Work support systems, work machines

Abstract

This technology provides the ability for multiple work machines to perform tasks appropriately through automated operation at relatively close proximity. [Solution] A work support system SYS according to one embodiment of the present disclosure includes shovels 100A and 100B, each operating by automatic operation and each being pre-assigned to adjacent work area WA and work area WB as work locations. At least one of the movable range MA in which the vehicle body of shovel 100A can move within the work area WA, and the movable range MB in which the vehicle body of shovel 100B can move within the work area WB, is pre-set to be separated from at least a part of the boundary between the work area WA and the work area WB. Based on the movable range MA, automatic operation of shovel 100A is performed, and based on the movable range MB, automatic operation of shovel 100B is performed.

Description

[Technical Field]

[0001] This disclosure relates to work support systems, etc. [Background technology]

[0002] Conventionally, there are known work machines that can perform tasks through autonomous operation without human intervention (see, for example, Patent Document 1). [Prior art documents] [Patent Documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2021-55433 [Overview of the project] [Problems that the invention aims to solve]

[0004] By the way, for example, when multiple work machines are operating automatically in relatively close proximity, the operation of one work machine may interfere with the operation of other work machines.

[0005] Therefore, in light of the above challenges, the objective is to provide a technology that enables multiple work machines to perform tasks appropriately through automated operation at relatively close proximity. [Means for solving the problem]

[0006] To achieve the above objective, in one embodiment of this disclosure, It includes a first work machine and a second work machine, each operating autonomously and each having a first and second adjacent area pre-assigned to it as a work area, A first range within the first region in which the traveling body of the first work machine can move, and a second range within the second region in which the traveling body of the second work machine can move, are set in advance to be separated from at least a portion of the boundary between the first region and the second region. Based on the first range, the automatic operation of the first working machine is performed. Based on the second range, the automatic operation of the second working machine is performed. A work support system is provided.

[0007] Also, in another embodiment of the present disclosure, In a first area assigned in advance as a place where the self-operating machine performs work, among the first areas adjacent to a second area assigned as a place where other working machines operating by automatic driving perform work, based on a range in which the traveling body of the self-operating machine can move, which is preset so as to be separated from at least a part of the boundary between the first area and the second area, automatic driving is performed. A working machine is provided.

Effect of the Invention

[0008] According to the above embodiment, a plurality of working machines can appropriately perform work by automatic driving at relatively close positions.

Brief Description of the Drawings

[0009] [Figure 1] It is a figure which shows an example of a work support system. [Figure 2] It is a block diagram which shows the hardware constitution of an example of a work support system. [Figure 3] It is a functional block diagram which shows the first example of the functional constitution of a work support system. [Figure 4] It is a figure which shows the comparative example of the work situation of two excavators which perform work at the same work site. [Figure 5] It is a sequence diagram which shows the first example of the operation of a work support system. [Figure 6] It is a functional block diagram which shows the second example of the functional constitution of a work support system. [Figure 7] It is a sequence diagram which shows the second example of the operation of a work support system. [Figure 8] It is a figure which shows the first example of the method of setting the movable range of an excavator. [Figure 9] This figure shows a second example of how to set the movable range of a shovel. [Modes for carrying out the invention]

[0010] Embodiments of this disclosure will be described below with reference to the drawings. These embodiments are illustrative and not limiting to the invention. Not all features and combinations thereof in these embodiments are necessarily essential to the invention. In each drawing, identical or corresponding components are denoted by the same or corresponding reference numerals, and redundant descriptions may be omitted.

[0011] The shovel 100 according to the embodiment of this disclosure is an example of a work machine. The work machine may be a machine other than a shovel, such as a crane, asphalt finisher, or forklift. In the illustrated example, the shovel 100 is an excavator equipped with a bucket 6 as an end attachment, but it may be an application machine such as a forestry machine equipped with an end attachment other than the bucket 6.

[0012] [Overview of the work support system] Refer to Figure 1 to explain the overview of the SYS work support system.

[0013] Figure 1 shows an example of the configuration of the SYS work support system.

[0014] As shown in Figure 1, the work support system SYS includes multiple excavators 100 working at the same work site (also referred to as the "construction site") and a control device 200.

[0015] Hereafter, the direction in which the attachment AT extends when viewed from above the shovel 100 will be defined as "forward," and directions on the shovel 100, or directions viewed from the shovel 100, will be described accordingly. Furthermore, when describing the components of the shovel 100, the shovel 100 on which those components are mounted will be simply referred to as "shovel 100," while other shovels 100 will be distinguished by being referred to as "other shovels 100."

[0016] The SYS work support system assists multiple excavators 100 in the same work site. The SYS work support system may include two or more excavators 100.

[0017] Furthermore, in the work support system SYS, some or all of the multiple excavators 100 may be replaced with different types of work machines (for example, cranes, bulldozers, etc.). In this case, the types of work machines included in the work support system SYS may be one type, two types, or three or more types.

[0018] As shown in Figure 1, the shovel 100 comprises a lower traveling body 1, an upper rotating body 3, an attachment AT including a boom 4, an arm 5, and a bucket 6, and a driver's cab 10.

[0019] The lower vehicle 1 uses a pair of left and right crawlers 1C to move the shovel 100. The left and right crawlers 1C are hydraulically driven by the left-side hydraulic motor 1ML (see Figure 2) and the right-side hydraulic motor 1MR (see Figure 2), respectively. This allows the lower vehicle 1 to move under its own power.

[0020] The upper rotating body 3 is mounted on the lower traveling body 1 so as to be able to rotate (i.e., freely rotate) via the rotating mechanism 2. For example, the upper rotating body 3 rotates relative to the lower traveling body 1 when the rotating mechanism 2 is hydraulically driven by a rotating hydraulic motor 2M (see Figure 2).

[0021] The boom 4 is attached to the front center of the upper slewing body 3 so that it can be raised and lowered about an axis of rotation that runs along the left-right direction. The arm 5 is attached to the tip of the boom 4 so that it can rotate about an axis of rotation that runs along the left-right direction. The bucket 6 is attached to the tip of the arm 5 so that it can rotate about an axis of rotation that runs along the left-right direction.

[0022] Bucket 6 is an example of an end attachment and is used, for example, in excavation work, slope work, and land leveling work.

[0023] Bucket 6 is attached to the tip of arm 5 in a manner that allows it to be replaced as appropriate depending on the work being performed by the shovel 100. In other words, instead of bucket 6, a different type of bucket, such as a relatively large bucket, a slope bucket, or a dredging bucket, may be attached to the tip of arm 5. In addition, an end attachment of a type other than a bucket, such as an agitator, breaker, or crusher, may be attached to the tip of arm 5. Furthermore, a spare attachment, such as a quick coupling or tilt rotator, may be provided between arm 5 and the end attachment.

[0024] The boom 4, arm 5, and bucket 6 are hydraulically driven by the boom cylinder 7, arm cylinder 8, and bucket cylinder 9, respectively.

[0025] The driver's cab (also called the "cab" or "cab") 10 is a control room from which the user boards and operates the shovel 100. The driver's cab 10 is mounted, for example, on the front left side of the upper rotating body 3. Users include, for example, the operator of the shovel 100, the manager or supervisor who manages and supervises the automatic operation of the shovel 100 as described later, and service personnel who perform maintenance.

[0026] For example, the excavator 100 can operate its driven elements, such as the lower traveling body 1 (i.e., the pair of left and right crawlers 1CL, 1CR), the upper slewing body 3, the boom 4, the arm 5, and the bucket 6, in response to the operation of the operator seated in the cab 10.

[0027] Furthermore, the shovel 100, through its automatic driving function, can automatically operate its driven elements, such as the lower traveling body 1 (i.e., the pair of left and right crawlers 1CL, 1CR), the upper slewing body 3, the boom 4, the arm 5, and the bucket 6, without the operator's input.

[0028] The automatic operation of the Shovel 100 is a mode of operation in which the driven elements of the Shovel 100 operate automatically, without operator intervention. The automatic operation of the Shovel 100 does not include a mode of operation in which, for example, non-operated driven elements operate automatically in addition to the operated driven elements, as controlled by the operator, i.e., semi-automatic operation. Specifically, automatic operation includes a mode of operation in which the driven elements of the Shovel 100 are automatically operated so that the Shovel 100 performs predetermined actions according to predetermined rules and procedures (also called "sequences"). Furthermore, the automatic operation function also includes a mode of operation in which the Shovel 100 recognizes its surroundings, decides on its own actions based on the results of that recognition, and automatically operates the driven elements to perform the decided actions, i.e., autonomous operation. The following explanation will focus on autonomous operation as an example of automatic operation.

[0029] Furthermore, the shovel 100 may operate exclusively in automatic mode. In this case, the operator's cab 10 may be omitted.

[0030] The management device 200 is connected to each of the multiple excavators 100 included in the work support system SYS in a communicative manner, and is provided for managing the work performed by the multiple excavators 100 at the work site.

[0031] For example, the shovel 100 transmits (i.e., uploads) various information regarding the state of the shovel 100 or the state of its surroundings to the management device 200 using the communication device 60 described later. As a result, the management device 200 can acquire information regarding the state of the shovel 100 and the state of its surroundings, and understand the state of the shovel 100 and its surroundings, and as a result can understand and manage the work being done by the shovel 100.

[0032] The management device 200 is, for example, a server device. The server device may be a so-called on-premises server, a cloud server, or an edge server. Alternatively, the management device 200 may be a terminal device. The terminal device may be a stationary terminal device or a portable terminal device (for example, a laptop computer, tablet, or smartphone).

[0033] [Shovel configuration] In addition to Figure 1, please refer to Figure 2 to explain the configuration of the excavator (specifically, the hardware configuration).

[0034] Figure 2 is a block diagram showing an example of the configuration of the SYS work support system.

[0035] Furthermore, the hardware configurations of the multiple excavators 100 included in the SYS work support system are all substantially the same. Therefore, in Figure 2, only the configuration of one excavator 100 is depicted, and the depictions of the other excavators 100 are omitted. In Figure 2, for each excavator 100, the paths through which mechanical power is transmitted are shown with double lines, the paths through which high-pressure hydraulic fluid that drives the hydraulic actuator flows are shown with solid lines, the paths through which pilot pressure is transmitted are shown with dashed lines, and the paths through which electrical signals are transmitted are shown with dotted lines.

[0036] The shovel 100 includes various components such as a hydraulic drive system for hydraulically driving the driven element, an operating system for operating the driven element, a user interface system for exchanging information with the user, a communication system for communication with the outside, and a control system for various types of control.

