Work support system

Abstract

It is possible to reduce poor construction when the target construction surface is offset during the leveling operation.SOLUTION: The work assistance system 1 controls the attachment 15 so as to perform a leveling operation that is an operation of moving the distal end attachment 15c in a direction along the target work surface, detects an offset request signal for requesting an offset of the target work surface S1 during the movement of the distal end attachment 15c in the leveling operation, updates the target work surface S1 to a post-offset target work surface S2 obtained by offsetting the target work surface S1 when the offset request signal is detected, and restricts the operation of the attachment 15 when the target work surface S1 is updated during the leveling operation.SELECTED DRAWING: Figure 3

Description

[Technical Field]

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

[0002] For example, Patent Document 1 describes switching the target construction surface (target construction terrain in Patent Document 1) based on the posture of the end attachment (work tool in Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6826908 Summary of the Invention [Problem to be solved by the invention]

[0004] For example, there are cases where it is necessary to offset the target construction surface during construction operations due to circumstances such as the presence of an obstacle on the construction surface being constructed by the work machine. In such cases, if there is a large deviation between the target construction surface and the target construction surface after offset, the behavior of the work machine will become unstable, and there is a risk of unevenness occurring on the construction surface, resulting in poor construction.

[0005] Therefore, an object of the present invention is to provide a work support system that can reduce construction defects that occur when a target construction surface is offset during ground leveling operations. [Means for solving the problem]

[0006] The work assistance system includes a work machine body, an attachment operably mounted to the body and having an end attachment for performing work, and a controller. The controller includes a driving control unit, a request detection unit, and a target construction surface update unit. The driving control unit controls the attachment to perform a ground leveling operation, which is an operation of moving the end attachment in a direction along a target construction surface. The request detection unit detects an offset request signal requesting an offset of the target construction surface while the end attachment is moving in the ground leveling operation. When the offset request signal is detected, the target construction surface update unit updates the target construction surface to an offset target construction surface. When the target construction surface is updated during the ground leveling operation, the driving control unit causes the attachment to perform a limited operation. [Effects of the Invention]

[0007] The above-described work support system can reduce construction defects that occur when the target construction surface is offset during ground leveling operations. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 2 is a side view of the work machine 10 and other components of the work support system 1. [Figure 2] FIG. 2 is a block diagram of the work support system 1 shown in FIG. [Figure 3] 3 is a flowchart of the processing of the controller 70 and the like shown in FIG. 2. [Figure 4] FIG. 10 is an explanatory diagram showing the construction surface when the leveling work is temporarily stopped and an offset operation is performed. [Figure 5] FIG. 10 is an explanatory diagram showing the construction surface when an offset operation is performed without temporarily stopping the ground leveling work. [Figure 6] 4 is a display example of the output unit 80 in the case of setting 1 shown in the flowchart of FIG. 3. [Figure 7] 4 is a display example of the output unit 80 in the case of setting 2 shown in the flowchart of FIG. 3. [Figure 8]4 is a display example of the output unit 80 in the case of setting 3 shown in the flowchart of FIG. 3. DETAILED DESCRIPTION OF THE INVENTION

[0009] With reference to the drawings, a work support system 1 including a work machine 10 (see FIG. 1) will be described.

[0010] The work support system 1 (see FIG. 1) is a system that offsets a target construction surface S1 (see FIG. 1) during ground leveling operations. The work support system 1 is a system that restricts the operation of an attachment 15 (see FIG. 1) when offsetting the target construction surface S1 to a target construction surface S2 (see FIG. 1) after offsetting during ground leveling operations. Ground leveling operations are operations that move the end attachment in a direction along the target construction surface S1. As shown in FIG. 1, the work support system 1 includes a machine body 10a of a work machine 10, an attachment 15, and a controller 70 (computer). As will be described later, the attachment 15 is operably attached to the machine body 10a. The attachment 15 has an end attachment 15c that performs work.

[0011] The work machine 10 is a machine that performs work. The work machine 10 may be a construction machine that performs construction work, or a loading and unloading machine that performs loading and unloading work. The work machine 10 is not limited as long as it is capable of performing ground leveling work. The work machine 10 may be, for example, a bulldozer or a wheel loader. The following description will be given of the case where the work machine 10 is a shovel.

[0012] The work machine 10 may operate in response to operation by a worker (operator). The work machine 10 may also operate under automatic control. The automatic control may be automatic operation or semi-automatic operation (machine control, which will be described later).

[0013] The work machine 10 comprises a machine body 10a, an attachment 15, a drive control unit 17 (see FIG. 2), and an actuator 30 (see FIG. 2). The machine body 10a is the main body portion of the work machine 10. The machine body 10a comprises a lower body 11 and an upper rotating body 13.

[0014] The lower body 11 rotatably supports the upper rotating body 13. The lower body 11 may be a lower traveling body that can travel on a traveling surface (such as the ground). When the lower body 11 is capable of traveling, the lower body 11 may be provided with crawlers or wheels.

