Operating system

Abstract

To improve efficiency of a work for a work object by an attachment.SOLUTION: A contact determination part 31 determines whether or not an attachment 15 becomes a contact state of contacting a work object O during movement of an attachment tip part 15t toward a work start position P3 from a movement start position P1. A work control part 33 allows the attachment 15 to start the work at a position of the attachment 15 when the contact determination part 31 determines that the attachment becomes the contact state.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a work system for automatically causing an attachment to perform work.

Background Art

[0002] For example, Patent Document 1 describes an excavator having an attachment. In claim 1 of the same document, when conditions such as "a state in which the excavator may be in a relatively unstable posture" are satisfied, it is described that "the operation of the actuator using the operating device is restricted".

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the technology described in the same document, when predetermined conditions are satisfied, the operation of the attachment (boom, arm, bucket in the same document) is restricted. When the operation of the attachment is restricted, the efficiency of the work on the work object by the attachment deteriorates.

[0005] Therefore, an object of the present invention is to provide a work system capable of improving the efficiency of work on a work object by an attachment.

Means for Solving the Problems

[0006] The work system includes a lower main body, an upper revolving body, an attachment, a work control unit, and a contact determination unit. The upper revolving body is rotatably mounted on the lower main body. The attachment is attached to the upper revolving body and performs work on a work object. The work control unit performs control to automatically operate the attachment. The contact determination unit determines whether or not the attachment has come into a contact state in which it has contacted the work object while the tip of the attachment is moving from a specific movement start position toward a work start position that is the start position of the work on the work object. When the tip of the attachment moves from the movement start position to the work start position without being determined by the contact determination unit to be in the contact state, the work control unit starts the work on the attachment at the work start position. When it is determined by the contact determination unit to be in the contact state, the work control unit starts the work on the attachment at the position of the attachment when it is determined to be in the contact state.

Effect of the Invention

[0007] With the above configuration, the efficiency of the work on the work object by the attachment can be improved.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Mode for Carrying Out the Invention

[0009] Referring to FIGS. 1 to 5, the working system 1 will be described.

[0010] As shown in FIG. 1, the working system 1 is a system for performing work on a work object O. The working system 1 includes a working machine 10, an imaging device 21, a posture detection unit 23 shown in FIG. 2, an attachment speed sensor 25, an attachment load sensor 27, and a controller 30.

[0011] As shown in FIG. 1, the working machine 10 is a machine for performing work, for example, a construction machine for performing construction work, such as a shovel. The working machine 10 performs work on the work object O. The work object O may be, for example, earth and sand, crushed stone, or waste. The work object O may be, for example, in a mountain shape (such as an earth and sand mountain), may be disposed on the ground G (see FIG. 4), or may be disposed in a pit P (surrounded by a wall Pw). The working machine 10 includes a lower traveling body 11 (lower main body), an upper revolving body 13, an attachment 15, and a drive unit 17.

[0012] The lower traveling body 11 (lower main body) travels the working machine 10. The lower traveling body 11 includes, for example, crawlers.

[0013] The upper revolving body 13 is rotatably mounted on the lower traveling body 11. An attachment 15 is attached to the upper revolving body 13. The upper revolving body 13 includes a driver's cab 13a and a counterweight 13b. The driver's cab 13a is a part where an operator can operate the working machine 10. The working machine 10 may not be operated by an operator and may be automatically operated by a controller 30 (see FIG. 2). The counterweight 13b is a weight for balancing the working machine 10 in the front-rear direction X.

[0014] (Definition of directions regarding the working machine 1) The direction in which the rotation axis (swing center 13o (see Fig. 5)) of the upper swing body 13 with respect to the lower traveling body 11 extends is defined as the vertical direction Z. In the vertical direction Z, the side (direction) from the lower traveling body 11 toward the upper swing body 13 is defined as the upper side Z1, and the opposite side is defined as the lower side Z2. As shown in Fig. 5, the direction in which the attachment 15 extends when viewed from the vertical direction Z (the direction in which the attachment 15 protrudes with respect to the upper swing body 13) is defined as the front-rear direction X. In the front-rear direction X, the side from the counterweight 13b toward the attachment portion of the attachment 15 to the upper swing body 13 is defined as the "front side". In the front-rear direction X, when viewed from the front side of the upper swing body 13, the side far from the upper swing body 13 is defined as the rear side X1, and the side close to the upper swing body 13 is defined as the front side X2. The direction of the swing of the upper swing body 13 with respect to the lower traveling body 11 (the direction centered on the swing center 13o) is defined as the swing direction θ.