[0037] <Hydraulic drive system> As shown in Figure 2, the hydraulic drive system of the excavator 100 includes hydraulic actuators HA that hydraulically drive each of the driven elements, such as the lower traveling body 1 (specifically, the left and right crawlers 1C), the upper slewing body 3, the boom 4, the arm 5, and the bucket 6, as described above. Furthermore, the hydraulic drive system of the excavator 100 according to this embodiment includes an engine 11, a regulator 13, a main pump 14, and a control valve 17.

[0038] The hydraulic actuator HA includes travel hydraulic motors 1ML and 1MR, swing hydraulic motor 2M, boom cylinder 7, arm cylinder 8, and bucket cylinder 9, among others.

[0039] Furthermore, the excavator 100 may have some or all of its hydraulic actuator HA replaced with an electric actuator. In other words, the excavator 100 may be a hybrid excavator or an electric excavator.

[0040] Engine 11 is the prime mover for the shovel 100 and the main power source in the hydraulic drive system. Engine 11 is, for example, a diesel engine that uses light oil as fuel. Engine 11 is mounted, for example, at the rear of the upper rotating body 3. Engine 11 rotates at a constant speed at a preset target speed, for example, under direct or indirect control by a controller 30, which will be described later, and drives the main pump 14 and the pilot pump 15.

[0041] Furthermore, in place of or in addition to engine 11, another prime mover (for example, an electric motor) may be mounted on the shovel 100.

[0042] The regulator 13 controls (adjusts) the discharge rate of the main pump 14 under the control of the controller 30. For example, the regulator 13 adjusts the angle of the swash plate of the main pump 14 (hereinafter referred to as the "tilt angle") in response to a control command from the controller 30.

[0043] The main pump 14 supplies hydraulic fluid to the control valve 17 through a high-pressure hydraulic line. The main pump 14 is mounted, for example, at the rear of the upper slewing body 3, similar to the engine 11. The main pump 14 is driven by the engine 11, as described above. The main pump 14 is, for example, a variable displacement hydraulic pump, and as described above, under the control of the controller 30, the piston stroke length is adjusted by adjusting the tilt angle of the swash plate by the regulator 13, thereby controlling the discharge flow rate and discharge pressure.

[0044] The control valve 17 drives the hydraulic actuators HA in response to operation by an operator on the operating device 26 or remote operation. The control valve 17 is mounted, for example, in the center of the upper rotating body 3. As described above, the control valve 17 is connected to the main pump 14 via a high-pressure hydraulic line and selectively supplies hydraulic fluid from the main pump 14 to each hydraulic actuator HA in response to the operator's operation. The control valve 17 includes directional control valves 17A to 17F that control the flow rate and direction of the hydraulic fluid supplied from the main pump 14 to each of the hydraulic actuators HA.

[0045] The directional control valve 17A controls the flow rate and direction of the hydraulic fluid supplied to the boom cylinder 7. This allows the directional control valve 17A to extend and retract the boom cylinder 7 at a variable speed. The directional control valve 17A is, for example, a spool valve.

[0046] The directional control valve 17B controls the flow rate and direction of the hydraulic fluid supplied to the arm cylinder 8. This allows the directional control valve 17B to extend and retract the arm cylinder 8 at a variable speed. The directional control valve 17B is, for example, a spool valve.

[0047] The directional control valve 17C controls the flow rate and direction of the hydraulic fluid supplied to the bucket cylinder 9. This allows the directional control valve 17C to extend and retract the bucket cylinder 9 at a variable speed. The directional control valve 17C is, for example, a spool valve.

[0048] The directional control valve 17D controls the flow rate and direction of the hydraulic fluid supplied to the travel hydraulic motor 1ML. This allows the directional control valve 17D to rotate the travel hydraulic motor 1ML in both directions with variable speed. The directional control valve 17D is, for example, a spool valve.

[0049] The directional control valve 17E controls the flow rate and direction of the hydraulic fluid supplied to the travel hydraulic motor 1MR. This allows the directional control valve 17E to rotate the travel hydraulic motor 1MR in both directions with variable speed. The directional control valve 17E is, for example, a spool valve.

[0050] The directional control valve 17F controls the flow rate and direction of the hydraulic fluid supplied to the swivel hydraulic motor 2M. This allows the directional control valve 17F to rotate the swivel hydraulic motor 2M in both directions with variable speed. The directional control valve 17F is, for example, a spool valve.

[0051] <Operation system> As shown in Figure 2, the operating system of the shovel 100 includes a pilot pump 15, an operating device 26, and a hydraulic control valve 31.

[0052] The pilot pump 15 supplies pilot pressure to various hydraulic devices via the pilot line 25. The pilot pump 15 is mounted, for example, at the rear of the upper slewing body 3, similar to the engine 11. The pilot pump 15 is, for example, a fixed-displacement hydraulic pump and is driven by the engine 11 as described above.

[0053] The pilot pump 15 may be omitted. In this case, the relatively high-pressure hydraulic fluid discharged from the main pump 14 may be reduced in pressure by a predetermined pressure reducing valve, and the resulting relatively low-pressure hydraulic fluid may be supplied to various hydraulic devices as pilot pressure.

[0054] The operating device 26 is located inside the driver's cab 10 near the driver's seat and is used by the operator to operate various driven elements. Specifically, the operating device 26 is used by the operator to operate the hydraulic actuators HA that drive each driven element, thereby enabling the operator to control the driven elements that are driven by the hydraulic actuators HA. For example, the operating device 26 includes lever devices for operating each hydraulic actuator HA. In addition, some of the hydraulic actuators HA may be operable by pedal devices instead of, or in addition to, the lever devices. Furthermore, the lever devices may be configured to allow the operator to operate two or more hydraulic actuators HA. For example, the lever devices may be configured to allow the operator to operate two hydraulic actuators HA by operating them in the forward / backward direction and in the left / right direction, respectively.

[0055] For example, as shown in Figure 2, the operating device 26 is electrically operated. Specifically, the operating device 26 outputs an electrical signal (hereinafter referred to as "operating signal") corresponding to the operation content, and the operating signal is received by the controller 30. The controller 30 then outputs an operating command corresponding to the content of the operating signal, that is, a control signal of the operating command corresponding to the operation content of the operating device 26, to the hydraulic control valve 31. As a result, a pilot pressure corresponding to the operation content of the operating device 26 is input from the hydraulic control valve 31 to the control valve 17, and the control valve 17 can drive each hydraulic actuator HA according to the operation content of the operating device 26.

[0056] For example, the lever device is configured to allow the operator to tilt it in two opposing directions (e.g., forward / backward or left / right). This allows the operator to control a double-acting hydraulic actuator HA, which is capable of operating in two opposing directions, by tilting the lever device in either of those two directions. The lever device outputs an electrical signal (operation signal) corresponding to the operation performed on it, and the output operation signal is received by the controller 30.

[0057] The controller 30 has a pre-set correspondence between the operating direction and amount of the lever device (for example, the tilting direction and tilting angle of the lever device) and the control signal to the hydraulic control valve 31 (for example, the control current). This allows the controller 30 to control the hydraulic control valve 31 according to the operation of the lever device.

[0058] Furthermore, the directional control valves 17A to 17F that drive the respective hydraulic actuators HA, which are built into the control valve 17, may be of the electromagnetic solenoid type. In this case, the operating signal output from the operating device 26 may be directly input to the control valve 17 (specifically, each of the electromagnetic solenoid type directional control valves).

[0059] Furthermore, the operating device 26 may be a hydraulic pilot type. Specifically, the operating device 26 uses hydraulic fluid supplied from the pilot pump 15 through the pilot line to output a pilot pressure corresponding to the operation to the secondary pilot line. The secondary pilot line is then connected to the control valve 17. As a result, the control valve 17 can receive a pilot pressure corresponding to the operation of the operating device 26. Therefore, the control valve 17 can drive each hydraulic actuator HA according to the operation performed on the operating device 26 by the operator or other person. In this case, an operating state sensor capable of acquiring information about the operating state of the operating device 26 is provided, and the output of the operating state sensor is taken up by the controller 30. As a result, the controller 30 can understand the operating state of the operating device 26. The operating state sensor is, for example, a pressure sensor (also called an "operating pressure sensor") that acquires information about the pilot pressure (also called "operating pressure") of the secondary pilot line of the operating device 26.

[0060] Furthermore, as described above, some or all of the hydraulic actuator HA may be replaced with an electric actuator. In this case, for example, the controller 30 may output an operation command corresponding to the operation content of the operating device 26 to the electric actuator or a driver that drives the electric actuator. Alternatively, the operating device 26 may be configured to allow the operator to operate the electric actuator by directly inputting an operation signal to the electric actuator or driver.

[0061] A hydraulic control valve 31 is provided for each hydraulic actuator HA that the operating device 26 controls. This allows the hydraulic control valve 31 to output a pilot pressure to the control valve 17 according to the operation of the target hydraulic actuator HA. Furthermore, the hydraulic control valve 31 is provided for each of the two opposing directions in which the double-acting hydraulic actuator HA can operate. In other words, two hydraulic control valves 31 are provided for each hydraulic actuator HA that the operating device 26 controls. Of the two hydraulic control valves 31, one hydraulic control valve 31 outputs a pilot pressure corresponding to the operation of the target hydraulic actuator HA in one direction, and the other hydraulic control valve 31 outputs a pilot pressure corresponding to the operation of the target hydraulic actuator HA in the other direction. For example, it may be provided in the pilot line between the pilot pump 15 and the control valve 17, and its flow area (i.e., the cross-sectional area through which hydraulic fluid can flow) may be changeable. This allows the hydraulic control valve 31 to output a predetermined pilot pressure to the secondary pilot line using the hydraulic fluid from the pilot pump 15 supplied through the primary pilot line. Therefore, the hydraulic control valve 31 can apply a predetermined pilot pressure to the control valve 17 in response to an operation command from the controller 30. Thus, for example, the controller 30 can directly supply pilot pressure to the control valve 17 from the hydraulic control valve 31 in accordance with the operation content (operation signal) of the operating device 26, thereby realizing the operation of the shovel 100 based on the operator's operation.

[0062] Furthermore, the controller 30 automatically controls the hydraulic control valve 31 to realize the automatic operation function of the shovel 100. Alternatively, the controller 30 may control the hydraulic control valve 31 in response to a signal received from outside the shovel 100 that represents the content of the remote operation of the shovel 100, thereby realizing the remote operation function of the shovel 100.