[0015] The upper rotating body 13 is mounted on the lower main body 11 so as to be able to rotate. A boom 15a and the like are attached to the upper rotating body 13. The upper rotating body 13 is equipped with a cab 13c. The cab 13c is an area where a worker (operator) can operate the work machine 10. When the work machine 10 operates in response to operation by the worker, the work machine 10 may be operated by the worker in the cab 13c, or may be remotely operated from outside the work machine 10.

[0016] (direction) The direction in which the rotation axis of the upper rotating body 13 relative to the lower main body 11 extends is defined as the vertical direction Z. In the vertical direction Z, the side (facing) from the lower main body 11 toward the upper rotating body 13 is defined as the upper side Z1, and the opposite side is defined as the lower side Z2. The vertical direction Z may be vertical. The direction in which the rotation axis of the boom 15a (described below) relative to the upper rotating body 13 extends is defined as the lateral direction Y. The direction perpendicular to both the vertical direction Z and the lateral direction Y is defined as the front-rear direction X. When viewed from the vertical direction Z, the front-rear direction X is the direction in which the central axis of the attachment 15 extends in the longitudinal direction of the attachment 15 (the front-rear direction X of the attachment 15). In the front-rear direction X, the side from which the attachment 15 protrudes relative to the upper rotating body 13 is defined as the rear side X1, and the opposite side is defined as the front side X2.

[0017] The attachment 15 is the part that performs work. The attachment 15 is attached to the machine body 10a. For example, the attachment 15 includes a boom 15a, an arm 15b, and a tip attachment 15c. The boom 15a is attached to the upper rotating body 13 so as to be rotatable (able to raise and lower, and rotatable in the forward-backward direction X and the upward-downward direction Z). The arm 15b is attached to the boom 15a so as to be rotatable (able to rotate in the forward-backward direction X and the upward-downward direction Z).

[0018] The tip attachment 15c is provided at the tip of the attachment 15. The tip attachment 15c is rotatably attached to the arm 15b (rotatable in the forward / backward direction X and the upward / downward direction Z). The tip attachment 15c may be a bucket capable of scooping and digging work objects. The tip attachment 15c is not limited as long as it can be used for ground leveling work.

[0019] The work object is an object that is the target of work by the work machine 10. The work object may be soil, granules, chips, powder, etc. The work object may be soil or sand, rock, a magnetic material (metal, etc.), resin, or waste.

[0020] The drive control unit 17 (see Figure 2) controls the actuator 30. The drive control unit 17 may include a hydraulic circuit that controls a hydraulic actuator that is operated by hydraulic pressure. The drive control unit 17 may include an electric circuit that controls an electric actuator that is operated by electricity. The drive control unit 17 controls the travel of the lower body 11. The drive control unit 17 controls a swing motor 33 that swings the upper swing body 13 relative to the lower body 11. The drive control unit 17 controls a boom cylinder 35a that rotates (raises and lowers) the boom 15a relative to the upper swing body 13. The drive control unit 17 controls an arm cylinder 35b that rotates the arm 15b relative to the boom 15a. The drive control unit 17 controls a tip attachment cylinder 35c that rotates the tip attachment 15c relative to the arm 15b.

[0021] The actuator 30 is a device that moves the work machine 10. The actuator 30 may be equipped with a hydraulic actuator that is operated by hydraulic pressure, or an electric actuator that is operated by electricity. The actuator 30 may be equipped with a motor that drives rotation, or may be equipped with a cylinder that drives extension and retraction (telescopic cylinder). The actuator 30 may be equipped with a travel motor that drives the work machine 10. The actuator 30 may be equipped with a swing motor 33 that rotates the upper swing body 13 relative to the lower body 11. The actuator 30 may be equipped with a cylinder that moves the attachment 15.

[0022] The detection unit 40 (see FIG. 2) detects various conditions. Part or all of the detection unit 40 may be mounted on the work machine 10, or may be located external to the work machine 10. The same applies to the input unit 60, controller 70, and output unit 80, which will be described later, which may be mounted on the work machine 10 or located external to the work machine 10. As shown in FIG. 2, the detection unit 40 includes a position detection unit 41, an imaging device 43, a direction detection unit 45, and an attitude detection unit 47.

[0023] The position detection unit 41 detects the position of the object to be measured. The position detection unit 41 detects the position of a specific part of the work machine 10. For example, the position detection unit 41 may detect the position of a specific part of the upper rotating body 13, or may detect the position of a specific part of the attachment 15. The position detection unit 41 may detect the position using electromagnetic waves (light, radio waves, etc.). The position detection unit 41 may use a satellite positioning system, for example, a global navigation satellite system (GNSS). The position detection unit 41 may use a (terrestrial) transmitter and receiver without using a satellite, or may use reflection of light (e.g., laser light) (e.g., a total station, etc.). The position detection unit 41 may calculate the position of the object to be measured based on position information detected by multiple types of devices.