[0015] As shown in Fig. 1, the attachment 15 is attached to the upper swing body 13 and is a part for performing work on the work object O. The attachment 15 includes a boom 15a, an arm 15b, and a tip attachment 15c. The boom 15a is attached to the upper swing body 13 so as to be able to undulate (rotate in the vertical direction). The arm 15b is rotatably attached to the boom 15a. The tip attachment 15c is a part for performing work on the work object O. The tip attachment 15c is provided at the tip of the attachment 15 and is rotatably attached to the arm 15b. The tip attachment 15c may be, for example, a bucket for scooping (excavating) earth and sand, a device for clamping objects (such as a grapple), or a device for performing crushing or excavation (such as a breaker). The tip of the tip attachment 15c (the tip of the attachment 15) is defined as the attachment tip 15t.

[0016] The drive unit 17 drives the working machine 10. The drive unit 17 may include, for example, a hydraulic actuator or an electric actuator. The above "actuator" may be, for example, a telescopic cylinder or a motor. Specifically, for example, the drive unit 17 includes a boom cylinder 17a, an arm cylinder 17b, a tip attachment cylinder 17c, and a slewing motor 17d (see Fig. 2). The boom cylinder 17a is a cylinder (e.g., a hydraulic cylinder) that raises and lowers the boom 15a with respect to the upper slewing body 13. The arm cylinder 17b is a cylinder (e.g., a hydraulic cylinder) that rotates the arm 15b with respect to the boom 15a. The tip attachment cylinder 17c is a cylinder (e.g., a hydraulic cylinder) that rotates the tip attachment 15c with respect to the arm 15b. In Fig. 2, the tip attachment cylinder 17c is described as the "tip ATT cylinder". The slewing motor 17d is a motor (e.g., a hydraulic motor or an electric motor) that slews the upper slewing body 13 with respect to the lower traveling body 11 shown in Fig. 1. The slewing motor 17d (see Fig. 2) slews the upper slewing body 13 with respect to the lower traveling body 11 about the slewing center 13o shown in Fig. 5. As a result, the slewing motor 17d slews the attachment 15 with respect to the lower traveling body 11 about the slewing center 13o.

[0017] As shown in Fig. 1, the imaging device 21 detects three-dimensional information on the position and shape of the imaging object. The above "imaging object" is at least one of the work object O and the surrounding objects of the work object O. The imaging device 21 acquires an image (distance image) having distance information (depth information). The imaging device 21 may detect three-dimensional information of the imaging object based on the distance image and the two-dimensional image. Only one imaging device 21 may be provided, or a plurality of imaging devices 21 may be provided. The imaging device 21 may be mounted on the working machine 10 or may be arranged outside the working machine 10 (e.g., at the work site). The same applies to the posture detection unit 23, the attachment speed sensor 25, and the controller 30 shown in Fig. 2 in that they may be mounted on the working machine 10 or arranged outside the working machine 10.

[0018] This imaging device 21 (see FIG. 1) may be provided with a device that detects three-dimensional information using laser light. The imaging device 21 may include, for example, LiDAR (Light Detection and Ranging or Laser Imaging Detection and Ranging), or may include a TOF (Time Of Flight) sensor. The imaging device 21 may be provided with a device that detects three-dimensional information using radio waves (such as a millimeter-wave radar). The imaging device 21 may include a stereo camera. When the imaging device 21 detects the three-dimensional position and shape of an imaging object based on three-dimensional information and two-dimensional information, the imaging device 21 may include a camera capable of detecting a two-dimensional image.

[0019] The attitude detection unit 23 detects the attitude of the work machine 10 (see FIG. 1). The attitude detection unit 23 includes a boom sensor 23a, an arm sensor 23b, a tip attachment sensor 23c (tip ATT sensor in FIG. 2), and a slewing sensor 23d.