[0063] Furthermore, if the operating device 26 is hydraulically pilot operated, a shuttle valve is provided between the operating device 26 and the hydraulic control valve 31 and the control valve 17. For example, a shuttle valve is provided for each hydraulic actuator HA operated by the operating device 26, similar to the hydraulic control valve 31. Also, a shuttle valve may be provided for each of the two opposing directions in which the double-acting hydraulic actuator HA can operate, similar to the hydraulic control valve 31. In other words, two shuttles are provided for each hydraulic actuator HA operated by the operating device 26. For example, the higher of the pilot pressure output from the operating device 26 and the pilot pressure on the secondary side of one of the two hydraulic control valves 31, corresponding to the operation of the target hydraulic actuator HA in one direction, acts on the control valve 17 through the shuttle valve. Similarly, the higher of the pilot pressure output from the operating device 26 and the pilot pressure on the secondary side of the other of the two hydraulic control valves 31, corresponding to the operation of the target hydraulic actuator HA in the other direction, acts on the control valve 17 through the shuttle valve. As a result, for example, when the operating device 26 is operated while no pilot pressure is output from the hydraulic control valve 31, a pilot pressure corresponding to the operation of the operating device 26 is applied to the control valve 17 through the shuttle valve. Therefore, the control valve 17 can realize the operation of the hydraulic actuator HA in accordance with the operation of the operating device 26 by the operator. Furthermore, for example, the controller 30 can cause the hydraulic control valve 31 to output a pilot pressure higher than the secondary pilot pressure of the operating device 26 that is input to the shuttle valve, thereby applying the secondary pilot pressure of the hydraulic control valve 31 to the control valve 17 through the shuttle valve. Thus, the controller 30 can realize automatic operation functions and remote operation functions.

[0064] Furthermore, if the operating device 26 is hydraulically pilot operated, a pressure reducing valve may be provided in the pilot line between the operating device 26 and the shuttle valve, in addition to the shuttle valve. The pressure reducing valve is configured to operate in response to a control signal input from the controller 30, for example, and to change its flow path area. This allows the controller 30 to forcibly reduce the pilot pressure output from the operating device 26 when the operating device 26 is operated by an operator. Therefore, even when the operating device 26 is being operated, the controller 30 can forcibly suppress or stop the operation of the hydraulic actuator HA corresponding to the operation of the operating device 26. Also, even when the operating device 26 is being operated, the controller 30 can reduce the pilot pressure output from the operating device 26 using the pressure reducing valve, making it lower than the pilot pressure output from the hydraulic control valve 31. Therefore, by controlling the hydraulic control valve 31 and the pressure reducing valve, the controller 30 can reliably apply a desired pilot pressure to the control valve 17, for example, regardless of the operation of the operating device 26. Therefore, the controller 30 can more effectively realize the automatic operation and remote control functions of the excavator 100 by controlling the pressure reducing valve in addition to the hydraulic control valve 31.

[0065] Furthermore, if the shovel 100 operates exclusively in automatic mode, the operating device 26 may be omitted.

[0066] <User Interface System> As shown in Figure 2, the user interface system of the shovel 100 includes an operating device 26, an output device 50, and an input device 52.

[0067] The output device 50 outputs various information to the users of the shovel 100 (for example, operators and service personnel of the shovel 100) and people in the vicinity of the shovel 100 (for example, workers and drivers of work vehicles).

[0068] For example, the output device 50 includes a display device 50A that outputs various information in a visual manner. The display device 50A is, for example, a liquid crystal display or an organic EL (electroluminescence) display. For example, as shown in Figure 1, the display device 50A may be installed inside the operator's cab 10 and output various information in a visual manner to the user inside the operator's cab 10. Alternatively, the display device 50A may be mounted in a location visible to people around the shovel 100 on the upper rotating body 3 and output various information in a visual manner to workers around the shovel 100.

[0069] Furthermore, the output device 50 may include a lighting device that outputs various information in a visual manner. Examples of lighting devices include warning lights (indicator lamps). The lighting device may be installed, for example, inside the operator's cab 10 and output various information in a visual manner to the operator inside the operator's cab 10. Alternatively, the lighting device may be mounted in a location on the upper rotating body 3 that is visible to people around the shovel 100 and output various information in a visual manner to people around the shovel 100.

[0070] Furthermore, the output device 50 may include a sound output device 50B that outputs various information in an audible manner. The sound output device 50B is, for example, a buzzer or a speaker. The sound output device 50B is provided, for example, inside and outside the operator's cab 10, and outputs various information in an audible manner to the user inside the operator's cab 10 and to people (workers, etc.) around the shovel 100.

[0071] Furthermore, the output device 50 may also include a device that outputs various types of information through tactile means such as vibrations in the cockpit.

[0072] The input device 52 receives various inputs from the user of the shovel 100, and the signals corresponding to the received inputs are taken up by the controller 30. For example, as shown in Figure 1, the input device 52 is installed inside the operator's cab 10 and receives inputs from the operator inside the operator's cab 10. Alternatively, the input device 52 may be installed, for example, on the side of the upper rotating body 3 and receive inputs from workers around the shovel 100.

[0073] For example, the input device 52 is a mechanical input device that accepts input from the user through mechanical operation. The mechanical input device may include a touch panel mounted on the display device 50A, a touch pad installed around the display device 50A, a button switch, a lever, a toggle, a knob switch provided on a lever device included in the operating device 26, and the like.

[0074] Furthermore, the input device 52 may be a voice input device that accepts voice input from the user. The voice input device may include, for example, a microphone.

[0075] Furthermore, the input device 52 may be a gesture input device that accepts gesture input from the user. The gesture input device may include, for example, an imaging device that captures images of the gestures performed by the user.

[0076] Furthermore, the input device 52 may be a biometric input device that accepts biometric input from the user. Biometric input may include, for example, the input of biometric information such as the user's fingerprints and iris.

[0077] Furthermore, if the shovel 100 operates solely by its automatic operation function, the output device 50 may be omitted. For example, the user of the shovel 100 can obtain information regarding the status of the shovel 100 and the surrounding conditions using the management device 200 or the like. Similarly, if the shovel 100 operates solely by its automatic operation function, the input device 52 may be omitted. This is because various settings related to the automatic operation function can be made via a communication line NW from an external device, such as the management device 200.

[0078] <Communications System> As shown in Figure 2, the communication system of the shovel 100 according to this embodiment includes a communication device 60.

[0079] The communication device 60 connects to an external communication line NW and communicates with devices provided separately from the shovel 100. These devices may include, for example, devices located outside the shovel 100, such as a control device 200, as well as portable terminal devices (i.e., mobile terminals) brought into the operator's cab 10 by the user of the shovel 100. The communication device 60 uses, for example, 4G (4 th Generation) and 5G (5 th The communication device 60 may include a mobile communication module that conforms to standards such as Generation. Furthermore, the communication device 60 may include, for example, a satellite communication module. It may also include, for example, a WiFi communication module or a Bluetooth® communication module. Additionally, if there are multiple types of connectable communication lines NW, the communication device 60 may include multiple communication devices 60, corresponding to the types of communication lines NW.

[0080] For example, the communication device 60 communicates with external devices within the work site through a local communication line NW established at the work site. The local communication line NW is, for example, a local 5G (so-called local 5G) mobile communication line or a local network using WiFi 6 established at the work site.

[0081] Furthermore, the communication device 60 may communicate with external devices located outside the work site via a wide-area communication line NW that includes the work site, i.e., a wide-area network.

[0082] <Control System> As shown in Figure 2, the control system of the shovel 100 includes a controller 30. Furthermore, the control system of the shovel 100 according to this embodiment includes sensing devices S1 to S6.

[0083] The controller 30 performs various controls related to the shovel 100.

[0084] The functions of the controller 30 may be realized by any hardware, or any combination of hardware and software. For example, as shown in Figure 2, the controller 30 includes an auxiliary storage device 30A, a memory device 30B, a CPU (Central Processing Unit) 30C, and an interface device 30D, all connected by bus B1.

[0085] The auxiliary storage device 30A is a non-volatile storage means that stores the installed program as well as necessary files and data. The auxiliary storage device 30A is, for example, an EEPROM (Electrically Erasable Programmable Read-Only Memory) or flash memory.

[0086] The memory device 30B loads the program from the auxiliary storage device 30A into the CPU 30C's readable state, for example, when a program startup command is received. The memory device 30B is, for example, SRAM (Static Random Access Memory).

[0087] The CPU 30C, for example, executes a program loaded into the memory device 30B and implements various functions of the controller 30 according to the program's instructions.

[0088] The interface device 30D functions, for example, as a communication interface for connecting to the internal communication lines of the excavator 100. The internal communication lines of the excavator 100 include, for example, one-to-one communication lines and on-board networks such as CAN (Controller Area Network). The interface device 30D may include multiple different types of communication interfaces depending on the type of communication line to be connected.

[0089] Furthermore, the interface device 30D functions as an external interface for reading data from and writing data to a recording medium. The recording medium is, for example, a dedicated tool connected by a detachable cable to a connector installed inside the operator's cab 10. Alternatively, the recording medium may be a general-purpose recording medium such as an SD memory card or a USB (Universal Serial Bus) memory. Thus, the program that realizes the various functions of the controller 30 is provided, for example, by a portable recording medium and installed in the auxiliary storage device 30A of the controller 30. Alternatively, the program may be downloaded from another computer outside the excavator 100 via the communication device 60 and installed in the auxiliary storage device 30A.

[0090] Furthermore, some of the functions of controller 30 may be implemented by other controllers (control devices). In other words, the functions of controller 30 may be implemented in a distributed manner by multiple controllers mounted on the shovel 100.

[0091] Sensing device S1 is attached to boom 4 and measures the attitude state of boom 4. Sensing device S1 outputs measurement data representing the attitude state of boom 4. The attitude state of boom 4 is, for example, the attitude angle around the rotation axis of the base end corresponding to the connection part of boom 4 with the upper slewing body 3 (hereinafter, "boom angle"). Sensing device S1 includes, for example, a rotary potentiometer, rotary encoder, acceleration sensor, angular acceleration sensor, 6-axis sensor, IMU (Inertial Measurement Unit), etc. The same may apply to sensing devices S2 to S4 below. Sensing device S1 may also include a cylinder sensor that detects the extension and retraction position of the boom cylinder 7. The same may apply to sensing devices S2 and S3 below. The output of sensing device S1, i.e., the measurement data representing the attitude state of boom 4, is taken up by controller 30. This allows controller 30 to understand the attitude state of boom 4.

[0092] The sensing device S2 is attached to the arm 5 and measures the attitude state of the arm 5. The sensing device S2 outputs measurement data representing the attitude state of the arm 5. The attitude state of the arm 5 is, for example, the attitude angle around the rotation axis of the base end corresponding to the connection point between the arm 5 and the boom 4 (hereinafter referred to as "arm angle"). The output of the sensing device S2 (measurement data representing the attitude state of the arm 5) is received by the controller 30. This allows the controller 30 to understand the attitude state of the arm 5.