[0024] The imaging device 43 captures an image of an object to be imaged. The object to be imaged may include the work machine 10, or the surroundings of the work machine 10. The imaging device 43 may detect a two-dimensional image, or may detect a three-dimensional image (distance image) having depth information. The imaging device 43 may be a passive type or an active type. Specifically, the imaging device 43 may be equipped with a camera (monocular camera) that detects two-dimensional information. The imaging device 43 may be equipped with a stereo camera that detects three-dimensional information. The imaging device 43 may detect three-dimensional information of the object to be imaged by irradiating the object with waves such as electromagnetic waves and detecting the reflected waves. For example, the imaging device 43 may detect the presence or depth of buried objects underground (e.g., underground pipes). The imaging device 43 may be equipped with a time-of-flight (TOF) sensor that detects distance based on the time between the emission of waves and the return of the reflected waves, or may be equipped with a sensor that detects distance based on the frequency of the reflected waves. The imaging device 43 may include a device that detects three-dimensional information using light (e.g., laser light), such as a LiDAR (Light Detection and Ranging) device. The imaging device 43 may also include a device that detects three-dimensional information using radio waves (e.g., millimeter wave radar).

[0025] Only one imaging device 43 may be provided, or multiple imaging devices 43 may be provided. Only one type (such as one system) of imaging device 43 may be used, or multiple types of imaging devices 43 may be combined. The imaging device 43 may detect three-dimensional information of the imaging object based on a three-dimensional image (distance image) and a two-dimensional image. The imaging device 43 may be mounted on the work machine 10. The mounting position of the imaging device 43 on the work machine 10 is not limited, and may be, for example, above the cab 13c, or may be disposed on the side or underside of each component of the attachment 15. The imaging device 43 may also be disposed outside the work machine 10 (for example, at the work site). If the imaging device 43 is disposed outside the work machine 10, it may be able to detect positions (for example, areas shaded by the attachment 15) that cannot be detected when the imaging device 43 is mounted only on the work machine 10. Furthermore, if the imaging device 43 is disposed outside the work machine 10, the work support system 1 of this embodiment can be applied even if the work machine 10 does not have an imaging device 43.

[0026] The direction detection unit 45 detects the direction (orientation, posture) of the object to be measured. The direction detection unit 45 detects the direction of a specific part of the work machine 10. For example, the direction detection unit 45 may detect the direction of a specific part of the upper rotating body 13, or may detect the direction of a specific part of the attachment 15. The direction detection unit 45 may detect the orientation of the object to be measured using geomagnetism. The direction detection unit 45 may detect the direction of the object to be measured based on the positions of multiple parts of the object to be measured relative to the work site.

[0027] The attitude detection unit 47 may detect the position and orientation of the work machine 10 relative to the work site. The attitude detection unit 47 may detect the position and orientation of a reference position of the work machine 10 relative to the work site. The reference position of the work machine 10 is, for example, a specific position on the upper rotating body 13 or the lower main body 11. The reference position of the work machine 10 may be the attachment portion (boom foot) of the boom 15a to the upper rotating body 13, or a specific position on the rotation center axis of the upper rotating body 13 relative to the lower main body 11. The attitude detection unit 47 may detect the inclination of the work machine 10 with respect to the horizontal plane. The attitude detection unit 47 may detect information (angle, angular velocity, angular acceleration, etc.) about the rotation of the boom 15a relative to the upper rotating body 13. The attitude detection unit 47 may detect information (angle, angular velocity, angular acceleration, etc.) about the rotation of the boom 15a relative to the upper rotating body 13. The attitude detection unit 47 may detect information about the rotation of the arm 15b relative to the boom 15a. The attitude detection unit 47 may detect information on the rotation of the bucket relative to the arm 15b.

[0028] The input unit 60 is an input device for inputting information. The input unit 60 is a device for inputting information used for control in the controller 70. For example, the input unit 60 may be used to output a signal requesting offsetting of the target construction surface S1 (hereinafter referred to as an offset request signal) to the controller 70. For example, the input unit 60 may be used to set whether or not to temporarily suspend the ground leveling operation by the attachment 15 when the offset request signal is detected. For example, the input unit 60 may be used to set whether or not to automatically perform an offset operation on the tip attachment 15c. For example, the input unit 60 may be used to adjust the speed ratio when the ground leveling operation and the offset operation are controlled simultaneously. As described above, the offset request signal may be output in response to an operation on the input unit 60, or may be automatically output in response to a detection state detected by the detection unit 40. The offset request signal will be described in detail later.