[0020] The boom sensor 23a detects the rotation angle (pitching angle) of the boom 15a with respect to the upper slewing body 13 shown in FIG. 1. The boom sensor 23a (see FIG. 2) may include an angle sensor attached to the rotation axis of the boom 15a with respect to the upper slewing body 13. The boom sensor 23a may include an inclination sensor that detects the inclination angle of the boom 15a with respect to the ground G or the like. The boom sensor 23a may include a stroke sensor that detects the stroke position of the boom cylinder 17a (the position of the cylinder rod with respect to the cylinder tube). The boom sensor 23a may be one that detects the attitude of the boom 15a based on a two-dimensional image or a distance image (one that performs detection based on an image). In this case, the two-dimensional image or the distance image may be captured by the imaging device 21.

[0021] The arm sensor 23b (see Fig. 2) detects the rotation angle of the arm 15b with respect to the boom 15a. The arm sensor 23b may include an angle sensor, may include an inclination sensor, may include a stroke sensor, or may perform detection based on an image (the same applies to the tip attachment sensor 23c (see Fig. 2)). The tip attachment sensor 23c detects the rotation angle of the tip attachment 15c with respect to the arm 15b. The turning sensor 23d detects the turning angle (turning direction θ) of the upper slewing body 13 with respect to the lower traveling body 11. The turning sensor 23d may include an angle sensor or may perform detection based on an image.

[0022] The attachment speed sensor 25 (see Fig. 2) detects the operating speed of the attachment 15. For example, the attachment speed sensor 25 may be used in common with the attitude detection unit 23 (see Fig. 2). For example, the attachment speed sensor 25 may convert the detection result (such as an angle) of the attitude of the attachment 15 by the attitude detection unit 23 into the operating speed of the attachment 15. Specifically, for example, the attachment speed sensor 25 may convert the elevation angle of the boom 15a with respect to the upper slewing body 13 detected by the boom sensor 23a (see Fig. 2) into the rotational speed (angular velocity) of the boom 15a with respect to the upper slewing body 13. For example, the attachment speed sensor 25 may convert the stroke position of the boom cylinder 17a into the stroke speed of the boom cylinder 17a. Then, the attachment speed sensor 25 may convert the speed of the boom cylinder 17a into the rotational speed of the boom 15a with respect to the upper slewing body 13. Regarding the operating speed of the arm 15b and the operating speed of the tip attachment 15c, the angle or stroke may be converted into speed. Regarding the turning speed of the upper slewing body 13 with respect to the lower traveling body 11 (that is, the turning speed of the attachment 15), the turning angle may be converted into the turning speed. Note that the attachment speed sensor 25 does not have to be used in common with the attitude detection unit 23, and may detect the operating speed of the attachment 15 without using the detection result by the attitude detection unit 23.

[0023] The attachment load sensor 27 (see FIG. 2) detects the load in the vertical direction Z acting on the attachment 15. The attachment load sensor 27 detects the load in the vertical direction Z acting on at least any one of the boom 15a, the arm 15b, and the tip attachment 15c. Specifically, for example, when the attachment load sensor 27 detects the load in the vertical direction Z acting on the boom 15a, it may detect the hydraulic pressure of the hydraulic oil that actuates the boom cylinder 17a.

[0024] The controller 30 (see FIG. 2) performs signal input / output, calculation (processing), information storage, etc. For example, the controller 30 shown in FIG. 2 receives detection results from the imaging device 21 (see FIG. 1), the attitude detection unit 23, the attachment speed sensor 25, and the attachment load sensor 27. For example, the controller 30 outputs a signal for driving the drive unit 17. The controller 30 includes a contact determination unit 31 and a work control unit 33.

[0025] The contact determination unit 31 determines whether it is in the contact state described later. The work control unit 33 automatically operates the work machine 10. The work control unit 33 performs control to automatically operate the attachment 15 (see FIG. 1). The work control unit 33 controls each of the boom cylinder 17a, the arm cylinder 17b, the tip attachment cylinder 17c, and the swing motor 17d.

[0026] (Overview of the operation of the work system 1) The work system 1 is configured to operate as follows. The controller 30 (see FIG. 2) controls (automatically drives) the work machine 10 and causes the attachment 15 to perform work. Specific examples of the operation of the attachment 15 at this time are as follows.

