information determination unit 52 of the controller 50 can determine whether or not the position information of the task target position TP set at that time has been acquired, based on the three-dimensional data (point cloud data) input from the position information acquisition device 20.

[0072] If the position information determination unit 52 of the controller 50 cannot acquire the position information of the first task target position TP (NO in step S12), the controller 50 performs the processes in and after step S18. The processes in and after step S18 will be described later.

[0073] If the position information determination unit 52 of the controller 50 has acquired the position information of the first work target position TP (YES in step S12), it sets the next work target position in specific control (e.g., automatic driving control) to the first work target position TP (step S13). Then, the control command output unit 54 of the controller 50 outputs a control command to the control object 70 based on the automatic driving data stored in the data storage unit 56 so that an excavation operation and associated operations, that is, a lifting swing operation, an earth removal operation, and a return swing operation, are performed at the first work target position TP (steps S14 and S15). The excavation operation in step S14 is an operation in which the bucket 6 moves in a predetermined direction (e.g., backward) over a predetermined range with the work target position TP set at that time as the reference (start point of the operation, center of the operation, or end point of the operation).

[0074] The position information determination unit 52 of the controller 50 determines whether the series of tasks has been completed (step S16). The determination of whether the series of tasks has been completed may be, for example, whether the excavation operations and associated operations at the first to fifteenth task target positions TP have been repeated the number of times (e.g., three times) set in the initial setting. Alternatively, the determination of whether the series of tasks has been completed may be, for example, whether the amount of soil excavated at that point has reached a predetermined value or more.

[0075] If the series of tasks is complete (YES in step S16), the controller 50 ends the specific control. On the other hand, if the series of tasks is not complete (NO in step S16), the controller 50 changes the setting of the task target position TP (step S17). Specifically, the controller 50 changes the next task target position TP, for example, from the first task target position TP to the second task target position TP. Then, the controller 50 performs the processing from step S12 onwards again.

[0076] On the other hand, if the position information determination unit 52 of the controller 50 cannot acquire the position information of the task target position TP set at that time (for example, the first task target position TP) (NO in step S12), the obstacle determination unit 53 of the controller 50 determines whether or not there is an object (obstacle OB) between the position information acquisition device 20 and the first task target position TP (step S18). Specifically, in step S18, the obstacle determination unit 53 of the controller 50 may determine whether or not there is an object of a predetermined height Th or more in the area between the position information acquisition device 20 and the first task target position TP.

[0077] If the controller 50 cannot acquire the position information of the work target position TP based on the three-dimensional data (point cloud data) (NO in step S12) and if the position information acquisition device 20 detects an object of a predetermined height Th or greater in the area between the position information acquisition device 20 and the work target position TP (YES in step S18), the controller 50 outputs the shift command (step S19).

[0078] The control command output unit 54 of the controller 50 may output, as a shift command, a command to the control object 70 to control the operation of the working implement 3 so that the obstacle OB returns to the work target range WR by, for example, having the bucket 6 push out the obstacle OB in a direction that moves the obstacle OB away from the lower traveling structure 1. When the operation of the working implement 3 corresponding to the shift command is completed, the controller 50 performs the processes from step S12 onwards again.

[0079] In this embodiment, the controller 50 outputs the shift command when the above two conditions (the controller 50 cannot acquire position information of the task target position TP based on the three-dimensional data, and the position information acquisition device 20 detects an object having a predetermined height Th or greater in the area between the position information acquisition device 20 and the task target position TP) are satisfied, and does not output the shift command when the above two conditions are not satisfied. This makes it possible to improve the accuracy of determining that an obstacle OB exists in the area between the position information acquisition device 20 and the task target position TP.