[0029] The input unit 60 is operated by an operator and outputs a signal in accordance with the operation. The input unit 60 outputs information to the controller 70. The input unit 60 may be equipped with a touch panel, a mouse, a keyboard, or a switch. The input unit 60 may be provided on a tablet, a smartphone, or a personal computer. The input unit 60 may be provided on a client device or a server device. The input unit 60 may be provided on the work machine 10, and may be provided in the cab 13c, for example. The input unit 60 may be provided on a remote control device for remotely controlling the work machine 10. The input unit 60 may be provided on an operation unit (e.g., an operation lever) provided on the cab 13c or the remote control device, or may be provided on the operation unit or a display.

[0030] The input unit 60 may have an operation unit. The operation unit is configured so that it can be operated by a worker (operator) who operates the work machine 10. Operations for moving the work machine 10 are input to the operation unit. The operation unit may be provided in the cab 13c, or may be provided in a remote control device for remotely operating the work machine 10. The operation unit may include a lever or a pedal.

[0031] The operation unit (not shown) outputs a command according to the operation. The operation unit may output a command according to the operation amount. The command output by the operation unit may be pilot hydraulic pressure or an electrical signal. The operation unit may include a hydraulic remote control valve or an angle sensor (e.g., a variable resistor). An operation (travel operation) for traveling the lower body 11 (see FIG. 1) may be input to the operation unit. An operation (swing operation) for rotating the upper rotating body 13 (see FIG. 1) relative to the lower body 11 may be input to the operation unit. An operation (attachment operation) for moving the attachment 15 (see FIG. 1) may be input to the operation unit. An operation (boom operation) for rotating the boom 15a (see FIG. 1) relative to the upper rotating body 13 may be input to the operation unit. An operation (arm operation) for rotating the arm 15b (see FIG. 1) relative to the boom 15a may be input to the operation unit. An operation (tip attachment operation) for rotating tip attachment 15c (see FIG. 1) relative to arm 15b may be input to the operation unit.

[0032] The controller 70 is a computer that inputs and outputs signals, performs calculations (processing), stores information, etc. The functions of the controller 70 are realized by executing a program stored in a storage unit 70b of the controller 70 on a calculation unit 70a. The controller 70 and other devices may be connected via wireless communication or wired communication. The components of the controller 70 may be connected to each other via wireless communication or wired communication. For example, communication is performed via a communication means such as a mobile phone line, an optical line, a wireless LAN (Local Area Network), or a wired LAN.

[0033] For example, information is input to the controller 70 from the detection unit 40 and the input unit 60. For example, the controller 70 outputs a command (signal) to the drive control unit 17 to operate the work machine 10. For example, the controller 70 outputs information to the output unit 80. The controller 70 may be mounted on the work machine 10 or may be located outside the work machine 10. The controller 70 may be distributed and located in multiple parts (a distributed system may be formed).

[0034] The controller 70 includes a calculation unit 70a and a storage unit 70b. The calculation unit 70a calculates (processes) information. The storage unit 70b stores information. Focusing on the functions of the controller 70, the controller 70 includes an operation control unit 71, a request detection unit 72, and a target construction surface update unit 73. Specific functions (processing) executed by the controller 70 will be described later.

[0035] The functions of the controller 70 may be realized by a client device (not shown) and a server device (not shown). Each of the client device and the server device is a computer. The input unit 60, the controller 70, and the output unit 80 may be provided in either the client device or the server device, or in both. For example, the memory unit 70b and the calculation unit 70a of the controller 70 may be provided in either the client device or the server device, or in both. Only one client device and one server device may be provided, or multiple client devices and one server device may be provided. The client device and the server device may be connected by wireless communication or by wired communication. For example, communication is performed by a communication means such as a mobile phone line, an optical fiber line, a wireless LAN (Local Area Network), or a wired LAN.

[0036] The output unit 80 is a device that outputs information. The output unit 80 outputs information based on a signal output from the controller 70. The output unit 80 may output light (such as a display), sound (such as voice), or vibration. The output unit 80 may be provided in a tablet, a smartphone, or a personal computer. The output unit 80 may be provided in the operator's cab 13c (see FIG. 1). The output unit 80 may be provided in a remote control device for remotely controlling the work machine 10. When the output unit 80 outputs light, the output unit 80 may be provided with a display device (monitor). The output unit 80 may be provided with a projection device that projects onto an object such as the ground. The output unit 80 may be provided with a light source (light). The output unit 80 may be provided with a device that uses VR (Virtual Reality) technology (a VR device) or a device that uses AR (Augmented Reality) technology (an AR device). The output unit 80 may change at least one of the hue, density (transparency), brightness, and saturation of the light it outputs. For example, the output unit 80 may be used to output content indicating a restricted operation. Specifically, for example, the output unit 80 may be used to output content indicating that the leveling operation is to be temporarily stopped.