[0027] The attachment 15 performs an operation (such as excavation) on the work object O, and the tip attachment 15c is in a state where the work object O can be transported (for example, scooped up state, gripped state, etc.). In this state, the attachment 15 transports the work object O to a predetermined position. Specifically, for example, the attachment 15 lifts the work object O, and the upper swing body 13 performs a swing (the working machine 10 performs a lift and swing). Next, the attachment 15 releases (for example, discharges soil) the work object O above a loading target object (such as the loading platform of a transport vehicle) not shown in the figure. Next, the tip attachment 15c (more specifically, the attachment tip portion 15t) moves to a planned position (work start position P3) for performing an operation on the work object O. When moving, for example, the upper swing body 13 performs a swing (return swing), and the height (position in the vertical direction Z) of the tip attachment 15c is changed. In this way, in the working machine 10, for example, a series of operations such as operation, lift and swing, release, and return swing are repeated. Note that the operation of the working machine 10 described above is an example, and the operation of the working machine 10 can be performed in various ways.

[0028] (Movement of the attachment tip portion 15t) The work control unit 33 (see FIG. 2) controls the operation of the working machine 10 so that the attachment tip portion 15t moves from the movement start position P1 to the work start position P3.

[0029] The movement start position P1 is a specific position set in the controller 30 (for example, the contact determination unit 31) (see FIG. 2). The movement start position P1 is the start position of the movement of the attachment tip portion 15t when the determination by the contact determination unit 31 (described later) is performed. For example, the movement start position P1 may be a position on the locus of the attachment tip portion 15t in the above-described return swing (see FIG. 5), or may be the position of the attachment tip portion 15t at the start of the return swing. As shown in FIG. 5, the movement start position P1 may be a point that overlaps with the boundary between the inside and the outside of the range (work target area Oa) where the operation by the tip attachment 15c is performed. For example, the operation by the tip attachment 15c is performed at least in a part of the work target area Oa.

[0030] The work start position P3 is the position of the attachment tip 15t when the work (e.g., excavation) on the work object O by the tip attachment 15c shown in FIG. 1 starts. The work start position P3 may be automatically set by, for example, the controller 30 (see FIG. 2). Specifically, the work start position P3 may be automatically set by the controller 30 based on the distance image captured by the imaging device 21. The height of the work start position P3 may be set by teaching (instruction) with the attachment 15 by the operator. The height of the work start position P3 may be set by input (e.g., numerical input) to the portable information terminal (e.g., tablet, smartphone, etc.) by the worker. Similar to the work start position P3, the movement start position P1 may also be automatically set by the controller 30, may be set by teaching with the attachment 15, or may be set by input to the portable information terminal.

[0031] (Contact between the attachment 15 and the work object O) It is assumed that the work object O exists between the movement start position P1 and the work start position P3. In this case, it is assumed that the attachment 15 contacts the work object O when the attachment tip 15t moves from the movement start position P1 to the work start position P3. Specific examples are as follows.

[0032] [Example of Contact in the Vertical Direction Z] For example, it is assumed that the work object O exists directly above the work start position P3. For example, when the height of the work start position P3 set by teaching or input to the portable information terminal is lower than the height of the work object O, it is assumed that the work object O exists directly above the work start position P3. In such a case, when the attachment tip 15t moves from the upper side Z1 relative to the work object O toward the lower side Z2 toward the work start position P3, the attachment 15 (for example, the tip attachment 15c) contacts the work object O. If the attachment 15 is further lowered in this state, the work machine 10 (the vehicle body) tries to lift with respect to the ground G. Then, the work machine 10 may tilt with respect to the ground G and become unstable. In the example shown in FIG. 1, the case where the attachment tip 15t contacts the work object O is shown. However, the portion of the attachment 15 that contacts the work object O is not limited to the attachment tip 15t, nor is it limited to the tip attachment 15c.

[0033] [Example of Contact in the Front - Rear Direction X] For example, as shown in FIG. 4, consider the case where the work start position P3 is behind the movement start position P1 in the X1 direction. In this case, it is assumed that the work object O exists at a position higher than the work start position P3 between the movement start position P1 and the work start position P3 in the front - rear direction X. In such a case, when the tip attachment 15c moves from the movement start position P1 toward the work start position P3, it may contact (catch) the work object O on the front side X2 of the work start position P3.