[0093] The sensing device S3 is attached to the bucket 6 and measures the attitude state of the bucket 6. The sensing device S3 outputs measurement data representing the attitude state of the bucket 6. The attitude state of the bucket 6 is, for example, the attitude angle around the rotation axis of the base end corresponding to the connection part of the bucket 6 with the arm 5 (hereinafter referred to as "bucket angle"). The output of the sensing device S3 (measurement data representing the attitude state of the bucket 6) is taken up by the controller 30. This allows the controller 30 to understand the attitude state of the bucket 6.

[0094] The sensing device S4 measures the attitude state of the excavator 100. The excavator 100's body is the main body of the excavator 100 and includes the lower traveling body 1 and the upper rotating body 3. The sensing device S4 outputs measurement data representing the attitude state of the excavator 100. The attitude state of the excavator 100 is, for example, the inclination state of the body with respect to a predetermined reference plane (for example, the horizontal plane). For example, the sensing device S4 is attached to the upper rotating body 3 and measures the inclination angles of the excavator 100 around two axes, the longitudinal and lateral directions (hereinafter referred to as "longitudinal inclination angle" and "lateral inclination angle"). The output of the sensing device S4 (measurement data representing the attitude state of the excavator 100) is received by the controller 30. This allows the controller 30 to understand the attitude state (inclination state) of the body (upper rotating body 3).

[0095] The sensing device S5 is attached to the upper rotating body 3 and measures the rotation state of the upper rotating body 3. The sensing device S5 outputs measurement data representing the rotation state of the upper rotating body 3. For example, the sensing device S5 measures the rotation angular velocity and rotation angle of the upper rotating body 3. The sensing device S5 includes, for example, a gyro sensor, resolver, rotary encoder, etc. The output of the sensing device S5 (measurement data representing the rotation state of the upper rotating body 3) is taken up by the controller 30. This allows the controller 30 to understand the rotation state of the upper rotating body 3, such as the rotation angle.

[0096] For example, the controller 30 can determine (specifically estimate) the position of the tip of the attachment AT (specifically, the bucket 6) based on the outputs of the sensing devices S1 to S5. Therefore, the controller 30 can control the operation of the shovel 100 using its machine control function while knowing the position of the tip of the attachment AT.

[0097] Furthermore, if the sensing device S4 includes a gyro sensor, a 6-axis sensor, an IMU, etc., capable of detecting angular velocity around three axes, the rotation state of the upper rotating body 3 (for example, rotational angular velocity) may be measured based on the detection signal from the sensing device S4. In this case, the sensing device S5 may be omitted.

[0098] In addition to the sensing devices S1 to S5, a sensing device (i.e., a positioning device) for measuring the position of the shovel 100 may also be provided on the shovel 100. The positioning device may measure the position in world coordinates (also called "global coordinates") or in local coordinates at the work site. In the former case, the positioning device is, for example, a GNSS (Global Navigation Satellite System) sensor. In the latter case, the positioning device is a transceiver (e.g., a transponder) that communicates with a reference device for the position at the work site and outputs a signal corresponding to the position relative to the reference. The output of the positioning device is received by the controller 30.

[0099] Furthermore, the position of the shovel 100 at the work site may be determined from outside the shovel 100. For example, the position of the shovel 100 can be determined based on the output of a distance measuring sensor such as a camera or LiDAR installed at the work site, and the output of the camera or distance measuring sensor is received by the management device 200. As a result, the controller 30 can acquire its own position information based on the information transmitted from the management device 200 via the communication device 60.

[0100] Sensing device S6 is an imaging device that acquires images representing the surroundings of the shovel 100. Sensing device S6 may also acquire (for example, generate) three-dimensional data (hereinafter simply referred to as "three-dimensional data of objects") representing the position and outline of objects surrounding the shovel 100 within the imaging range (i.e., field of view) based on the acquired images and distance data described later. Three-dimensional data of objects surrounding the shovel 100 may include, for example, coordinate information data of point clouds representing the surface of the objects or distance image data.

[0101] For example, as shown in Figure 1, the sensing device S6 includes a front camera S6F that images the area in front of the upper rotating body 3. The sensing device S6 may also include a rear camera S6B that images the area behind the upper rotating body 3, a left camera S6L that images the area to the left of the upper rotating body 3, and a right camera S6R that images the area to the right of the upper rotating body 3. This allows the sensing device S6 to image the entire circumference of the shovel 100, i.e., a range spanning 360 degrees in the angular direction, when viewed from above the shovel 100. In addition, the operator can view the surrounding images based on the images captured by the front camera S6F, left camera S6L, right camera S6R, and rear camera S6B through the display device 50A, and confirm the conditions in front of, to the left of, to the right of, and behind the upper rotating body 3.

[0102] The sensing device S6 is, for example, a monocular camera. Alternatively, the sensing device S6 may be capable of acquiring data related to distance (i.e., depth) in addition to two-dimensional images, such as a stereo camera or a TOF (Time of Flight) camera (hereinafter collectively referred to as a "3D camera").

[0103] The output data from the sensing device S6 (e.g., image data and 3D data of objects around the shovel 100) is received by the controller 30 via a one-to-one communication line or an in-vehicle network. This allows the controller 30 to monitor objects around the shovel 100 based on the output data from the sensing device S6. Furthermore, the controller 30 can determine the surrounding environment of the shovel 100 (e.g., weather conditions and the location and type of objects around the shovel 100) based on the output data from the sensing device S6. Additionally, the controller 30 can determine the attitude of the attachment AT as seen in the captured image based on the output data from the sensing device S6 (forward camera). Finally, the controller 30 can determine the attitude of the shovel 100's body (e.g., the upper rotating body 3) based on the objects around the shovel 100, using the output data from the sensing device S6 as a reference.

[0104] In addition to or instead of the sensing device S6, a sensing device (i.e., a distance sensor) capable of measuring the distance between the shovel 100 and surrounding objects may be provided on the upper rotating body 3. The distance sensor is, for example, mounted on the upper part of the upper rotating body 3 and acquires data on the distance and direction of surrounding objects relative to the shovel 100. The distance sensor may also acquire (e.g., generate) three-dimensional data (e.g., point cloud coordinate information data) of objects surrounding the shovel 100 within its sensing range based on the acquired data. The distance sensor is, for example, LiDAR (Light Detection and Ranging). Alternatively, the distance sensor may be, for example, a millimeter-wave radar, an ultrasonic sensor, or an infrared sensor.

[0105] Furthermore, depending on the application of the sensing device S6, some of the front camera S6F, rear camera S6B, left camera S6L, and right camera S6R may be omitted. Also, if remote control of the shovel 100 or monitoring of objects around the shovel 100 is not performed, the sensing device S6 may be omitted.

[0106] [Configuration of the control device] The configuration of the control device 200 will now be explained with reference to Figures 1 and 2.

[0107] The functions of the management device 200 are realized by any hardware or any combination of hardware and software. For example, as shown in Figure 2, the management device 200 includes an external interface 201, an auxiliary storage device 202, a memory device 203, a CPU 204, a high-speed processing unit 205, a communication interface 206, an input device 207, and an output device 208. These are connected by bus BS2.

[0108] The external interface 201 functions as an interface for reading data from and writing data to the recording medium 201A. The recording medium 201A includes, for example, flexible disks, CDs (Compact Discs), DVDs (Digital Versatile Discs), BDs (Blu-ray® Discs), SD memory cards, USB memory, etc. This allows the management device 200 to read various data used in processing through the recording medium 201A, store it in the auxiliary storage device 202, and install programs that realize various functions.

[0109] Furthermore, the management device 200 may acquire various data and programs for processing from external devices via the communication interface 206.

[0110] The auxiliary storage device 202 stores various installed programs, as well as files and data necessary for various processes. The auxiliary storage device 202 includes, for example, an HDD (Hard Disk Drive), an SSD (Solid State Drive), or flash memory.

[0111] When a program startup command is received, the memory device 203 reads the program from the auxiliary storage device 202 and stores it. The memory device 203 includes, for example, DRAM (Dynamic Random Access Memory) or SRAM.

[0112] The CPU 204 executes various programs loaded from the auxiliary storage device 202 into the memory device 203, and implements various functions related to the management device 200 according to the programs.

[0113] The high-speed computing unit 205 works in conjunction with the CPU 204 to perform calculations at a relatively high speed. The high-speed computing unit 205 includes, for example, a GPU (Graphics Processing Unit), an ASIC (Application Specific Integrated Circuit), or an FPGA (Field-Programmable Gate Array).

[0114] Furthermore, depending on the required processing speed, the high-speed arithmetic unit 205 may be omitted.

[0115] The communication interface 206 is used as an interface for communicating with external devices. This allows the management device 200 to communicate with external devices, such as a shovel 100, through the communication interface 206. Furthermore, the communication interface 206 may have multiple types of communication interfaces depending on the communication method between the connected devices.

[0116] The input device 207 receives various inputs from the user. The input device 207 includes a remote control device for remotely operating the shovel 100.

[0117] The input device 207 includes, for example, an input device that accepts mechanical operation input from a user (hereinafter referred to as "mechanical input device"). When the shovel 100 is operated remotely, the operating device for that remote operation may be a mechanical input device. The mechanical input device includes, for example, buttons, toggles, levers, keyboards, mice, touch panels implemented on a display device as an output device 208, touch pads provided separately from the display device, etc.

[0118] Furthermore, the input device 207 may include a voice input device capable of receiving voice input from the user. The voice input device may include, for example, a microphone capable of collecting the user's voice.

[0119] Furthermore, the input device 207 may include a gesture input device capable of receiving gesture input from the user. The gesture input device may include, for example, a camera capable of capturing images of the user's gestures.

[0120] Furthermore, the input device 207 may include a biometric input device capable of receiving biometric input from the user. The biometric input device may include, for example, a camera capable of acquiring image data containing information about the user's fingerprints or iris.

[0121] The output device 208 outputs various information to the user of the management device 200.

[0122] The output device 208 includes, for example, a display device. The display device displays information screens, operation screens, etc., to the user of the management device 200, and conveys various information in a visual manner. The display device is, for example, a liquid crystal display or an organic EL display.

[0123] Furthermore, the output device 208 may include a lighting device capable of conveying various information to the user in a visual manner. The lighting device may be, for example, an indicator lamp.

[0124] Furthermore, the output device 208 may include a sound output device. The sound output device transmits various information to the user of the management device 200 by sound. Examples of sound output devices include buzzers, alarms, speakers, etc.

[0125] [Example 1 of the functional configuration of a work support system] Referring to Figures 1 and 2, as well as Figures 3 and 4, a first example of the functional configuration of the work support system SYS for the automated operation of the shovel 100 will be described.

[0126] Figure 3 is a functional block diagram showing the first example of the functional configuration of the SYS work support system. Figure 4 is a diagram showing a comparison of the work status of two excavators, 100A and 100B, working at the same work site.