[0037] (Operation of work machine 10) As described above, the work machine 10 (see FIG. 1) may be operated by an operator in the cab 13a (see FIG. 1), may be remotely operated by an operator from outside the work machine 10 (by a remote control device), or may be automatically driven. The work machine 10 is a machine that utilizes information and communication technology (ICT) (e.g., ICT construction machinery). For example, the work machine 10 may be operated by an operator using the function of a machine guidance (MG) system. Specifically, a work plan is set in the controller 70. Then, guidance such as the position where work should be done is shown to the operator so that the work machine 10 can work according to the work plan. This guidance is output, for example, to an output unit 80 provided in the cab 13a of the work machine 10 or an output unit 80 provided in the remote control device. Then, the operator operates the work machine 10 according to the guidance. As a result, the work machine 10 moves according to the work plan.

[0038] Furthermore, for example, the work machine 10 (see FIG. 1) may be operated by a machine control (MC) system (semi-automatic operation). Specifically, a work plan is set in the controller 70. Then, for example, the worker operates only some of the elements of the attachment 15 (see FIG. 1) (for example, only the boom 15a (see FIG. 1)). At this time, the controller 70 automatically controls the elements that are not operated by the worker (for example, the arm 15b (see FIG. 1) and the tip attachment 15c (see FIG. 1)) so that the work machine 10 moves in accordance with the work plan. At this time, the controller 70 controls the operation of the work machine 10 based on information detected by the attitude detection unit 47 (the same applies to automatic operation). As a result, the work machine 10 moves in accordance with the work plan. Furthermore, for example, the work machine 10 may be operated by automatic operation. In this case, the controller 70 controls the operation of the work machine 10 so that the work machine 10 automatically moves in accordance with the work plan.

[0039] In this embodiment, the ground leveling operation is controlled by automatic or semi-automatic operation. The controller 70 stores a target construction surface S1 for the ground leveling operation in the memory unit 70b as part of the work plan. For example, the controller 70 may determine whether or not the current work is ground leveling work based on the automatic or semi-automatic operation being performed based on the target construction surface S1 for the ground leveling operation. Furthermore, for example, the controller 70 may determine whether or not the current work is ground leveling work based on the attitude of the work machine 10 detected by the attitude detection unit 47.

[0040] Furthermore, in ground leveling work, the direction in which the tip attachment 15c is moved may be the rear side X1, the front side X2, or the lateral direction Y. Furthermore, in ground leveling work, the tip attachment 15c may be oriented such that the direction in which the edge portion of the tip of the tip attachment 15c protrudes is parallel to the target construction surface S1 (see the example shown in FIG. 4). Furthermore, in ground leveling work, the tip attachment 15c may be oriented such that the direction in which the edge portion protrudes is perpendicular or oblique to the target construction surface S1.

[0041] (process) Next, a flowchart of the processing executed in the work assistance system 1 (work machine 10) will be described with reference to Figure 3. The work assistance system 1 (mainly the controller 70) is configured to perform the following processing. A program stored in the controller 70 causes the controller 70 to execute the following operations. A work assistance method in which the following operations are performed is implemented in the work assistance system 1 (work machine 10). The work method causes the controller 70 (computer) to perform the following processing.

[0042] First, the controller 70 sets the operation to be performed when an offset request signal (described later) is detected (hereinafter, referred to as an offset request) (S10). In this embodiment, the operation to be performed when an offset request is detected is selected from "Setting 1," "Setting 2," and "Setting 3." Each setting will be described later. The controller 70 determines the operation to be performed when an offset request is detected based on the selected setting. The operation to be performed when an offset request is detected can be arbitrarily selected by the operator. The operation to be performed when an offset request is detected can be arbitrarily selected in response to the operator's operation of the input unit 60. For example, specifically, whether or not to temporarily suspend the leveling operation as a restricted operation may be arbitrarily set. Also, for example, specifically, whether the offset operation is a manual operation, a semi-automatic operation, or an automatic (fully automatic) operation may be arbitrarily set. The offset operation is an operation to move the tip attachment 15c from the pre-update target construction surface S1 to the post-offset target construction surface S2. Also, for example, specifically, whether the construction surface is stepped (see FIG. 4) or inclined (see FIG. 5) may be arbitrarily set. In this embodiment, the construction surface is defined as a stepped surface when the construction surface is formed perpendicular to the target construction surface S1, as shown in Fig. 4. Also, the construction surface is defined as an inclined surface when the construction surface is formed obliquely to the target construction surface S1, as shown in Fig. 5. Furthermore, when the construction surface is an inclined surface, the inclination angle may be set arbitrarily.

[0043] Next, the controller 70 sets a target construction surface S1 (S20) and determines whether or not to start operation for ground leveling work (S30). Whether or not to start operation for ground leveling work may be determined based on an operation on the input unit 60, etc. Then, when the operation for ground leveling work is to be started (S30: YES), the controller 70 controls the operation for ground leveling work (S40). In this embodiment, the operation for ground leveling work is semi-automatic operation, but may also be automatic operation. The controller 70 determines whether or not to end operation for ground leveling work (S50), and when it is to be ended (S50: YES), this process ends.