[0034] [Example of Contact in the Swivel Direction θ] For example, as shown in FIG. 5, it is assumed that the work object O exists at a position higher than the work start position P3 between the movement start position P1 and the work start position P3 in the swivel direction θ. In such a case, when the tip attachment 15c swivels from the movement start position P1 toward the work start position P3, it may contact (catch) the work object O on the side closer to the movement start position P1 than the work start position P3.

[0035] Therefore, when the attachment 15 contacts the work object O while moving from the movement start position P1 to the work start position P3, the work control unit 33 (see FIG. 2) changes the work start position P3. The changed P3 is referred to as the changed work start position P3a. The details of the control by the controller 30 are as follows.

[0036] (Changed work start position P3a) Regarding the operation of the controller 30 (see FIG. 2), it will be described with reference to the flowchart shown in FIG. 3. Hereinafter, each step shown in the flowchart will be described with reference to FIG. 3. In step S11, the work control unit 33 (see FIG. 2) performs control to move the attachment 15 from the movement start position P1 toward the work start position P3. Specifically, for example, the work control unit 33 causes the attachment 15 to perform a return turning operation.

[0037] In step S12, the contact determination unit 31 (see FIG. 2) determines whether the attachment tip 15t has reached the work start position P3. When the attachment tip 15t has not reached the work start position P3 (NO in step S21), the flow proceeds to steps S21 to S24 and S31. When the attachment tip 15t has not reached the work start position P3, it means that the attachment tip 15t is moving from the movement start position P1 toward the work start position P3. When the attachment tip 15t has reached the work start position P3, the flow proceeds to S41.

[0038] In steps S21 to S24 and S31, the contact determination unit 31 (see FIG. 2) determines whether the attachment 15 is in a "contact state" where it is in contact with the work object O.

[0039] In steps S21 to S24, the contact determination unit 31 (see FIG. 2) determines whether the attachment 15 has come into contact with the work object O and is in a state where the attachment 15 has stopped or has substantially stopped. Specifically, when the operating speed of the attachment 15 detected by the attachment speed sensor 25 (see FIG. 2) is equal to or lower than the speed threshold value, the contact determination unit 31 determines that it is in a contact state. The above speed threshold value is set in advance (before this determination) in the contact determination unit 31 (the same applies to each of the following threshold values).

[0040] More specifically, in step S21, the contact determination unit 31 (see FIG. 2) determines whether the rotational speed of the boom 15a with respect to the upper swing body 13 is equal to or lower than the boom speed threshold value (the speed threshold value related to the rotational speed of the boom 15a). For example, when the state where the rotational speed of the boom 15a is equal to or lower than the boom speed threshold value continues for a predetermined time or more, the contact determination unit 31 determines that the rotational speed of the boom 15a is equal to or higher than the boom speed threshold value. The above "predetermined time" is a threshold value related to the time set in advance in the contact determination unit 31.

[0041] Similarly, in step S22, the contact determination unit 31 (see FIG. 2) determines whether the rotational speed of the arm 15b with respect to the boom 15a is equal to or lower than the arm speed threshold value (the speed threshold value related to the rotational speed of the arm 15b). In step S23, the contact determination unit 31 determines whether the rotational speed of the tip attachment 15c with respect to the arm 15b is equal to or lower than the tip attachment speed threshold value (the speed threshold value related to the rotational speed of the tip attachment 15c). In FIG. 3, the tip attachment 15c is described as "tip ATT". In step S24, the contact determination unit 31 determines whether the turning speed of the attachment 15 (of the upper swing body 13) with respect to the lower traveling body 11 shown in FIG. 1 is equal to or lower than the turning speed threshold value (the speed threshold value related to the turning speed of the attachment 15).

[0042] When the rotational speed of the boom 15a, the rotational speed of the arm 15b, the rotational speed of the tip attachment 15c, and the turning speed of the attachment 15 are each below their respective speed thresholds (when all of steps S21 to S24 are YES), the flow proceeds to step S25. In this case, the contact determination unit 31 (see FIG. 2) determines that the attachment 15 has stopped or has substantially stopped. On the other hand, when this condition is not satisfied (when at least one of steps S21 to S24 is NO), the contact determination unit 31 determines that the attachment 15 has not stopped or has not substantially stopped. In this case, the contact determination unit 31 determines that the attachment 15 is not in a contact state. In this case, the flow returns to step S12.

