Work System

Abstract

To enable a work machine to stir a work object by automatic operation.SOLUTION: A work system 1 has a work machine 10 having a bucket 15c capable of drilling a work object A, and a controller 30. The controller 30 makes the work machine 10 operate automatically so that the work machine 10 conducts a stirring work. The stirring work includes a first work and a second work. The first work uses the bucket 15c to move the work object A in an accumulation area B at which the work object A is accumulated to a first side (X2). The second work uses the bucket 15c to move the work object A moved by the first work to a second side (X1) opposite to the first side.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a work system including an automatically driven work machine. [Background technology]

[0002] For example, Patent Document 1 describes a work machine that performs work on a work object by automatic driving. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2018-193704 Summary of the Invention [Problem to be solved by the invention]

[0004] The document does not describe automatically operating a work machine to mix the work object. However, it is desired to automatically operate a work machine to mix the work object.

[0005] Therefore, an object of the present invention is to provide a work system that can perform work of stirring a work object by automatically operating a work machine. [Means for solving the problem]

[0006] The work system includes a work machine and a controller. The work machine is equipped with a bucket capable of digging a work object. The controller automatically operates the work machine so that the work machine performs a mixing operation. The mixing operation includes a first operation and a second operation. The first operation involves using the bucket to move the work object within an accumulation area where the work object has been accumulated to a first side. The second operation involves using the bucket to move the work object moved by the first operation to a second side opposite to the first side. [Effects of the Invention]

[0007] With the above configuration, the work object can be stirred by automatic operation of the work machine. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 2 is a side view of the work machine 10 and other components of the work system 1. [Figure 2] 2 is a diagram showing the work machine 10 shown in FIG. 1 as viewed from above, with the work lane L extending in the front-rear direction X. FIG. [Figure 3] 2 and shows the case where the work lane L extends in the turning direction Sw. FIG. [Figure 4] FIG. 2 is a block diagram of the work system 1 shown in FIG. [Figure 5] 5 is a flowchart showing the determination of work start conditions by the work start determination unit 41 shown in FIG. 4. [Figure 6] 5 is a flowchart showing a determination of a first work completion condition by a first work completion determination unit 42 shown in FIG. 4. [Figure 7] 5 is a flowchart showing the determination of work end conditions by the work end determination unit 43 shown in FIG. 4. [Figure 8] 2 is a side view of the target path P of the bucket 15c shown in FIG. 1. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0009] The working system 1 will be described with reference to FIGS.

[0010] As shown in Fig. 1, the work system 1 is a system configured so that a work machine 10 performs mixing work. The mixing work is work to mix work objects A within an accumulation range B (details will be described later). The work system 1 comprises the work machine 10, an attitude detection unit 21 shown in Fig. 4, an imaging device 22, a work object detection unit 23, an operation unit 24, a site supervision system 25, a hardness detection unit 27, and a controller 30.

[0011] As shown in FIG. 1, the work machine 10 is a machine that performs work using a bucket 15c. The work machine 10 is, for example, a construction machine that performs construction work, such as a shovel. The work machine 10 is configured to be capable of automatic operation. The work machine 10 may be operated by a worker (operator) in a cab 13a (described below), or may be remotely controlled. The work machine 10 comprises a lower traveling body 11, an upper rotating body 13, an attachment 15, and a drive control unit 17 (see FIG. 4).

[0012] The undercarriage 11 allows the work machine 10 to travel. The undercarriage 11 may be equipped with crawlers or wheels.

[0013] The upper rotating body 13 is rotatably mounted on the lower traveling body 11. The upper rotating body 13 is provided with a cab 13a. The cab 13a is a section where an operator can operate the work machine 10.

[0014] (direction) The direction in which the rotation axis of the upper rotating body 13 relative to the lower running body 11 extends is defined as the up-down direction Z. In the up-down direction Z, the side (facing) from the lower running body 11 toward the upper rotating body 13 is defined as the upper side Z1, and the opposite side is defined as the lower side Z2. The direction perpendicular to the up-down direction Z, that is, the side from which the attachment 15 protrudes relative to the upper rotating body 13, is defined as the far side X1 in the front-to-rear direction X, and the opposite side is defined as the near side X2 in the front-to-rear direction X. The direction in which the upper rotating body 13 rotates relative to the lower running body 11 is defined as the swing direction Sw (see FIG. 2).