[0044] (About the offset request signal) The offset request signal is a signal that can be detected by the controller 70 and is a control signal for shifting the target construction surface S1. The controller 70 determines whether or not an offset request signal has been detected while the ground leveling operation is continuing (S60). The offset request signal may be output in response to an operation by the worker (operator). For example, the offset request signal may be output in response to an operation by the worker (operator) on the input unit 60. The offset request signal may also be output automatically based on information detected by the detection unit 40. For example, the offset request signal may be output automatically when the imaging device 43 detects a buried object in the ground to be leveled. The offset request signal includes information that identifies the post-offset target construction surface S2, which is the target construction surface S1 after the offset. For example, the offset request signal includes an offset interval between the target construction surface S1 and the post-offset target construction surface S2. For example, the offset interval may be set in response to an input to the input unit 60. For example, the offset interval may be determined from the depth of the buried object detected by the imaging device 43. The controller 70 sets a post-offset target construction surface S2 based on the offset request signal (S70). The offset direction is, for example, the up-down direction Z in the example shown in FIG. 4, but is not limited to this. For example, the offset direction may be the front-back direction X or the left-right direction Y. Furthermore, for example, the offset direction may be a direction inclined with respect to one or more of the front-back direction X, the left-right direction Y, and the up-down direction Z.

[0045] (Regarding restricted operations) After the post-offset target construction surface S2 is set in step S70, the controller 70 executes a limiting operation of the attachment 15 (S80). The limiting operation of the attachment 15 is preferably executed immediately after detecting the offset request signal. For example, the limiting operation of the attachment 15 is a temporary suspension of the grading operation by the attachment 15. As described above, the grading operation is an operation of moving the end attachment 15c in a direction along the target construction surface S1. For example, specifically, the controller 70 temporarily suspends the grading operation of moving the end attachment 15c in a direction along the target construction surface S1. In the case of semi-automatic operation, the temporary suspension of the grading operation may be canceled on the condition that the operation amount becomes equal to or less than a predetermined value. Also, for example, the limiting operation of the attachment 15 is an offset operation of moving the attachment 15 from the target construction surface S1 to the post-offset target construction surface S2. The offset operation may be performed simultaneously with the grading operation by the attachment 15, or may not be performed simultaneously with the grading operation. When the offset operation is performed simultaneously with the leveling operation, a smooth slope is formed on the construction surface (see Figure 5). Note that "performing the offset operation and the leveling operation simultaneously" means that the tip attachment 15c is moved in a direction along the target construction surface S1, and is moved from the target construction surface S1 to the post-offset target construction surface S2. When the offset operation is not performed simultaneously with the leveling operation (the leveling operation is continued after the offset operation), a staircase-like step is formed on the construction surface (see Figure 4).

[0046] A specific example shown in FIG. 3 will be described. In this embodiment, in the case of "Setting 1," the controller 70 temporarily suspends the ground leveling operation along the target construction surface S1 (S81). At this time, the controller 70 may output information related to the limiting operation to the output unit 80. For example, the controller 70 outputs to the output unit 80 a message indicating that the ground leveling operation has been temporarily suspended based on the offset request (see FIG. 6). Furthermore, for example, the controller 70 outputs to the output unit 80 a message urging the user to stop operating the input unit 60 (for example, to return the operation lever to neutral) (see FIG. 6). Then, the controller 70 determines whether the operation amount is equal to or less than a predetermined value (S82). Specifically, if the controller 70 detects an offset request in step S60 during the ground leveling operation, the controller 70 temporarily suspends the ground leveling operation in step S81. In step S82, the controller 70 determines whether the worker (operator) has stopped operating the ground leveling operation. In this way, the controller 70 disables the operation of operating the attachment 15 until the amount of operation of the input unit 60 (e.g., a lever) becomes equal to or less than a predetermined value. If the amount of operation is equal to or less than the predetermined value (S82: YES), the controller 70 determines whether the tip attachment 15c has been moved to the post-offset target construction surface S2, for example, by an operation by a worker (operator) (S83). Specifically, if the controller 70 detects in the determination of step S82 that an operation to continue the ground leveling operation has been stopped, it allows the attachment 15 to be operated by the worker (operator). At this time, the controller 70 may restrict the movement of the tip attachment 15c in a direction along the target construction surface S1. Alternatively, the controller 70 may limit the operation of the tip attachment 15c to only the offset operation. At this time, the offset operation may be performed based on a manual operation or semi-automatically. In step S83, the operator determines whether the tip attachment 15c has been offset and moved to the post-offset target construction surface S2. If the tip attachment 15c has been moved to the post-offset target construction surface S2 (S83: YES), the controller 70 performs the operation control of step S40 again.As a result, the leveling operation continues with the tip attachment 15c aligned along the target construction surface S2 after the offset.