[0080] The predetermined height Th may be the height from the ground where the work machine 100 is placed (a height that is set in advance), as shown in Figures 5 to 7, or it may be a height that is determined as in the modified example shown in Figure 8, or it may be a height that is determined by some other method. In the modified example shown in Figure 8, the predetermined height Th is a height that corresponds to an imaginary line that connects the position information acquisition device 20 and the work target position TP. In this case, the area that is equal to or greater than the predetermined height Th is the area on the imaginary line and the area above the imaginary line (the area hatched with dashed dotted lines in Figure 8).

[0081] On the other hand, if the controller 50 cannot acquire the position information of the work target position TP (for example, the first work target position TP) based on the three-dimensional data (point cloud data) (NO in step S12), and if the position information acquisition device 20 does not detect an object of a predetermined height Th or greater in the area between the position information acquisition device 20 and the work target position TP (NO in step S18), the controller 50 does not output the shift command and performs the processing of step S20.

[0082] In step S20, the controller 50 determines whether it is possible to acquire position information for other task target positions TP (for example, task target positions TP number 2 and onward) among the multiple task target positions TP based on the three-dimensional data (point cloud data). If it is not possible to acquire position information for all of the multiple task target positions TP based on the three-dimensional data (point cloud data) (YES in step S20), the controller 50 ends the task.

[0083] If it is not possible to acquire position information for all of the multiple work target positions TP, it may not be possible to address the issue by simply changing the work target positions TP. In this embodiment, if it is not possible to acquire position information for all of the multiple work target positions TP based on the three-dimensional data, the controller 50 ends the work or changes the position of the work machine 100, thereby preventing unnecessary work from being continued and reducing work productivity.

[0084] If the controller 50 can acquire the position information of at least one of the multiple work target positions TP based on the three-dimensional data (point cloud data) (NO in step S20), the controller 50 changes the setting of the work target position TP (step S21) and performs the processing from step S12 onwards again.

[0085] Specifically, when the controller 50 cannot acquire position information of the work target position TP based on the three-dimensional data (NO in step S12) and the position information acquisition device 20 does not detect an object of a predetermined height Th or greater in the area between the position information acquisition device 20 and the work target position TP (NO in step S18), there is a possibility that an obstacle OB, such as a deposit of earth and sand, is not present in the area between the position information acquisition device 20 and the work target position TP, or that even if such a deposit is present, it is not present in large quantities. In such a case, for example, as shown in FIG. 7, there is a possibility that an object other than the deposit is present in the area between the position information acquisition device 20 and the work target position TP. Specifically, for example, there is a possibility that the ground is present in the area between the position information acquisition device 20 and the work target position TP as a result of excavation in the work target range WR progressing to a certain extent and the difference in elevation between the work target position TP set at that time (e.g., the first work target position TP) and the ground on which the work machine 100 is located becomes large. In this case, the controller 50 changes the work target position TP (step S21) rather than outputting the shift command (step S19), so that work can be continued smoothly at the changed work target position TP (for example, any of work target positions TP 6 to 10).

[0086] As described above, the present disclosure provides a construction machine control device 40, construction machine 100, external device 200, construction machine system 300, and workability improvement method that can reduce, compared to conventional methods, the decline in work productivity caused by obstacles OB such as soil and sand that accumulate during work. The present disclosure includes the following first to ninth aspects.

[0087] [First aspect] The work machine control device 40 according to the first aspect includes a controller 50 that performs predetermined control to enable acquisition of the position information of the work target position TP at the work site WS when the position information of the work site WS cannot be acquired based on the work site information, which is information relating to the work site WS input from the position information acquisition device 20.

[0088] In the first aspect, the controller 50 performs the predetermined control, so that the decrease in work productivity caused by obstacles OB such as earth and sand that accumulate during work can be suppressed more than in the past.

[0089] [Second aspect] It is preferable that the work machine control device 40 according to the second aspect further comprises the following configuration in addition to the work machine control device 40 according to the first aspect. That is, in the work machine control device 40 according to the second aspect, it is preferable that the predetermined control is control (first control) that outputs a command to move an obstacle OB that is between the position information acquisition device 20 and the work target position TP, control (second control) that changes the work target position TP, or control (third control) that changes the position of the work machine 100. In the second aspect, each of the first control, second control, and third control as the predetermined control can increase the possibility of acquiring position information for the work target position TP, and therefore can suppress a decrease in work productivity caused by an obstacle OB compared to conventional methods.