[0127] Furthermore, the functional configurations related to automatic operation for each of the multiple excavators 100 included in the SYS work support system are generally the same. Therefore, in Figure 3, only the functional configuration of one excavator 100 is depicted, and the depictions of the other excavators 100 are omitted.

[0128] The management device 200 includes, as a functional configuration for the automatic operation of the shovel 100, a construction plan information acquisition unit 2001, a work plan unit 2002, a shovel information storage unit 2003, a movable range setting unit 2004, and a distribution unit 2005. The functions of the construction plan information acquisition unit 2001, the work plan unit 2002, the movable range setting unit 2004, and the distribution unit 2005 are realized, for example, by loading a program installed in the auxiliary storage device 202 into the memory device 203 and executing it on the CPU 204. The function of the shovel information storage unit 2003 is realized, for example, by a predetermined storage area defined in the auxiliary storage device 202.

[0129] The construction plan information acquisition unit 2001 acquires information related to the construction plan of the work site (hereinafter referred to as "construction plan information"). For example, the construction plan information includes information representing the procedures and processes of the construction work during the construction period. The construction plan information may also include information such as the specifications of the shovels 100 required for each procedure and process, and the number of shovels 100 required for each specification.

[0130] The work planning unit 2002 creates a work plan for relatively short time units (e.g., one week) based on the construction plan information acquired by the construction plan information acquisition unit 2001, and outputs information representing the work plan (hereinafter, "work plan information"). The work planning unit 2002 may automatically create the work plan based on a predetermined algorithm, or it may manually create the construction plan in response to user input through the input device 52 after the user has confirmed the construction plan information. For example, the work plan includes the assignment of work areas (hereinafter simply referred to as "work areas") and work content for each of the multiple excavators 100.

[0131] The shovel information storage unit 2003 stores information about each of the multiple shovels 100 included in the work support system SYS (hereinafter referred to as "shovel information"). Shovel information includes, for example, information about the attachment AT of shovel 100 (hereinafter referred to as "attachment information"). Attachment information is, for example, information that can identify or estimate the range that the tip of the attachment AT can reach. Attachment information includes, for example, information representing the type and size of shovel 100. This is because various dimensions of the attachment AT can be estimated from the type and size of shovel 100, and as a result, the range that the tip of the attachment AT can reach can be estimated. In addition, attachment information may also include information regarding the specifications of the attachment AT. Specifications of the attachment AT include, for example, the link lengths of the boom 4, arm 5, and bucket 6, as well as the operating range of the boom angle, arm angle, and bucket angle. This is because the range that the tip of the attachment AT can reach can be estimated from the specifications of the attachment AT. Furthermore, the attachment information includes information regarding the reach of the attachment AT relative to the pivot center of the upper slewing body 3. The reach of the attachment AT is, for example, the maximum distance from the pivot center of the upper slewing body 3 to the tip of the attachment AT in a top view of the shovel 100. In other words, the reach of the attachment AT is the distance from the pivot center of the upper slewing body 3 to the tip of the attachment AT in a top view of the shovel 100 when the shovel 100 is in a position where the tip of the attachment AT is extended to its furthest point from the upper slewing body 3. The position in which the shovel 100 extends the attachment AT to its furthest point from the upper slewing body 3 corresponds, for example, to a position in which the boom 4 is at its lowest point, the arm 5 is at its widest point, and the bucket 6 is at its widest point.

[0132] The movable range setting unit 2004 pre-sets the movable range (hereinafter referred to as the "movable range of the shovel 100") for each of the multiple shovels 100 that will be working simultaneously at the work site, based on the work plan information and shovel information. The movable range is pre-set, for example, as the range in which the reference position of the lower travel body 1 of the shovel 100 can be located when viewed from above at the work site. Alternatively, the movable range may be pre-set as the range in which the entire machine, including the lower travel body 1 of the shovel 100, should be included when viewed from above at the work site. Specifically, the movable range setting unit 2004 pre-sets the movable range of the shovels 100 so that at least one of the movable ranges of shovels 100 whose work areas are adjacent to each other is separated from part or all of the boundary between their respective work areas. In other words, the movable range setting unit 2004 pre-sets the portion adjacent to the boundary between two adjacent work areas of the shovel 100 as an area that the lower traveling body 1 of the shovel 100 cannot enter (hereinafter simply referred to as the "inaccessible area").

[0133] The state of adjacent work areas includes not only the state where work areas are adjacent to each other, but also the state where work areas are separated by an area other than the work areas in between. The boundary between work areas is the boundary line when work areas are adjacent to each other, or the area other than the work areas that exists between work areas when they are separated.

[0134] For example, consider the case where two excavators 100 work in adjacent work areas WA and WB, as shown in Figure 4. Hereafter, the excavators 100 working in work areas WA and WB will be conveniently distinguished as excavators 100A and 100B.

[0135] Under conditions where the lower traveling body 1 of the shovel 100A can move within the work area WA, even when the machine including the lower traveling body 1 of the shovel 100A remains within the work area WA, the attachment AT of the shovel 100A may enter the work area WB, as shown in Figure 4. In this case, the attachment AT of the shovel 100A may come into contact with the shovel 100B. Furthermore, if the shovel 100A is equipped with a safety function that stops operation to avoid contact with surrounding objects (hereinafter referred to as the "contact avoidance stop function"), the operation of the shovel 100A may stop in order to avoid contact between the attachment AT of the shovel 100A and the shovel 100B. As a result, the safety of the shovels 100A and 100B may be reduced, or the work efficiency of the shovel 100A may be reduced. Similarly, under conditions where the lower travel body 1 of the shovel 100B can move within the work area WB, even if the machine including the lower travel body 1 of the shovel 100B remains within the work area WB, the attachment AT of the shovel 100B may enter the work area WA, as shown in Figure 4. In this case, the attachment AT of the shovel 100B may come into contact with the shovel 100A. Furthermore, if the shovel 100B is equipped with a contact avoidance stop function, the operation of the shovel 100B may stop in order to avoid contact between the attachment AT of the shovel 100B and the shovel 100A. As a result, the safety of the shovels 100A and 100B may be reduced, or the work efficiency of the shovel 100B may be reduced.

[0136] In response to this, the movable range setting unit 2004 pre-sets the movable ranges MA and MB of shovel 100A and shovel 100B, respectively, so that at least one of them is separated from part or all of the boundary line BL of the work area WA and WB. This allows the movable range setting unit 2004 to substantially pre-set an inaccessible range BF between the movable ranges MA and MB, where shovels 100A and 100B cannot enter. For example, even if the attachment AT of shovel 100A deviates from the movable range MA towards the movable range MB, the presence of the inaccessible range BF can suppress contact between the attachment AT of shovel 100A and shovel 100B. Similarly, even if the attachment AT of shovel 100B deviates from the movable range MB towards the movable range MA, the presence of the inaccessible range BF can suppress contact between the attachment AT of shovel 100B and shovel 100A.

[0137] Details on how to set the movable range for multiple shovels 100 working simultaneously at the same work site will be described later (see Figures 8 and 9).

[0138] Returning to Figure 3, the distribution unit 2005 distributes information regarding the work of the shovel 100 at the work site (hereinafter referred to as "work information") to each of the multiple shovels 100 performing work at the work site via the communication interface 206. In this example, the work information to be distributed includes information on the movable range of the shovel 100 set by the movable range setting unit 2004. In addition to the movable range information, the work information to be distributed may also include work plan information.

[0139] The controller 30 of the shovel 100 includes, as a functional configuration for the automatic operation of the shovel 100, an autonomous control unit 301, a target shape information storage unit 302, and a work information storage unit 303. The autonomous control unit 301 is realized, for example, by loading a program installed in the auxiliary storage device 30A into the memory device 30B and executing it on the CPU 30C. The functions of the target shape information storage unit 302 and the work information storage unit 303 are realized, for example, by the storage areas defined in the memory device 30B and the auxiliary storage device 30A.

[0140] The autonomous control unit 301 performs control related to the autonomous operation of the shovel 100.

[0141] The autonomous control unit 301 includes, for example, a terrain shape acquisition unit 301A, a target trajectory generation unit 301B, and an operation control unit 301C.

[0142] The target shape information storage unit 302 stores information representing the target shape of the work area around the shovel 100. The information representing the target shape is, for example, information representing the target construction surface, and may be three-dimensional data on a predetermined three-dimensional coordinate system, or a combination of two-dimensional data corresponding to a cross-section on that three-dimensional coordinate system and information representing its range. The information representing the target shape is acquired from an external device, for example, through a communication device 60. Alternatively, the information representing the target shape may be acquired based on information input by the operator through an input device 52.

[0143] The work information storage unit 303 stores work information distributed from the management device 200 and received via the communication device 60.

[0144] The terrain shape acquisition unit 301A acquires information representing the current shape of the ground around the shovel 100 (hereinafter referred to as "terrain shape") based on the output of the sensing device S6. The information representing the terrain shape is, for example, three-dimensional point cloud data of objects around the shovel 100.

[0145] The target trajectory generation unit 301B generates a target trajectory for a predetermined part of the shovel 100 based on the outputs of sensing devices S1 to S5, information representing the current terrain shape around the shovel 100, information representing the target shape, and work information. The working part of the bucket 6 is, for example, the tip or back of the bucket. For example, the target trajectory generation unit 301B generates a target trajectory for the working part of the bucket 6, taking into account the difference between the current terrain shape and the target shape of the work area, so that the work area becomes the target shape. Also, for example, when operating the lower traveling body 1, the target trajectory generation unit 301B generates a target trajectory for the reference position of the lower traveling body 1 so that the reference position of the lower traveling body 1 (for example, the pivot center of the upper rotating body 3 in a top view) is within the movable range.

[0146] The motion control unit 301C outputs a control signal to the hydraulic control valve 31 to control the operation of the hydraulic actuator HA so that the target part of the shovel 100 moves along the target trajectory generated by the target trajectory generation unit 301B. As a result, the motion control unit 301C can autonomously control the shovel 100 so that the lower traveling body 1 is within the movable range, based on the target trajectory of the reference position of the lower traveling body 1 generated by the target trajectory generation unit 301B.

[0147] [First example of how the work support system works] Referring to Figure 5, we will explain the first example of the operation of the SYS work support system. Specifically, we will describe a concrete example of the operation of the SYS work support system based on the functional configuration shown in Figure 3.

[0148] Figure 5 is a sequence diagram showing the first example of the operation of the SYS work support system.

[0149] As shown in Figure 5, in step S102, the construction plan information acquisition unit 2001 of the management device 200 acquires construction plan information.

[0150] Once the process in step S102 is complete, the control device 200 proceeds to step S104.

[0151] In step S104, the work planning unit 2002 of the management device 200 formulates a work plan based on the construction plan information and outputs the work plan information.