[0047] Furthermore, in the case of "Setting 2," the controller 70 outputs information to the output unit 80 and temporarily suspends the grading operation along the target construction surface S1 (S84). At this time, the controller 70 may output information regarding the limiting operation to the output unit 80. For example, the controller 70 outputs to the output unit 80 a signal indicating that the grading operation has been temporarily suspended based on the offset request (see FIG. 7). The controller 70 then determines whether the operation amount is equal to or less than a predetermined value (S85). If the operation amount is equal to or less than the predetermined value (S85: YES), the controller 70 moves the tip attachment 15c to the post-offset target construction surface S2 (S86). At this time, the controller 70 may output to the output unit 80 information indicating that the tip attachment 15c is automatically moved to the post-offset target construction surface S2 (see FIG. 7). The controller 70 may then output information indicating that the tip attachment 15c has been moved to the post-offset target construction surface S2 (see FIG. 7). Thereafter, the controller 70 again performs the operation control of step S40, whereby the ground leveling operation is continued in a state in which the tip attachment 15c is aligned with the post-offset target construction surface S2.

[0048] In addition, in the case of "Setting 3," the controller 70 outputs, for example, information to the output unit 80 indicating that the target construction surface S1 is to be offset, and simultaneously executes the leveling operation and the offset operation (S87). That is, the controller 70 moves the tip attachment 15c from the target construction surface S1 to the post-offset target construction surface S2 while moving it in a direction along the target construction surface S1. As a result, the construction surface is formed into a smooth slope from the target construction surface S1 to the post-offset target construction surface S2 (see FIG. 5). Note that the post-offset target construction surface S2 may include this slope. In the case of "Setting 3," the controller 70 may output information indicating that the post-offset target construction surface S2 has been newly set (see FIG. 8) before simultaneously executing the leveling operation and the offset operation. Note that the operation of moving the tip attachment 15c in step S87 may be semi-automatic or automatic.

[0049] The angle of the slope of the construction surface formed when the operation at the time of offset request is "Setting 3" may be adjustable. For example, the controller 70 changes the ratio (speed ratio) between the movement speed of the ground leveling operation and the movement speed of the offset operation according to the adjusted angle. For example, as shown in the partially enlarged portion of FIG. 5, the controller 70 can form a construction surface A2 that has a steeper slope than the construction surface A1 by increasing the movement speed of the offset operation.

[0050] (Effects of the first invention) [Configuration 1] The effects of the work support system 1 shown in Figure 2 are as follows. The work support system 1 includes a machine body 10a of a work machine 10, an attachment 15 operably attached to the machine body 10a and having an end attachment 15c for performing work, and a controller 70. The controller 70 includes a driving control unit 71, a request detection unit 72, and a target construction surface update unit 73. The driving control unit 71 controls the attachment 15 to perform a ground leveling operation, which is an operation of moving the end attachment 15c in a direction along the target construction surface S1. The request detection unit 72 detects an offset request signal requesting an offset of the target construction surface S1 while the end attachment 15c is moving during the ground leveling operation. When the offset request signal is detected, the target construction surface update unit 73 updates the target construction surface S1 to an offset target construction surface S2. When the target construction surface S1 is updated during the ground leveling operation, the driving control unit 71 controls the attachment 15 to perform a limited operation.

[0051] In the above [Configuration 1], if it becomes necessary to offset the target construction surface S1 during ground leveling operation along the target construction surface S1, the operation of the attachment 15 can be restricted and the target construction surface S1 can be updated to an offset target construction surface S2. This reduces the instability of the operation of the work machine 10 when the target construction surface S1 is offset during ground leveling operation. As a result, it is possible to reduce construction defects when the target construction surface S1 is offset during ground leveling operation.

[0052] (Effects of the second invention) [Configuration 2] The work support system 1 further includes an input unit 60 that outputs a command to move the attachment 15 according to the amount of operation. The operation control unit 71 temporarily suspends the leveling operation as a restricted operation. When the amount of operation to the input unit 60 falls below a predetermined value, the operation control unit 71 allows an offset operation, which is an operation to move the tip attachment 15c from the pre-update target construction surface S1 to the post-offset target construction surface S2.

[0053] In the above [Configuration 2], if it becomes necessary to offset the target construction surface S1 during the ground leveling operation along the target construction surface S1, the ground leveling operation is temporarily stopped in response to the request. After the offset in a direction perpendicular to the target construction surface S1, the tip attachment 15c is moved toward the target construction surface S2, thereby forming a staircase-like step.

[0054] (Effect of the third invention) [Configuration 3] The operation control unit 71 temporarily stops the ground leveling operation as a limiting operation, and then automatically performs the offset operation.

[0055] In the above [Configuration 3], the offset operation is performed automatically while the leveling operation is temporarily stopped, so the shape of the step is formed more accurately.

[0056] (Effect of the fourth invention) [Configuration 4] The work support system 1 further includes an output unit 80 that outputs a message indicating that the ground leveling operation is to be temporarily stopped.