[0090] The reason why the first control, the second control, and the third control each increase the possibility of acquiring position information of the work target position TP is as follows. There is a correlation between the controller 50 being unable to acquire position information of the work target position TP based on work site information, such as three-dimensional data about the work site WS, and the presence of an obstacle OB between the position information acquisition device 20 and the work target position TP. When the controller 50 performs the first control, which outputs a command (shift command) to move the obstacle OB when it is unable to acquire position information of the work target position TP based on the work site information, the obstacle OB between the position information acquisition device 20 and the work target position TP is removed or the amount of the obstacle OB is reduced. This increases the possibility of acquiring position information of the work target position TP. Furthermore, when the controller 50 performs the second control, which changes the work target position TP when it is unable to acquire position information of the work target position TP based on the work site information, the virtual line connecting the position information acquisition device 20 and the newly set work target position TP may pass through a position that is away from the obstacle OB. This increases the possibility of acquiring position information of the work target position TP. Furthermore, if the controller 50 performs a third control to change the position of the work machine 100 when position information for the work target position TP cannot be acquired based on the work site information, the position of the position information acquisition device 20 will also change, and the virtual line connecting the changed position information acquisition device 20 and the work target position TP may pass through a position that is away from the obstacle OB. This increases the possibility of acquiring the position information for the work target position TP. From the above, each of the first control, the second control, and the third control as the predetermined control can increase the possibility of acquiring position information for the work target position TP, and therefore can suppress a decrease in work productivity caused by obstacles OB such as soil and sand that accumulate during work compared to conventional methods.

[0091] [Third aspect] A work machine control device 40 according to the third aspect preferably includes the following configuration in addition to the work machine control device 40 according to the first aspect. That is, in the work machine control device 40 according to the third aspect, the predetermined control is control that outputs a command to move an obstacle OB that is between the position information acquisition device 20 and the work target position TP, and the controller 50 preferably outputs the shift command when it is unable to acquire position information of the work target position TP based on the work site information such as the three-dimensional data, and when the position information acquisition device 20 detects an object having a predetermined height Th or greater in the area between the position information acquisition device 20 and the work target position TP. In this third aspect, the controller 50 outputs the shift command when the above two conditions (the conditions that the controller 50 is unable to acquire position information of the work target position TP based on the work site information, and the position information acquisition device 20 detects an object having a predetermined height Th or greater in the area between the position information acquisition device 20 and the work target position TP) are met, and does not output the shift command when the above two conditions are not met. Compared to the first embodiment, the third embodiment can improve the accuracy of determining that an obstacle OB exists in the area between the position information acquisition device 20 and the work target position TP. The predetermined height Th may be, for example, the height from the ground where the work machine 100 is placed, or it may be a height determined in the sixth embodiment described below, or it may be a height determined by a method other than these.

[0092] [Fourth aspect] The work machine control device 40 according to the fourth aspect preferably further comprises the following configuration in addition to the work machine control device 40 according to any one of the first to third aspects. That is, in the work machine control device 40 according to the fourth aspect, it is preferable that the controller 50 changes the work target position TP when it is unable to acquire position information for the work target position TP based on the work site information, such as the three-dimensional data, and when the position information acquisition device 20 does not detect an object having a predetermined height Th or greater in the area between the position information acquisition device 20 and the work target position TP. If the above two conditions (that the controller 50 is unable to acquire position information for the work target position TP based on the work site information, and that the position information acquisition device 20 does not detect an object having a predetermined height Th or greater in the area between the position information acquisition device 20 and the work target position TP) are met, there is a possibility that an obstacle OB, which is a deposit such as earth and sand, is not present in the area between the position information acquisition device 20 and the work target position TP, or that even if such deposit is present, it is not present in large quantities. In such a case, there is a possibility that an object other than the deposit is present in the area between the position information acquisition device 20 and the work target position TP. Specifically, for example, as excavation work progresses to a certain extent, the difference in elevation between the work target position TP and the ground on which the work machine 100 is placed may increase, and the ground may come to be located in the area between the position information acquisition device 20 and the work target position TP. In this fourth mode, when the above two conditions are met, the controller 50 changes the work target position TP instead of outputting the shift command, so that work can be continued smoothly at the changed work target position TP.