[0152] Once the process in step S104 is complete, the control device 200 proceeds to step S106.

[0153] In step S106, the movable range setting unit 2004 of the management device 200 obtains shovel information for the shovel 100 to be used at the target work site, as defined in the work plan information, from the shovel information storage unit 2003.

[0154] Once the process in step S106 is complete, the control device 200 proceeds to step S108.

[0155] In step S108, the movable range setting unit 2004 of the management device 200 sets the movable range of each excavator 100 based on the excavator information for each time period during which multiple excavators 100 are operating autonomously at the work site simultaneously.

[0156] Furthermore, the movable range setting unit 2004 may or may not set the movable range of a single shovel 100 during the time period when only that shovel 100 is operating autonomously at the work site. In the former case, the movable range is set to be equal to the work area of ​​the shovel 100. In the latter case, the shovel 100 can move across the entire work area by autonomous operation without any restrictions on its movable range.

[0157] Once the process in step S108 is complete, the control device 200 proceeds to step S110.

[0158] In step S110, the distribution unit 2005 of the management device 200 distributes work information, including information on the movable range for each time period during which work is performed, to each of the multiple excavators 100 performing work at the target work site.

[0159] In step S112, the controller 30 of the shovel 100 receives the work information distributed from the management device 200 in step S110 via the communication device 60 and stores it in the work information storage unit 303.

[0160] Once the process in step S112 is complete, the controller 30 of the shovel 100 proceeds to step S114.

[0161] In step S114, the autonomous control unit 301 of the shovel 100 performs autonomous operation of the shovel 100 based on work information including information on the movable range.

[0162] Thus, in the work support system SYS in this example, the management device 200 sets the movable range for each of the multiple excavators 100 that are working simultaneously at the same work site, and each excavator 100 can perform autonomous operation based on the set movable range.

[0163] [Second example of the functional configuration of a work support system] Referring to Figures 1 and 2, as well as Figure 6, a second example of the functional configuration of the work support system SYS for the automated operation of the shovel 100 will be described.

[0164] In the following, components identical to or corresponding to the first example described above (i.e., Figure 3) will be denoted by the same reference numerals. The explanation will focus on the parts that differ from the first example, and the explanation of parts that are the same as or corresponding to the first example may be omitted.

[0165] Figure 6 is a functional block diagram showing a second example of the functional configuration of the SYS work support system.

[0166] Furthermore, the functional configurations related to automatic operation for each of the multiple excavators 100 included in the SYS work support system are generally the same. Therefore, in Figure 6, only the functional configuration of one excavator 100 is depicted, and the depictions of the other excavators 100 are omitted.

[0167] The work support system SYS in this example differs from the first example described above mainly in that the function of the movable range setting unit 2004 is transferred to the shovel 100.

[0168] The control device 200 includes a construction plan information acquisition unit 2001, a work plan unit 2002, a shovel information storage unit 2003, and a distribution unit 2005 as functions related to the automatic operation of the shovel 100.

[0169] The distribution unit 2005 distributes work information to each of the multiple excavators 100 included in the work support system SYS via the communication interface 206. In this example, the work information to be distributed includes work plan information, but does not include information regarding the range of movement.

[0170] Furthermore, the distribution unit 2005 distributes shovel information for multiple shovels 100 performing work at the work site to each shovel 100. The timing of the distribution of shovel information may be the same as the timing of the distribution of work information, or it may be different. In the latter case, for example, the distribution unit 2005 distributes the shovel information to each of the multiple shovels 100 included in the work support system SYS at a predetermined timing after the shovel information has been updated (for example, at a predetermined time the day after the update date). In this case, the distributed shovel information may consist only of the updated shovel information, or it may include the unupdated information as well, and is distributed to the work support system SYS. This could also be shovel information for all of the 100 shovels included in the set.

[0171] The controller 30 of the shovel 100 includes, as a functional configuration for the automatic operation of the shovel 100, an autonomous control unit 301, a target shape information storage unit 302, a work information storage unit 303, a shovel information storage unit 304, and a movable range setting unit 305. The function of the movable range setting unit 305 is realized, for example, by loading a program installed in the auxiliary storage device 30A into the memory device 30B and executing it on the CPU 30C. The function of the shovel information storage unit 304 is realized, for example, by a storage area defined in the memory device 30B and the auxiliary storage device 30A.

[0172] The work information storage unit 303 stores work information distributed from the management device 200. The work information storage unit 303 also stores information on the movable range of the shovel 100, which is set by the movable range setting unit 305.

[0173] The shovel information storage unit 304 stores shovel information for multiple shovels 100 that is distributed from the management device 200.

[0174] The movable range setting unit 305 pre-sets the movable range of the shovel 100 for each time period during which the shovel 100 and other shovels 100 work simultaneously at the work site, based on the work plan information and shovel information distributed from the management device 200. The set movable range information is stored in the work information storage unit 303, as in the first example (Figure 3) described above. The method for setting the movable range of the shovel 100 may be the same as in the case of the movable range setting unit 2004 in the first example described above. In addition, the movable range setting unit 2004 may set the movable range of other shovels 100 for reference during the process of setting the movable range of the shovel 100.

[0175] Furthermore, the movable range setting unit 305 may transmit the movable range of other excavators 100 that it has set to the target excavators 100 via the communication device 60. In other words, the movable range of multiple excavators 100 working simultaneously at a work site may be set by the controller 30 of some of the excavators 100, and the controller 30 of the other excavators 100 may obtain the set movable range from the other excavators 100.

[0176] [Second example of how the work support system works] Referring to Figure 7, a second example of the operation of the work support system SYS will be described. Specifically, a concrete example of the operation of the work support system SYS, based on the functional configuration shown in Figure 6, will be described.

[0177] Figure 7 is a sequence diagram showing a second example of the operation of the SYS work support system.

[0178] As shown in Figure 7, the processes in steps S202 and S204 are the same as steps S102 and S104 in the first example (Figure 5) described above, so their explanation is omitted.

[0179] Once the processing in step S204 is complete, the control device 200 proceeds to step S206.

[0180] In step S206, the distribution unit 2005 of the management device 200 distributes work information, including work plan information, and shovel information for each of the multiple shovels 100 working at the target work site to each of the multiple shovels 100 performing work at the target work site.

[0181] Furthermore, regardless of whether they are working at the same work site, shovel information for all of the multiple shovels 100 included in the work support system SYS may be pre-distributed to each shovel 100. In this case, in step S206, only work information is distributed to each of the multiple shovels 100.

[0182] In step S208, the controller 30 of the shovel 100 receives the work information and shovel information distributed from the management device 200 in step S206 via the communication device 60, and stores them in the work information storage unit 303 and the shovel information storage unit 304, respectively.

[0183] Once the process in step S208 is complete, the controller 30 of the shovel 100 proceeds to step S210.

[0184] In step S210, the movable range setting unit 305 of the shovel 100 acquires work plan information and shovel information from the work information storage unit 303 and the shovel information storage unit 304.

[0185] Once the process in step S210 is complete, the controller 30 of the shovel 100 proceeds to step S212.

[0186] In step S212, the movable range setting unit 305 for the shovel 100 sets the movable range of the shovel 100 based on the work plan information and the shovel information.

[0187] Furthermore, the movable range setting unit 305 may or may not set a movable range for the time period during which only one shovel 100 is operating autonomously at the work site. In the former case, the movable range is set to be equal to the work area of ​​the shovel 100. In the latter case, the shovel 100 can move across the entire work area by automatic operation without any restrictions on the movable range.

[0188] Once the processing in step S212 is complete, the controller 30 proceeds to step S214.

[0189] The process in step S214 is the same as step S114 in the first example (Figure 5) described above, so its explanation is omitted.

[0190] Thus, in the work support system SYS in this example, each of the multiple excavators 100 working simultaneously at the same work site can set its own movable range, and based on that movable range, autonomous operation can be performed.

[0191] [Example 1 of how to set the movable range] Referring to Figure 8, a first example of how to set the movable range of the shovel 100 will be described.

[0192] In this example, the entity responsible for setting the movable range of the shovel 100 may be the movable range setting unit 2004 described above, or it may be the movable range setting unit 305. For convenience, in this example, the case in which the movable range setting unit 2004 is responsible for setting the movable range of the shovel 100 will be explained below, and by substituting "movable range setting unit 2004" with "movable range setting unit 305" in that explanation, the explanation in which the movable range setting unit 305 is responsible for setting the movable range of the shovel 100 will be substituted.

[0193] Figure 8 illustrates a first example of how to set the movable range of shovel 100. Specifically, Figure 8 shows a first example of the movable ranges MA and MB of two shovels 100A and 100B working at the same work site.

[0194] In this example, we consider the case where two excavators 100 work in adjacent work areas WA and WB, similar to the case in Figure 4 above. Hereafter, as in Figure 4, we will conveniently distinguish the excavators 100 working in work areas WA and WB as excavators 100A and 100B, respectively.

[0195] In this example, the movable range setting unit 2004 pre-sets the movable ranges MA and MB so that the range that attachment AT can reach relative to the lower traveling body 1 of the shovel 100A does not overlap with the range that attachment AT can reach relative to the lower traveling body 1 of the shovel 100.

[0196] For example, as shown in Figure 8, the movable range MA,MB is at a distance D across the boundary line BL of the work area WA,WB. AB The separation is predetermined, and an inaccessible area BF is placed between the movable areas MA and MB. In this example, the movable areas MA and MB are the ranges in which the lower traveling bodies 1 of shovels 100A and 100B can travel, with the pivot centers of the shovels 100A and 100B being the reference positions of the lower traveling bodies 1, respectively. Distance D AB For example, the reach RC of the AT attachment on the Shovel 100A. Aand the reach RC of the attachment AT in the excavator 100B A is the sum (i.e., the total) thereof. Thus, for example, as shown in FIG. 8, even if both of the excavators 100A and 100B operate independently and the attachments AT of the excavators 100A and 100B deviate from the movable ranges MA and MB to the non - accessible range BF side, contact between the attachments AT can be avoided.

[0197] Also, in this example, the distance D between the movable range MA and the boundary line BL A is preset to be equivalent to the reach RC of the attachment AT in the excavator 100A A Also, the distance D between the movable range MB and the boundary line BL B is preset to be equivalent to the reach RC of the attachment AT in the excavator 100B B As a result, the excavator 100A can reach the tip of the attachment AT to the boundary line BL of the work target areas WA and WB in a state where the lower traveling body 1 is located at the outer edge on the non - accessible range BF side in the movable range MA. Similarly, the excavator 100B can reach the tip of the attachment AT to the boundary line BL of the work target areas WA and WB in a state where the lower traveling body 1 is located at the outer edge on the non - accessible range BF side in the movable range MA. Therefore, the excavators 100A and 100B can perform work in the non - accessible range BF of the work target areas WA and WB. Thus, the work support system SYS can maintain the work efficiency of the excavators 100A and 100B while ensuring the safety of the excavators 100A and 100B.