[0043] In step S31, the contact determination unit 31 (see FIG. 2) determines whether the load detected by the attachment load sensor 27 is equal to or greater than a load threshold (a threshold related to the load of the attachment 15). In this determination, it is determined whether the attachment 15 is in a state of lifting the work machine 10 with respect to the ground G, attempting to tilt the work machine 10, or is in a tilted state. In this determination, the contact determination unit 31 determines whether the load in the vertical direction Z (the "boom load" in FIG. 3) acting on the attachment 15 (specifically, for example, the boom 15a) is equal to or greater than the load threshold. When the load in the vertical direction Z acting on the attachment 15 is equal to or greater than the load threshold, the flow proceeds to step S32. When the load in the vertical direction Z acting on the attachment 15 is less than the load threshold, the contact determination unit 31 determines that the attachment 15 is not in a contact state. In this case, the flow returns to step S12.

[0044] When at least one of the conditions that the operating speed of the attachment 15 is below the speed threshold (YES in all of S21 to S24) and the load in the vertical direction Z acting on the attachment 15 is equal to or greater than the load threshold (YES in S31) is satisfied, the flow proceeds to step S32. In this case, the contact determination unit 31 determines that the attachment 15 is in a contact state. In this case, the flow proceeds to step S41.

[0045] (Determination of the speed and load of Attachment 15) The contact determination unit 31 (see FIG. 2) preferably determines whether or not it is in a contact state based on a determination of whether or not the operating speed of the attachment 15 is equal to or lower than the speed threshold (speed determination) and a determination of whether or not the load on the attachment 15 is equal to or higher than the load threshold (load determination). The reason for this is as follows. When the attachment 15 floats the work machine 10 with respect to the ground G and tilts the lower traveling body 11 with respect to the ground G, the attachment 15 is not stopped (or substantially stopped). Therefore, when only the speed determination is performed, even though the attachment 15 is in contact with the work object O, it is not determined that "it is in a contact state". On the other hand, although the attachment 15 is in contact with the work object O and stopped (or substantially stopped), the load acting on the attachment 15 may be small. Specifically, for example, when the stroke amount of the boom cylinder 17a after the attachment 15 comes into contact with the work object O is small, the load acting on the boom cylinder 17a is small, and the pressure of the hydraulic oil supplied to the boom cylinder 17a does not increase significantly. In such a case, even though the attachment 15 is in contact with the work object O, it is not determined that "it is in a contact state". On the other hand, when both the speed determination and the load determination are performed, it is possible to appropriately determine whether or not the attachment 15 is in contact with the work object O.

[0046] In addition, if it is possible to appropriately determine whether or not the attachment 15 is in contact with the work object O by performing only one of the speed determination and the load determination, only one of the speed determination and the load determination may be performed.

[0047] In step S41, the work control unit 33 (see FIG. 2) causes the attachment 15 to start working on the work object O. More specifically, when the attachment tip 15t moves from the movement start position P1 to the work start position P3 without being determined by the contact determination unit 31 (see FIG. 2) to be in the contact state (when the answer in step S12 is NO), the work control unit 33 performs the following process. In this case, the work control unit 33 causes the attachment 15 to start working at the work start position P3. More specifically, the work control unit 33 causes the attachment 15 to start working on the work object O from the state where the attachment tip 15t is arranged at the work start position P3.

[0048] Also, when it is determined by the contact determination unit 31 (see FIG. 2) that it is in the contact state (when proceeding from step S32 to step S41), the work control unit 33 (see FIG. 2) performs the following process. In this case, the work control unit 33 causes the attachment 15 to start working at the position of the attachment 15 when the contact determination unit 31 determines that it is in the contact state. In this case, the contact determination unit 31 changes the work start position P3 to the position of the attachment 15 when the contact determination unit 31 determines that it is in the contact state (changes the work start position P3 to the changed work start position P3a). More specifically, the work control unit 33 causes the attachment 15 to start working on the work object O from the state where the attachment tip 15t is arranged at the changed work start position P3a. Therefore, even when it is determined that it is in the contact state, the work on the work object O by the attachment 15 is performed.