[0015] The attachment 15 is the part that performs work and includes, for example, a boom 15a, an arm 15b, and a bucket 15c. The boom 15a is attached to the upper rotating body 13 so that it can be raised and lowered (rotated in the vertical direction Z). The arm 15b is attached so that it can rotate relative to the boom 15a. The bucket 15c is provided at the tip of the attachment 15 and is attached so that it can rotate to the arm 15b. The bucket 15c is capable of moving the work object A while holding it. The bucket 15c is capable of excavating the work object A. The bucket 15c includes a bucket opening surface 15c1 and a bucket tip back surface 15c2. The bucket opening surface 15c1 is the opening surface of the bucket 15c. The bucket tip back surface 15c2 is attached to the tip side of the bucket 15c (the side farther from the arm 15b). The bucket tip back surface 15c2 is a portion that becomes the rear side X1 portion of the bucket 15c when the bucket 15c is placed so that the bucket opening surface 15c1 is placed in the front side X2 portion of the bucket 15c. The bucket tip back surface 15c2 is, for example, flat.

[0016] The drive control unit 17 (see FIG. 4) controls an actuator (not shown) that drives the work machine 10. The drive control unit 17 controls a swing motor (not shown) that swings the upper swing body 13 relative to the lower traveling body 11. The drive control unit 17 controls a boom cylinder (not shown) that raises and lowers the boom 15a relative to the upper swing body 13. The drive control unit 17 controls an arm cylinder (not shown) that rotates the arm 15b relative to the boom 15a. The drive control unit 17 controls a bucket cylinder (not shown) that rotates the bucket 15c relative to the arm 15b.

[0017] The attitude detection unit 21 (see FIG. 4) detects information related to the attitude of the work machine 10. The attitude detection unit 21 may detect the position and orientation of the work machine 10 relative to the work site. The attitude detection unit 21 may detect the position and orientation of a reference part of the work machine 10 relative to the work site. The reference part of the work machine 10 may be, for example, a specific part of the upper rotating body 13 or the undercarriage 11, for example, the attachment part (boom foot) of the boom 15a to the upper rotating body 13, or for example, the center of rotation of the upper rotating body 13 relative to the undercarriage 11. The attitude detection unit 21 may detect rotation information (angle, angular velocity, etc.) of the upper rotating body 13 relative to the undercarriage 11. The attitude detection unit 21 may detect information on the rotation of the boom 15a relative to the upper rotating body 13. The attitude detection unit 21 may detect information on the rotation of the arm 15b relative to the boom 15a. The attitude detection unit 21 may detect information about the rotation of the bucket 15c relative to the arm 15b. The attitude detection unit 21 may be equipped with a sensor that detects an angle (for example, a rotary encoder), a sensor that detects inclination relative to the horizontal direction, or a sensor that detects the stroke of a cylinder (not shown) that drives the attachment 15. The attitude detection unit 21 may detect the attitude of the work machine 10 based on at least one of a two-dimensional image and a distance image (an image having distance information (depth information)). In this case, at least one of the two-dimensional image and the distance image may be captured by an imaging device 22 (see FIG. 4). The attitude detection unit 21 may be mounted on the work machine 10 or may be located outside the work machine 10 (for example, at a work site). The same applies to the imaging device 22, work object detection unit 23, operation unit 24, site supervision system 25, hardness detection unit 27, and controller 30 shown in FIG. 4, which may be mounted on the work machine 10 or located outside the work machine 10.

[0018] The imaging device 22 (see FIG. 4) captures an image of an imaging target. For example, the imaging device 22 may capture an image of the work machine 10 or the pit C. The imaging device 22 may capture an image of the work target A (i.e., the work target detection unit 23 (see FIG. 4)). The imaging device 22 may capture an image of the vehicle D (see FIG. 2) or may be, for example, the vehicle position detection unit 25a (see FIG. 4). The imaging device 22 may detect two-dimensional information of the imaging target (e.g., the position and shape in the image). The imaging device 22 may be equipped with a camera (monocular camera) that detects two-dimensional information. The imaging device 22 may acquire a range image or may detect three-dimensional information of the imaging target (e.g., three-dimensional coordinates and three-dimensional shape) based on the range image. The imaging device 22 may be equipped with a device that detects three-dimensional information using laser light, such as a LIDAR (Light Detection and Ranging) sensor or a TOF (Time Of Flight) sensor. The imaging device 22 may include a device that detects three-dimensional information using radio waves (for example, a millimeter-wave radar). The imaging device 22 may include a stereo camera. The imaging device 22 may detect three-dimensional information of the imaging target based on a distance image and a two-dimensional image. Only one imaging device 22 shown in FIG. 4 may be provided, or multiple imaging devices 22 may be provided. The same applies to the work object detection unit 23, the operation unit 24, the site supervision system 25, the hardness detection unit 27, and the controller 30.