[0093] [Fifth aspect] The work machine control device 40 according to the fifth aspect preferably further comprises the following configuration in addition to the work machine control device 40 according to the fourth aspect. That is, in the work machine control device 40 according to the fifth aspect, when the controller 50 is unable to acquire position information for all of the multiple work target positions TP, including the work target position TP, based on the three-dimensional data, it is preferable that the controller 50 controls to change the position of the work machine 100 or to end the work. When position information for all of the multiple work target positions TP cannot be acquired, changing the work target positions TP may not be sufficient. In this fifth aspect, when the controller 50 is unable to acquire position information for all of the multiple work target positions TP based on the work site information, the controller 50 ends the work, thereby preventing unnecessary work from being continued and reducing work productivity. Furthermore, when the controller 50 is unable to acquire position information for all of the multiple work target positions TP based on the work site information, the position of the position information acquisition device 20 also changes as the position of the work machine 100 is changed, and therefore, there are cases where a virtual line connecting the changed position information acquisition device 20 and the work target position TP passes through a position that is away from the obstacle OB. This increases the possibility of acquiring position information about the task target position TP.

[0094] [Sixth aspect] The work machine control device 40 according to the sixth aspect may further include the following configuration in addition to the work machine control device 40 according to any one of the third to fifth aspects: That is, in the work machine control device 40 according to the sixth aspect, the predetermined height Th may be a height corresponding to an imaginary line connecting the position information acquisition device 20 and the work target position TP.

[0095] [Seventh aspect] A work machine 100 according to the seventh aspect comprises a machine main body, a work implement 3 rotatably supported on the machine main body, a position information acquisition device 20 that acquires work site information such as three-dimensional data about the work site WS, and a work machine control device 40 according to any one of the first to sixth aspects. In this seventh aspect, when the controller 50 cannot acquire position information for the work target position TP based on the work site information, the controller 50 performs the predetermined control such as the first control, the second control, or the third control, thereby making it possible to suppress a decrease in work productivity caused by obstacles OB such as soil and sand that accumulate during work compared to conventional methods.

[0096] [Eighth aspect] The external device 200 according to the eighth aspect includes the work machine control device 40 according to any one of the first to sixth aspects. In this eighth aspect, the controller 50 performs the predetermined control, such as the first control, the second control, or the third control, when it is unable to acquire position information for the work target position TP based on the work site information, such as three-dimensional data, and therefore it is possible to suppress a decrease in work productivity caused by obstacles OB, such as earth and sand, that accumulate during work, compared to conventional methods.

[0097] [Ninth aspect] A work machine system 300 according to a ninth aspect includes a work machine 100 and an external device 200, and the work machine system 300 includes a work machine control device 40 according to any one of the first to sixth aspects. In the ninth aspect, when the controller 50 cannot acquire position information for the work target position TP based on the work site information such as three-dimensional data, the controller 50 performs the predetermined control such as the first control, the second control, or the third control, thereby making it possible to suppress a decrease in work productivity caused by obstacles OB such as earth and sand that accumulate during work compared to conventional methods.