[0198] As described above, in this example, the movable range setting unit 2004 can preset the movable ranges MA and MB so that the attachments AT do not contact each other by the independent operations of the excavators 100A and 100B respectively.

[0199] In addition, in this example, the distance D between the movable ranges MA and MB AB is the reach RC of the attachment AT in the excavator 100A Aand the AT attachment for the Shovel 100B and the Reach RC A It may be set to be greater than the sum of the above. Also, the distance D between the movable range MA and the boundary line BL between the movable ranges MA and MB. A This is a 100A RC reach shovel. A It can be set to a smaller value or a larger value. Also, the distance D between the movable range MB and the boundary line BL between the movable ranges MA and MB. B This is the Shovel 100B Reach RC. B It may be set to be smaller or larger. Also, the no-entry zone BF may be set only on the work area WA side. In this case, the movable zone MB is equal to the work area WB. Also, the no-entry zone BF may be set only on the work area WB side. In this case, the movable zone MA is equal to the work area WA. In addition, only a portion of the entire boundary line BL extending in the vertical direction in Figure 8 may be separated from at least one of the movable zones MA and MB, and in the remaining portion, the movable zones MA and MB may be in contact with the boundary line BL. For example, the upper and lower ends of the entire boundary line BL in Figure 8 may not be separated from the movable zones MA and MB, and the movable zones MA and MB may be pre-set so that their outer edges coincide with the boundary line BL.

[0200] Furthermore, even when the working area of ​​one shovel 100 is adjacent to the working areas of two or more other shovels 100, the movable range of the shovel 100 may be predetermined in the same manner as in this example, based on the boundary between each working area.

[0201] [Second example of how to set the movable range] Referring to Figure 9, a second example of how to set the movable range of the shovel 100 will be described.

[0202] In this example, the entity responsible for setting the movable range of the shovel 100 may be the movable range setting unit 2004 described above, or it may be the movable range setting unit 305. For convenience, in this example, the case in which the movable range setting unit 2004 is responsible for setting the movable range of the shovel 100 will be explained below, and by substituting "movable range setting unit 2004" with "movable range setting unit 305" in that explanation, the explanation in which the movable range setting unit 305 is responsible for setting the movable range of the shovel 100 will be substituted.

[0203] Figure 9 illustrates a second example of how to set the movable range of shovel 100. Specifically, Figure 9 shows a second example of the movable ranges MA and MB of two shovels 100A and 100B working at the same work site.

[0204] In this example, we consider the case where two excavators 100 work in adjacent work areas WA and WB, similar to the cases in Figures 4 and 8. Hereafter, as in Figures 4 and 8, the excavators 100 working in the respective work areas WA and WB will be conveniently distinguished as excavators 100A and 100B.

[0205] As shown in Figure 9, the movable ranges MA and MB are separated by a distance D across the boundary line BL of the work area WA and WB. AB The separation is predetermined, and an inaccessible area BF is placed between the movable areas MA and MB. In this example, as in the first example described above (i.e., Figure 8), the movable areas MA and MB are the ranges in which the lower traveling bodies 1 of shovels 100A and 100B can travel, with the pivot centers of the shovels 100A and 100B as the reference position of the lower traveling body 1. In this example, the distance D AB This refers to the AT attachment and RC reach on the Shovel 100A. A , and the reach RC of the AT attachment on the Shovel 100B BThe maximum value among them (i.e., the reach of the larger attachment AT) is set. This allows, for example, as shown in Figure 9, even if the attachment AT of shovel 100A deviates from the movable range MA towards the impassable range BF, contact between the attachment AT of shovel 100A and shovel 100B can be avoided as long as the entire shovel 100B remains within the movable range MB. Similarly, even if the attachment AT of shovel 100B deviates from the movable range MA towards the impassable range BF, contact between the attachment AT of shovel 100B and shovel 100B can be avoided as long as the entire shovel 100B remains within the movable range MA.

[0206] In this example, the distance D is between the movable ranges MA and MB and the boundary line BL of the work area WA and WB. A ,D B They are set to be equivalent.

[0207] For example, the autonomous control unit 301 of shovel 100A autonomously controls the lower traveling body 1 (i.e., the travel hydraulic motors 1ML, 1MR) of shovel 100A so that the pivot point of the upper rotating body 3 of shovel 100A is within the movable range MA, provided that the attachment AT of shovel 100B has not deviated from the movable range MB towards the inaccessible range BF. On the other hand, if the attachment AT of shovel 100B has deviated from the movable range MB towards the inaccessible range BF, the autonomous control unit 301 of shovel 100A autonomously controls the hydraulic actuator HA so that the entire shovel 100A is within the movable range MA. For example, the autonomous control unit 301 of shovel 100A autonomously controls the travel hydraulic motors 1ML, 1MR of shovel 100A so that the lower traveling body 1 of shovel 100A is within the movable range MA, with the boundary line between the movable range MA and the inaccessible range BF offset inward by the maximum radius of the shovel 100A's body. The maximum radius of the shovel 100 refers to the distance from the center of rotation of the point furthest from the center of rotation of the upper rotating body 3, within the shovel 100's body, which includes the lower traveling body 1 and the upper rotating body 3. In addition, the autonomous control unit 301 of the shovel 100A autonomously controls the hydraulic actuator HA of the shovel 100A so that the entire attachment AT of the shovel 100A is within the movable range MA. For example, the target trajectory generation unit 301B of the shovel 100A generates a target trajectory for the work area so that the distance between the boundary line of the movable range MA and the inaccessible range BF and the work area of ​​the bucket 6 is greater than or equal to a predetermined threshold. As a result, the operation control unit 301C of the shovel 100A can autonomously control the hydraulic actuator HA of the shovel 100A so that the attachment AT does not enter the inaccessible range BF.

[0208] Whether the attachment AT of the shovel 100B has deviated from the movable range MB to the impassable range BF is determined, for example, by the controller 30 of the shovel 100B. In this case, the determination result is transmitted from the shovel 100B to the management device 200 via the communication device 60, and then transmitted to the shovel 100A via the management device 200. Alternatively, the determination result may be transmitted directly from the shovel 100B to the shovel 100A via the communication device 60. Alternatively, whether the attachment AT of the shovel 100B has deviated from the movable range MB to the impassable range BF may be determined by the management device 200 based on information uploaded in real time from the shovel 100B to the management device 200, and transmitted from the management device 200 to the shovel 100A. Furthermore, whether or not the attachment AT of the shovel 100B has deviated from the movable range MB to the inaccessible range BF can be determined by the management device 200 based on the output of cameras and distance measuring sensors installed at the work site, and this information may be transmitted from the management device 200 to the shovel 100A.

[0209] Similarly, for example, the autonomous control unit 301 of the shovel 100B controls the travel hydraulic motors 1ML and 1MR of the shovel 100B so that the pivot point of the upper rotating body 3 of the shovel 100B is within the movable range MB, provided that the attachment AT of the shovel 100A has not deviated from the movable range MA towards the inaccessible range BF. On the other hand, if the attachment AT of the shovel 100A has deviated from the movable range MA towards the inaccessible range BF, the autonomous control unit 301 of the shovel 100B autonomously controls the hydraulic actuator HA so that the entire shovel 100B is within the movable range MB. For example, the autonomous control unit 301 of the shovel 100B autonomously controls the travel hydraulic motors 1ML and 1MR of the shovel 100B so that the lower traveling body 1 of the shovel 100B is within the movable range MB, with the boundary line with the inaccessible range BF offset inward by the maximum radius of the shovel 100B's body. In addition, the autonomous control unit 301 of the shovel 100B autonomously controls the hydraulic actuator HA of the shovel 100B so that the entire attachment AT of the shovel 100B is within the movable range MB. For example, the target trajectory generation unit 301B of the shovel 100B generates a target trajectory for the work area so that the distance between the boundary line of the movable range MB and the inaccessible range BF and the work area of ​​the bucket 6 is greater than or equal to a predetermined threshold. As a result, the operation control unit 301C of the shovel 100B can autonomously control the hydraulic actuator HA of the shovel 100B so that the attachment AT does not enter the inaccessible range BF.

[0210] Whether the attachment AT of the shovel 100A has deviated from the movable range MA to the inaccessible range BF is determined, for example, by the controller 30 of the shovel 100A. In this case, the determination result is transmitted from the shovel 100A to the management device 200 via the communication device 60, and then transmitted to the shovel 100B via the management device 200. Alternatively, the determination result may be transmitted directly from the shovel 100A to the shovel 100B via the communication device 60. Alternatively, whether the attachment AT of the shovel 100A has deviated from the movable range MA to the inaccessible range BF may be determined by the management device 200 based on information uploaded to the management device 200 in real time from the shovel 100A, and transmitted from the management device 200 to the shovel 100B. Furthermore, whether or not the attachment AT of the shovel 100A has deviated from the movable range MA to the inaccessible range BF can be determined by the management device 200 based on the output of cameras and distance measuring sensors installed at the work site, and this information may be transmitted from the management device 200 to the shovel 100B.

[0211] Thus, in this example, the movable range setting unit 2004 can pre-set the movable ranges MA and MB so that when the entire shovel 100A is within the movable range MA, the attachment AT does not come into contact with the shovel 100A due to the movement of the shovel 100B, and when the entire shovel 100B is within the movable range MB, the attachment AT does not come into contact with the shovel 100B due to the movement of the shovel 100A.

[0212] In this example, the distance D between the movable ranges MA and MB is considered to be the distance between them. AB Reach RC A and Reach RC B Within a range smaller than the sum of the above, reach RC A and Reach RC B It may be set to be greater than the maximum value among them. Also, the distance D between each of the movable ranges MA and MB and the boundary line BL of the work area WA and WB. A ,D BThey do not have to be equivalent. Also, the no-entry zone BF may be set only on the work area WA side. In this case, the movable zone MB is equal to the work area WB. Also, the no-entry zone BF may be set only on the work area WB side. In this case, the movable zone MA is equal to the work area WA. Also, in Figure 9, only a portion of the entire boundary line BL extending in the vertical direction may be separated from at least one of the movable zones MA and MB, and in the remaining portion, the movable zones MA and MB may be in contact with the boundary line BL. For example, the upper and lower ends of the entire boundary line BL in Figure 9 may not be separated from the movable zones MA and MB, and the movable zones MA and MB may be pre-set so that their outer edges coincide with the boundary line BL.

[0213] Furthermore, even when the working area of ​​one shovel 100 is adjacent to the working areas of two or more other shovels 100, the movable range may be predetermined in the same manner as in this example, based on the boundary between each working area. Then, based on the predetermined movable range, autonomous control of the shovel 100 may be performed in the same manner as in this example.