[0019] The work object detection unit 23 detects the shape of the work object A within the accumulation range B shown in FIG. 1. The work object detection unit 23 (see FIG. 4) may detect the inclination (inclination relative to the horizontal direction) of the surface (upper side Z1 surface) of the work object A. The work object detection unit 23 may also detect the height (position in the vertical direction Z) of the surface of the work object A. The work object detection unit 23 may also detect the height of the surface of the work object A relative to a predetermined portion of the pit wall Cw (for example, the upper side Z1 end of the pit wall Cw). The work object detection unit 23 may detect the shape of the work object A based on at least one of a two-dimensional image and a range image (the work object detection unit 23 may be the imaging device 22 (see FIG. 4)), or may detect the shape of the work object A based on information other than an image.

[0020] The operation unit 24 (see FIG. 4) is a section (e.g., a device) for the worker to input information, and is operated by the worker. The operation unit 24 outputs commands related to mixing work (described later). For example, the operation unit 24 may output at least one of commands (described later) to start and end mixing work. For example, the operation unit 24 may output a command (described later) to set a target path P (see FIG. 8) for the bucket 15c for mixing work. The operation unit 24 may output a command to select a work mode (described later). When the operation unit 24 is provided in the work machine 10, the operation unit 24 may be, for example, a display provided in the operator's cab 13a. The operation unit 24 may be a tablet, a smartphone, or a personal computer. The operation unit 24 may be provided in a server or the like external to the work machine 10. The operation unit 24 may include buttons or switches.

[0021] The site supervisor system 25 (see FIG. 4) detects information related to the work site. The site supervisor system 25 shown in FIG. 4 may detect information inside the work site, or may detect information outside the work site. For example, the site supervisor system 25 includes a vehicle position detection unit 25a and an insertion detection unit 25b.

[0022] The vehicle position detection unit 25a detects the position of the vehicle D shown in FIG. 2. The vehicle D is an automobile (e.g., a transport vehicle) scheduled to perform work on (e.g., transport) a work object A. The vehicle D has, for example, a loading platform Da, and is specifically a dump truck or the like. The vehicle D may transport the work object A loaded from the accumulation area B, or may transport the work object A to be supplied to the accumulation area B. The vehicle position detection unit 25a shown in FIG. 4 detects the position of the vehicle D (see FIG. 2) at least either outside or inside the work site. For example, the vehicle position detection unit 25a may detect that the vehicle D is approaching the work site, or may detect that the vehicle D has entered the work site. For example, the vehicle position detection unit 25a may detect that the vehicle D has arrived at a predetermined position within the work site where the work object A (see FIG. 2) is to be loaded onto the vehicle D.

[0023] The throw-in detection unit 25b detects information related to the throwing of throw-in items E into the accumulation range B shown in FIG. 1. The throw-in detection unit 25b may detect whether or not throw-in items E have been thrown into the accumulation range B. The throw-in detection unit 25b may detect the amount of throw-in items E thrown into the accumulation range B. The throw-in of throw-in items E into the accumulation range B may be performed by a machine M other than the work machine 10. The machine M other than the work machine 10 may be a crane, a shovel, or a conveyor. The throw-in detection unit 25b (see FIG. 4) may detect the throw-in (presence or amount) of throw-in items E by detecting the operating state of the machine M other than the work machine 10. The throw-in detection unit 25b may detect the throw-in of throw-in items E by detecting the throw-in items E while they are being thrown into the accumulation range B. The throw-in detection unit 25b may detect the throw-in of throw-in items E by detecting the throw-in items E (part of the work target A) after they have been thrown into the accumulation range B. In this case, the work object detection unit 23 may be used as the input detection unit 25b.

[0024] The hardness detection unit 27 (see FIG. 4) detects the hardness of the work object A stirred by the stirring operation. The reason why the hardness of the work object A is detected will be described later. [Example 1a] The hardness detection unit 27 may detect the hardness of the work object A by detecting the load acting on the bucket 15c by the stirring operation. The greater the load acting on the bucket 15c, the harder the work object A, and the smaller the load acting on the bucket 15c, the softer the work object A.

[0025] [Example 1a-1] The hardness detection unit 27 (see FIG. 4) may directly detect the load acting on the bucket 15c. Specifically, for example, the hardness detection unit 27 may detect the load (hydraulic pressure) acting on a bucket cylinder (not shown) that rotates the bucket 15c relative to the arm 15b. The detection unit 27 may also detect the load acting on a link (not shown) that connects the bucket cylinder, the arm 15b, and the bucket 15c. Mixing work may be performed by the rotation of the upper rotating body 13 (described later) (see FIG. 3). In this case, the hardness detection unit 27 may detect the load acting on the bucket 15c in the rotation direction Sw by detecting the load (e.g., hydraulic pressure) acting on a rotation motor (not shown) that rotates the upper rotating body 13 relative to the lower traveling body 11.