[0049] After step S41, the flow proceeds to "End". Thereafter, the controller 30 (see FIG. 2) causes the work machine 10 to perform, for example, the above-mentioned lifting and turning, and the release of the work object O. Thereafter, when causing the work machine 10 to perform the return turning, the controller 30 performs the process shown in FIG. 3 again.

[0050] The attachment 15 shown in Fig. 1 starts working at the post-change work start position P3a. After this work is completed, for example, when lifting and turning and releasing the work object O are performed, the process shown in Fig. 3 is performed again. This will be described. [Example 1] In this case, the movement target of the attachment tip 15t shown in Fig. 1 may be returned from the post-change work start position P3a to the pre-change work start position P3. [Example 1a] For example, due to the attachment 15 contacting the work object O and performing work at the post-change work start position P3a, the shape of the work object O changes. Then, the attachment tip 15t may reach the pre-change work start position P3. In this case, the attachment 15 can perform work at the pre-change work start position P3. [Example 1b] Also, so as to avoid the position of the attachment 15 (so-called obstacle) when it is determined to be in the contact state, the attachment tip 15t may move from the movement start position P1 to the pre-change work start position P3. In Fig. 5, an example of the movement path of the attachment tip 15t in this case is shown by a two-dot chain line. [Example 2] Also, the movement target of the attachment tip 15t may be set to a position (new work start position P3) that is neither the post-change work start position P3a nor the "pre-change work start position P3".

[0051] (Effect of the First Invention) As shown in FIG. 1, the effects of the work system 1 are as follows. The work system 1 includes a lower traveling body 11 (lower main body), an upper slewing body 13, an attachment 15, a work control unit 33 (see FIG. 2), and a contact determination unit 31 (see FIG. 2). The upper slewing body 13 is rotatably mounted on the lower traveling body 11. The attachment 15 is attached to the upper slewing body 13 and performs work on the work object O. The work control unit 33 controls the attachment 15 to operate automatically. The contact determination unit 31 determines whether or not the attachment 15 is in a contact state where it has contacted the work object O while the attachment tip 15t is moving from a specific movement start position P1 toward a work start position P3. The work start position P3 is the start position of the work on the work object O. When the attachment tip 15t moves from the movement start position P1 to the work start position P3 without being determined by the contact determination unit 31 to be in a contact state, the work control unit 33 starts the work on the attachment 15 at the work start position P3.

[0052] [Configuration 1] When it is determined by the contact determination unit 31 that the attachment 15 is in a contact state, the work control unit 33 starts the work on the attachment 15 at the position of the attachment 15 when it is determined to be in a contact state.

[0053] According to the above [Configuration 1], even when the attachment 15 is in a contact state where it has contacted the work object O, the work on the work object O is started on the attachment 15 at the position of the attachment 15 when it is determined to be in a contact state. Therefore, even when the attachment 15 is in a contact state, the work on the work object O by the attachment 15 can be performed. Therefore, for example, compared with the case where the operation of the attachment 15 is restricted when the attachment 15 is in a contact state, the efficiency of the work on the work object O by the attachment 15 can be improved.

[0054] (Effect of the Second Invention) [Configuration 2] The work system 1 includes an attachment speed sensor 25 (see FIG. 2) that detects the operating speed of the attachment 15. The contact determination unit 31 (see FIG. 2) determines that it is in a contact state when the operating speed of the attachment 15 detected by the attachment speed sensor 25 is equal to or lower than the speed threshold value set in the contact determination unit 31.

[0055] In the above [Configuration 2], when the speed of the attachment 15 when the attachment 15 is stopped or substantially stopped is set as the speed threshold value, the following effect can be obtained. In this case, when the attachment 15 is stopped or substantially stopped, the contact determination unit 31 determines that it is in a contact state. Therefore, it is possible to appropriately determine that the attachment 15 is in a state where it cannot move to the work start position P3.

[0056] (Effect of the Third Invention) [Configuration 3] The work system 1 includes an attachment load sensor 27 (see FIG. 2) that detects the load in the vertical direction Z acting on the attachment 15. The contact determination unit 31 (see FIG. 2) determines that it is in a contact state when the load detected by the attachment load sensor 27 is equal to or higher than the load threshold value set in the contact determination unit 31.