[0214] [Effect] The operation of the work support system and work machine according to this embodiment will be described.

[0215] In a first aspect of this embodiment, the work support system includes a first work machine and a second work machine, each operating by automatic driving and pre-assigned to a first and second adjacent area as a work area. The work support system is, for example, the work support system SYS described above. The first and second areas are, for example, the work target area WA and the work target area WB described above. The first and second work machines are, for example, the shovels 100A and 100B described above. The work support system SYS is also pre-set so that at least one of the first range in the first area to which the traveling body of the first work machine can move, and the second range in the second area to which the traveling body of the second work machine can move, is separated from at least a portion of the boundary between the first and second areas. The first range and the second range are, for example, the movable range MA and the movable range MB described above. The traveling body is, for example, the lower traveling body 1 described above. The boundary between the first region and the second region is, for example, the boundary line BL described above. The work support system then performs automatic operation of the first work machine based on the first region and automatic operation of the second work machine based on the second region.

[0216] Furthermore, in the first aspect of this embodiment, the work machine performs automatic operation based on a range in which its own vehicle can move, which is predetermined to be separated from at least a part of the boundary between the first and second areas, within a first area predetermined to be allocated as a place where it (also referred to as the "self-work machine") performs work, and adjacent to a second area allocated as a place where another work machine operating by automatic operation performs work. The work machine is, for example, the excavator 100A described above, and the other work machine is, for example, the excavator 100B described above. The first area is, for example, the work target area WA described above, and the second area is, for example, the work target area WB described above. The range in which its own vehicle can move is, for example, the movable range MA described above.

[0217] As a result, the work support system and work machines (hereinafter referred to as "work support system, etc.") can prevent situations in which the attachment of one work machine comes into contact with another work machine when the work machines are working in adjacent areas. Therefore, the work support system, etc. can improve the safety of multiple work machines working in relatively close proximity and can prevent a decrease in the work efficiency of multiple work machines. Thus, multiple work machines working in relatively close proximity can perform their work appropriately through automated operation.

[0218] Furthermore, in a second aspect of this embodiment, based on the first aspect described above, the first range and the second range may be predetermined based on information relating to the attachment of the first work machine and information relating to the attachment of the second work machine.

[0219] This allows work support systems to more appropriately set the range of motion of work machines, for example, by considering the specifications and reach of the work machine attachments. As a result, work support systems can more effectively prevent situations where the attachment of one work machine comes into contact with another work machine when working in adjacent areas.

[0220] Furthermore, in a third aspect of this embodiment, based on the second aspect described above, the information relating to the attachment of the first work machine may be information relating to the reach of the attachment of the first work machine. And the information relating to the attachment of the second work machine may be information relating to the reach of the attachment of the second work machine.

[0221] This allows work support systems and the like to more appropriately set the range of motion of the work machine, taking into account the reach of the machine's attachments.

[0222] Furthermore, in a fourth aspect of this embodiment, based on any one of the first to third aspects described above, the first range and the second range may be set in advance so that the attachments do not come into contact with each other through the independent operation of the first work machine and the second work machine.

[0223] As a result, work support systems and the like can more effectively prevent situations where the attachment of one work machine comes into contact with another work machine when working in adjacent areas.

[0224] Furthermore, in a fifth aspect of this embodiment, based on the fourth aspect described above, the first range and the second range may be set in advance so that the range that the attachment of the first work machine can reach relative to the traveling body of the first work machine and the range that the attachment of the second work machine can reach relative to the traveling body of the second work machine do not overlap.

[0225] This allows the work support system to pre-set the range of movement of the working machines' bodies so that the attachments of the working machines working in adjacent areas do not come into contact with each other due to their independent movements.

[0226] Furthermore, in a sixth aspect of this embodiment, based on the fifth aspect described above, the first and second areas may be set in advance such that the distance between them, with the boundary between the first and second areas in between, is greater than or equal to the sum of the reach of the attachment from the reference position of the traveling body of the first work machine and the reach of the attachment from the reference position of the traveling body of the second work machine.

[0227] This allows the work support system to pre-set the range of movement of the working machines' bodies so that the attachments of the working machines working in adjacent areas do not come into contact with each other due to their independent movements.

[0228] Furthermore, in the seventh aspect of this embodiment, assuming any one of the first to third aspects described above, the first range and the second range may be set in advance such that, when the entire first work machine is within the first range, the operation of the second work machine prevents its attachment from coming into contact with the first work machine, and when the entire second work machine is within the second range, the operation of the first work machine prevents its attachment from coming into contact with the second work machine. The first work machine may be automatically operated so that the attachment of the first work machine does not deviate from the first range if the attachment of the second work machine deviates from the second range in the direction of the first range, and the second work machine may be automatically operated so that the attachment of the second work machine does not deviate from the second range if the attachment of the first work machine deviates from the first range in the direction of the second range.

[0229] This allows the work support system to avoid contact between work machines by temporarily restricting the autonomous movement of the machines while ensuring a relatively wide range of movement for each machine working in adjacent areas.

[0230] Furthermore, in the eighth aspect of this embodiment, based on the seventh aspect described above, the first and second areas may be set in advance such that the distance between them, with the boundary between the first and second areas in between, is greater than or equal to the larger of the reach of the attachment from the reference position of the traveling body of the first work machine and the reach of the attachment from the reference position of the traveling body of the second work machine, and less than the sum of the reaches of both.

[0231] This allows work support systems and the like to ensure a relatively wide range of movement for each piece of work machinery operating in adjacent areas.

[0232] Furthermore, in the ninth aspect of this embodiment, based on any one of the first to eighth aspects described above, the first work machine and the second work machine may each comprise a traveling body, a slewing body rotatably mounted on the traveling body, and an attachment to the slewing body. The first range may be defined as the range in which the pivot center of the slewing body of the first work machine can be located when viewed from above, and the second range may be defined as the range in which the pivot center of the slewing body of the second work machine can be located when viewed from above.

[0233] This allows work support systems, for example, to pre-set the range of motion of the work machine by considering the reach of the attachment from the pivot point of the rotating body.

[0234] Preferred embodiments of the present disclosure have been described above. However, the inventions of the present disclosure are not limited to the embodiments described above. Various modifications, substitutions, etc., can be applied to the embodiments described above without departing from the scope of the inventions of the present disclosure. Furthermore, each of the features described with reference to the embodiments described above may be combined as appropriate, as long as they do not contradict each other technically. [Explanation of Symbols]

[0235] 1. Lower running body 1CL, 1CR Crawler 1ML, 1MR Hydraulic Motor for Travel 2M Swivel Hydraulic Motor 3. Upper rotating body 4 Boom 5 Arms 6 buckets 7 Boom Cylinder 8 Arm Cylinder 9 Bucket Cylinder 30 controllers 31 Hydraulic control valve 60 Communication equipment 100 Shovel 100A, 100B Shovel 200 Management device 301 Autonomous Control Unit 301A Terrain shape acquisition section 301B Target trajectory generation unit 301C Operation Control Unit 302 Target shape information storage unit 303 Work Information Storage Unit 304 Shovel Information Storage Unit 305 Movable range setting section 2001 Construction Plan Information Acquisition Department 2002 Work Planning Department 2003 Shovel Information Memory Unit 2004 Movable Range Setting Unit 2005 Distribution Department AT attachment BF No entry range BL boundary line HA Hydraulic Actuator MA,MB Movable Range RC A RC B reach S1~S5 Sensing device S6 Sensing device S6B Rear Camera S6F Front Camera S6L left-side camera S6R Right-side camera SYS Work Support System WA, WB work area

Claims

1. It includes a first work machine and a second work machine, each operating autonomously and each having a first and second adjacent area pre-assigned to it as a work area, A first range within the first region in which the traveling body of the first work machine can move, and a second range within the second region in which the traveling body of the second work machine can move, are set in advance to be separated from at least a portion of the boundary between the first region and the second region. Based on the first range, the first work machine is operated automatically. Based on the second range described above, the automatic operation of the second work machine is performed. Work support system.

2. Based on the information relating to the attachment of the first work machine and the information relating to the attachment of the second work machine, the first range and the second range are set in advance. The work support system according to claim 1.

3. The information relating to the attachment of the first work machine is information relating to the reach of the attachment of the first work machine, The information relating to the second work machine attachment is the information relating to the reach of the second work machine attachment. The work support system according to claim 2.

4. The first range and the second range are set in advance so that the attachments do not come into contact with each other through the independent operation of the first work machine and the second work machine. A work support system according to any one of claims 1 to 3.

5. The first range and the second range are set in advance so that the range that the attachment of the first work machine can reach relative to the traveling body of the first work machine does not overlap with the range that the attachment of the second work machine can reach relative to the traveling body of the second work machine. The work support system according to claim 4.

6. The first range and the second range are set in advance such that the distance between them, with the boundary between the first and second ranges in between, is greater than or equal to the sum of the reach of the attachment from the reference position of the traveling body of the first work machine and the reach of the attachment from the reference position of the traveling body of the second work machine. The work support system according to claim 5.

7. The first range and the second range are set in advance such that, when the entire first working machine is within the first range, the attachment of the second working machine does not come into contact with the first working machine due to the operation of the second working machine, and when the entire second working machine is within the second range, the attachment of the first working machine does not come into contact with the second working machine due to the operation of the first working machine. The first work machine is automatically operated so that the attachment of the first work machine does not deviate from the first range if the attachment of the second work machine deviates from the second range in the direction of the first range. The second work machine is automatically operated so that, if the attachment of the first work machine deviates from the first range in the direction of the second range, the attachment of the second work machine does not deviate from the second range. A work support system according to any one of claims 1 to 3.

8. The first range and the second range are set in advance such that the distance between them, with the boundary between the first and second ranges in between, is greater than or equal to the larger of the reach of the attachment from the reference position of the traveling body of the first work machine and the reach of the attachment from the reference position of the traveling body of the second work machine, and less than the sum of the reaches of both. The work support system according to claim 7.

9. The first work machine and the second work machine each comprise a traveling body, a rotating body mounted on the traveling body so as to be rotatable, and an attachment to the rotating body. The first range is defined as the range in which the pivot center of the first working machine can be located when viewed from above. The second range is defined as the range in which the pivot center of the second working machine can be positioned when viewed from above. A work support system according to any one of claims 1 to 3.

10. A first area is pre-assigned as a place where the self-operated work machine will perform its work, and within this first area, which is adjacent to a second area assigned as a place where another work machine operating by automatic operation will perform its work, the self-operated work machine will perform its automatic operation based on a range of movement of the self-operated work machine's vehicle, which is pre-set to be separated from at least a part of the boundary between the first and second areas. A type of machinery used for industrial work.

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