[0098] [Tenth aspect] The workability improvement method according to the tenth aspect includes the steps of: a step in which a controller 50 acquires position information of a work target position TP at the work site WS based on work site information such as three-dimensional data about the work site WS input from a position information acquisition device 20; and a step in which, when the controller 50 is unable to acquire the position information, the controller performs predetermined control to enable the controller to acquire the position information of the work target position. In the tenth aspect, when the controller 50 is unable to acquire the position information of the work target position TP based on the work site information, the controller 50 performs the predetermined control such as the first control, the second control, and the third control, thereby making it possible to suppress a decrease in work productivity caused by obstacles OB such as soil and sand that accumulate during work compared to conventional methods.

[0099] [Variations] Although the embodiments of the present disclosure have been described above, the present disclosure is not limited to the above-described embodiments and further includes, for example, the following modified examples.

[0100] (A) Variation 1 In the embodiment, the tip attachment is a bucket 6, but the tip attachment may also be a device such as a fork, a grapple, or a lifting magnet. Each of these tip attachments holds a work object such as wood or waste material and performs various operations to move the work object. During these operations, a portion of the work object may fall from the tip attachment to the ground. Work objects that fall to the ground may cause a decrease in productivity of work performed by the work machine 100.

[0101] (B) Variation 2 In the embodiment described above, the work machine control device 40 is provided on the work machine 100, but the work machine control device 40 may also be provided on the external device 200. Furthermore, in the specific example shown in Fig. 2, the controller 50 of the work machine control device 40 includes a target setting unit 51, a position information determination unit 52, an obstacle determination unit 53, a control command output unit 54, a target change unit 55, and a data storage unit 56, and the work machine 100 is provided with the controller 50; however, the work machine 100 may also be provided with part of the target setting unit 51, the position information determination unit 52, the obstacle determination unit 53, the control command output unit 54, the target change unit 55, and the data storage unit 56, and the external device 200 may be provided with other parts of the target setting unit 51, the position information determination unit 52, the obstacle determination unit 53, the control command output unit 54, the target change unit 55, and the data storage unit 56. Furthermore, the controller 50 of the work machine control device 40 does not have to be provided with the data storage unit 56.

[0102] (C) Variation 3 The autonomous driving data does not necessarily have to be stored in the work machine 100, but may be stored in an external device 200 separate from the work machine 100. In this case, the controller 50 of the work machine 100 may acquire the autonomous driving data stored in the external device 200 by wireless or wired communication via the communicator 82, and may perform the specific control using the acquired autonomous driving data.

[0103] (D) Variation 4 When the controller 50 cannot acquire position information of the work target position TP based on work site information such as three-dimensional data, the controller 50 may output a shift command to an auxiliary machine (not shown) that assists the work machine 100 at the work site WS. In this case, the auxiliary machine operates in response to the shift command to eliminate the state in which the obstacle OB is interposed between the position information acquisition device 20 and the work target position TP. This enables the position information acquisition device 20 to acquire position information of the work target position TP.

[0104] (E) Variation 5 The work machine 100 may further include an antenna 83 for a satellite positioning system. The satellite positioning system may be, for example, a Global Positioning System (GPS), a Global Navigation Satellite System (GNSS), or another satellite positioning system. The antenna 83 may be configured to be able to detect the attitude of the upper rotating body 2 relative to the lower traveling body 1, and may be configured to be able to acquire position information of the work machine 100 at the work site WS (for example, the coordinates of the work machine 100 in a global coordinate system).

[0105] (F) Variation 6 In the work machine system 300, the external device 200 can be omitted.

[0106] (G) Variation 7 The area where the obstacles OB accumulate does not have to be outside the work range WR, but may be inside the work range WR.

[0107] (H) Variation 8 Figure 10 is a flowchart showing the calculation processing performed by the controller 50 of the work machine control device 40 according to the eighth modified embodiment. The processing of steps S11 to S21 in the flowchart shown in Figure 10 is the same as the processing of steps S11 to S21 in the flowchart shown in Figure 3, so a description of these processes will be omitted. The calculation processing according to the flowchart shown in Figure 10 differs from the calculation processing according to the flowchart shown in Figure 3 in that it further includes step S22.