[0057] In the above [Configuration 4], for example, it becomes possible to show the reason for the temporary suspension to a manager of the work machine 10 or a worker (operator) of the work machine 10 who checks the output unit 80.

[0058] (Effect of the fifth invention) [Configuration 5] As a limiting operation, the operation control unit 71 automatically performs an offset operation, which is an operation of moving the tip attachment 15c from the pre-update target construction surface S1 to the post-offset target construction surface S2, simultaneously with the ground leveling operation.

[0059] In the above [Configuration 5], the offset operation is automatically performed simultaneously with the ground leveling operation, so a smooth slope can be formed from the pre-update target construction surface S1 to the post-offset target construction surface S2. In addition, sudden fluctuations in the tip attachment 15c due to manual operation can be prevented, so hunting of the work machine 10 can be suppressed.

[0060] (Effect of the sixth aspect of the invention) [Configuration 6] The work support system 1 is capable of adjusting the angle of the slope of the construction surface formed when the ground leveling operation and the offset operation are controlled simultaneously.

[0061] In the above [Configuration 6], the angle of the slope can be adjusted when forming the construction surface into a smooth slope.

[0062] (Effect of the seventh invention) [Configuration 7] The work support system 1 further includes an input unit 60 that can arbitrarily set one or more of the following settings. The first setting is a setting for whether or not to temporarily suspend the ground leveling operation as a restricted operation. The second setting is a setting for whether or not to automate the offset operation, which is an operation for moving the tip attachment 15c from the pre-update target construction surface S1 to the post-offset target construction surface S2. The third setting is a setting for whether or not to simultaneously control the ground leveling operation and the offset operation.

[0063] In the above [Configuration 7], the offset operation during the ground leveling operation can be set arbitrarily according to the user's request.

[0064] (Variation) The above-described embodiments may be modified in various ways. For example, various examples (including modified examples) of the above-described embodiments may be combined in various ways. For example, the connections of the components shown in FIG. 1 and the like may be changed. For example, the number of components (including modified examples) of the above-described embodiments may be changed, or some of the components may not be provided. For example, the arrangement of the components may be changed. For example, the inclusion relationships of the components may be changed in various ways. For example, a component described as a lower-level component included in a higher-level component may not be included in this higher-level component, but may be included in another component. For example, what is described as multiple different components or parts may be combined into a single component or part. For example, what is described as a single component or part may be provided as multiple different components or parts. For example, the order of the steps in the flowchart shown in FIG. 3 may be changed, or some of the steps may not be performed. For example, each component may have only some of its features (functions, arrangement, shape, operation, etc.). [Explanation of symbols]

[0065] 1: Work support system 10: Work machinery 10a: Machine body 15: Attachment 15c: Tip attachment 35: Input section 40:Detection unit 60: Input section 70: Controller 71: Operation control unit 72: Request detection unit 73:Target construction surface update department 80: Output section S1: Target construction surface S2: Target construction surface after offset

Claims

1. a machine body of the work machine; an attachment operably attached to the machine body and having a tip attachment for performing work; A controller; Equipped with The controller An operation control unit that controls the attachment to perform a leveling operation, which is an operation of moving the end attachment in a direction along a target construction surface; a request detection unit that detects an offset request signal that requests an offset of the target construction surface during movement of the tip attachment in the ground leveling operation; a target construction surface update unit that updates the target construction surface to an offset target construction surface when the offset request signal is detected; Equipped with The operation control unit controls the attachment to perform a limited operation when the target construction surface is updated during the ground leveling operation. Work support system.

2. The work support system according to claim 1, An input unit that outputs a command to move the attachment in accordance with an amount of operation, The operation control unit The limiting operation is to temporarily suspend the ground leveling operation, When the operation amount to the input unit becomes equal to or less than a predetermined value, an offset operation is permitted, which is an operation of moving the tip attachment from the target construction surface before updating to the target construction surface after offset. Work support system.

3. The work support system according to claim 2, The operation control unit After temporarily suspending the ground leveling operation as the limiting operation, the offset operation is automatically performed. Work support system.

4. The work support system according to claim 2, An output unit that outputs a message indicating that the ground leveling operation is to be temporarily stopped is further provided. Work support system.

5. The work support system according to claim 1, The operation control unit As the limiting operation, an offset operation is automatically performed, which is an operation of moving the tip attachment from the target construction surface before updating to the target construction surface after offset, simultaneously with the ground leveling operation. Work support system.

6. The work support system according to claim 5, The angle of the slope of the construction surface formed when the ground leveling operation and the offset operation are controlled simultaneously is adjustable. Work support system.

7. The work support system according to claim 1, setting whether or not the ground leveling operation is to be temporarily stopped as the limiting operation; Setting whether to automatically perform an offset operation, which is an operation of automatically moving the tip attachment from the target construction surface before updating to the target construction surface after offsetting; and setting whether to simultaneously control the ground leveling operation and the offset operation; An input unit that can arbitrarily set one or more of the following: Work support system.

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