[0057] In the above [Configuration 3], when the load of the attachment 15 when the attachment 15 is trying to lift the lower traveling body 11 and the upper slewing body 13 is set as the load threshold value, the following effect can be obtained. In this case, when the attachment 15 is trying to lift the lower traveling body 11 and the upper slewing body 13, the contact determination unit 31 determines that it is in a contact state. Therefore, it is possible to appropriately determine that the attachment 15 is in a state where it cannot move to the work start position P3.

[0058] (Effect of the Fourth Invention) [Configuration 4] The work system 1 includes the above [Configuration 2] and [Configuration 3].

[0059] With the above [Configuration 4], the following effects can be obtained. Although the attachment 15 is not attempting to lift the lower traveling body 11 and the upper slewing body 13, when the attachment 15 is stopped or substantially stopped, it can be determined by the contact determination unit 31 that it is in a contact state. Also, although the attachment 15 is not stopped or substantially stopped, when the attachment 15 is attempting to lift the lower traveling body 11 and the upper slewing body 13, it can be determined by the contact determination unit 31 that it is in a contact state. Therefore, it is possible to appropriately determine that the attachment 15 is in a state where it cannot move to the work start position P3.

[0060] (Modification example) The above embodiment may be variously modified. For example, the arrangement and shape of each component of the above embodiment may be changed. For example, the connection of each component shown in FIG. 2 may be changed. For example, the order of the steps in the flowchart shown in FIG. 3 may be changed, and some of the steps may not be performed. For example, each of the above threshold values (such as the speed threshold value and the load threshold value) and ranges (such as the work target area Oa) may be constant, may be changed manually, or may be automatically changed according to some conditions. For example, the number of components may be changed, and some of the components may not be provided. For example, the fixation and connection between components may be direct or indirect. For example, what has been described as a plurality of different members or parts may be made into one member or part. For example, what has been described as one member or part may be divided and provided as a plurality of different members or parts. Specifically, for example, the components (the work control unit 33 and the contact determination unit 31) of the controller 30 shown in FIG. 2 may be provided together in one controller 30 or may be provided separately.

Explanation of reference numerals

[0061] 1 Work system 11 Lower traveling body (lower main body) 13 Upper slewing body 15 Attachment 25 Attachment speed sensor 27 Attachment load sensor 31 Contact determination unit 33 Work control unit O Work object P1 Movement start position P3 Work start position

Claims

1. A lower body, an upper swing body rotatably mounted on the lower body, an attachment attached to the upper swing body for performing work on a work object, a work control unit for performing control to automatically operate the attachment, a contact determination unit that determines whether or not the attachment has entered a contact state in which the attachment has come into contact with the work object while the tip of the attachment is moving from a specific movement start position toward a work start position that is the start position of work on the work object, comprising: when the tip of the attachment moves from the movement start position to the work start position without being determined by the contact determination unit to be in the contact state, the work control unit starts work on the attachment at the work start position; when the contact determination unit determines that the attachment is in the contact state, the work control unit starts work on the attachment at the position of the attachment when it is determined to be in the contact state; a work system.

2. The work system according to claim 1, comprising an attachment speed sensor that detects the operating speed of the attachment, wherein the contact determination unit determines that the attachment is in the contact state when the operating speed of the attachment detected by the attachment speed sensor is equal to or lower than a speed threshold value set in the contact determination unit; a work system.

3. The work system according to claim 1, comprising an attachment load sensor that detects a vertical load acting on the attachment, wherein the contact determination unit determines that the attachment is in the contact state when the load detected by the attachment load sensor is equal to or higher than a load threshold value set in the contact determination unit; a work system.

4. The work system according to claim 1, comprising an attachment speed sensor that detects the operating speed of the attachment, and an attachment load sensor that detects a vertical load acting on the attachment, wherein the contact determination unit determines that the attachment is in the contact state when one or both of the following conditions are met: the operating speed of the attachment detected by the attachment speed sensor is equal to or lower than a speed threshold value set in the contact determination unit, and the load detected by the attachment load sensor is equal to or higher than a load threshold value set in the contact determination unit; a work system.

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