[0108] In the calculation process according to Modification 8 shown in Fig. 10, if the controller 50 cannot acquire all of the position information based on the three-dimensional data (point cloud data) (YES in step S20), it outputs a command to change the position of the work machine 100 to the control object 70 (step S22). Then, after changing the position of the work machine 100, the controller 50 performs the processes from step S12 onwards again.

[0109] (I) Variation 9 Figure 11 is a flowchart showing the calculation processing performed by the controller 50 of the work machine control device 40 according to the ninth modification of the embodiment. The processing of steps S11 to S17 in the flowchart shown in Figure 11 is the same as the processing of steps S11 to S17 in the flowchart shown in Figure 3, so a description of these processes will be omitted. The calculation processing according to the flowchart shown in Figure 11 differs from the calculation processing according to the flowchart shown in Figure 3 in that it further includes step S23 and does not include steps S18 to S21 of the flowchart shown in Figure 3.

[0110] 11, if the controller 50 cannot acquire the position information of the task target position TP (for example, task target position TP No. 1) that is currently set (NO in step S12), the controller 50 performs predetermined control to enable acquisition of the position information of the task target position TP (step S23). Then, when the predetermined control is completed, the controller 50 performs the processes from step S12 onwards again.

[0111] The predetermined control is control to output a command to move an obstacle OB between the position information acquisition device 20 and the work target position TP, control to change the work target position TP, or control to change the position of the work machine 100. The predetermined control may be set in advance in the controller 50 before work begins. [Explanation of symbols]

[0112] 1: Lower running body 2: Upper rotating body 3: Work equipment 20: Location information acquisition device 40: Work machine control device 50: Controller 51: Goal Setting Section 52: Location information determination unit 53: Obstacle detection unit 54: Control command output section 55: Goal change section 56: Data storage unit 70: Control target 100: Work machines 200: External device 300: Work machine system OB: Obstacle TP: Work target position Th: Predetermined height WR: Work scope WS: Work site

Claims

1. A work machine control device including a controller that performs predetermined control to enable acquisition of position information of a work target position at a work site when position information of the work site cannot be acquired based on work site information, which is information about the work site input from a position information acquisition device.

2. 2. The work machine control device according to claim 1, wherein the predetermined control is control to output a command to move an obstacle between the position information acquisition device and the work target position, control to change the work target position, or control to change the position of the work machine.

3. the predetermined control is a control for outputting a command to move an obstacle between the position information acquisition device and the work target position, 2. The work machine control device according to claim 1, wherein the controller outputs the command when the position information of the work target position cannot be acquired based on the work site information and when the position information acquisition device detects an object of a predetermined height or higher in an area between the position information acquisition device and the work target position.

4. 2. The work machine control device according to claim 1, wherein the controller performs control to change the work target position when the position information of the work target position cannot be acquired based on the work site information and when the position information acquisition device does not detect an object of a predetermined height or higher in an area between the position information acquisition device and the work target position.

5. 5. The work machine control device according to claim 4, wherein the controller performs control to end work or control to change the position of the work machine when it is not possible to acquire position information for all of a plurality of work target positions including the work target position based on the work site information.

6. The work machine control device according to claim 3 , wherein the predetermined height is a height corresponding to an imaginary line connecting the position information acquisition device and the work target position.

7. The machine body, a working device rotatably supported on the machine body; a location information acquisition device that acquires work site information that is information related to a work site; A work machine comprising: the work machine control device according to any one of claims 1 to 6.

8. An external device comprising the work machine control device according to any one of claims 1 to 6.

9. A work machine system including a work machine and an external device, The work machine system includes the work machine control device according to any one of claims 1 to 6.

10. A method for improving workability, comprising: a step of a controller acquiring position information of a work target position at a work site based on work site information, which is information about the work site, input from a position information acquisition device; and a step of the controller performing predetermined control to enable the controller to acquire the position information of the work target position when the controller is unable to acquire the position information.

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