[0026] [Example 1a-2] The hardness detection unit 27 (see FIG. 4) may indirectly detect the load acting on the bucket 15c. Specifically, for example, the hardness detection unit 27 may detect the load acting on the bucket 15c based on the movement speed of the bucket 15c. The movement speed of the bucket 15c is detected by the posture detection unit 21. When the command to move the bucket 15c is constant, the faster the movement speed of the bucket 15c, the smaller the load acting on the bucket 15c and the softer the work object A. When the command to move the bucket 15c is constant, the slower the movement speed of the bucket 15c, the larger the load acting on the bucket 15c and the harder the work object A.

[0027] [Example 1b] Stiffness detection unit 27 (see FIG. 4) may detect the hardness of work object A using a detection value other than the load acting on bucket 15c. Stiffness detection unit 27 may be provided on work machine 10 or may be provided separately from work machine 10. For example, stiffness detection unit 27 may detect the hardness of work object A based on at least one of a two-dimensional image and a range image of work object A moved by bucket 15c. In this case, stiffness detection unit 27 may be work object detection unit 23.

[0028] The controller 30 (see FIG. 4) is a computer that inputs and outputs signals, performs calculations (processing), stores information, etc. For example, the functions of the controller 30 shown in FIG. 4 are realized by the calculation unit executing a program stored in the storage unit of the controller 30. The controller 30 includes a work plan setting unit 31, a time information setting unit 33, a preliminary work progress acquisition unit 35, a work progress acquisition unit 37, a work mode setting unit 40, and an automatic driving control unit 50.

[0029] The work plan setting unit 31 sets a work plan for the work machine 10 shown in FIG. 1. The work plan is information related to the target of work by the work machine 10. The work plan may include information on a target path P (see FIG. 8) of a specific part of the attachment 15. The specific part may be, for example, the tip of the arm 15b (arm tip 15bt) or the tip of the bucket 15c (bucket tip 15ct). The target path P (see FIG. 8) is information including, for example, position information (coordinates) of multiple target points and information on the order of each target point. The work plan may include information on the swing angle of the upper rotating body 13 (the angle in the swing direction Sw (see FIG. 2)). The work plan may include information on the radius (position in the front-to-rear direction X) from the center of swing of the upper rotating body 13 relative to the lower traveling body 11 to the specific part. The work plan may also include information on the height (position in the up-down direction Z) of the specific part. The work plan may include information on the angle of the bucket 15c (bucket angle Xi, described later); for example, it may include information on the angle of the bucket 15c relative to the horizontal direction, or it may include information on the angle of the bucket 15c relative to the arm 15b. The work plan may be set in the work plan setting unit 31 shown in FIG. 4 by teaching, or it may be set by a method other than teaching (for example, by operating the operation unit 24). Teaching is performed as follows: A worker (operator) gets on the work machine 10 (see FIG. 1) and operates the work machine 10, or the worker remotely operates the work machine 10. The worker operates the work machine 10 to place a specific part at a desired position (for example, target path P (see FIG. 8)). The work plan setting unit 31 then sets a work plan based on the position where the specific part is placed. The position where the specific part is placed is calculated based on the detection value of the attitude detection unit 21.

[0030] The time information setting unit 33 sets information relating to time (time information). The time information is information indicating the relationship between time and work performed by the work machine 10 (details will be described later). The pre-work progress acquisition unit 35 acquires the progress of the pre-work (details will be described later). The work progress acquisition unit 37 acquires the progress of the mixing work (details will be described later).

[0031] The work mode setting unit 40 sets the work mode. The work mode is the type of work (operation) performed by the work machine 10. The work mode setting unit 40 selects and sets one work mode from a plurality of work modes. The work mode setting unit 40 changes the work mode. Various work modes can be set. The work modes may include a mode for mixing work (e.g., mixing work in a pit) and a mode other than mixing work. The modes other than mixing work may include, for example, a mode for vehicle loading work, a mode for vehicle bed leveling work, and a mode for space formation work (e.g., space formation work in a pit). The above-mentioned "vehicle loading work" is work (e.g., dump truck loading work) in which the work machine 10 shown in FIG. 2 loads work object A onto a vehicle D (e.g., bed Da). The above-mentioned "vehicle bed leveling work" is work (e.g., dump truck bed leveling work) in which the work machine 10 levels work object A loaded onto bed Da. The "space forming work" is work in which work machine 10 moves work target A within accumulation range B shown in FIG. 1 to form space S within accumulation range B (for example, work to form a space within a pit). Work mode setting unit 40 shown in FIG. 4 includes a determination unit that determines the start and end of stirring work. Specifically, work mode setting unit 40 includes a work start determination unit 41, a first work end determination unit 42, and a work end determination unit 43.

[0032] The work start determination unit 41 determines whether or not to start the stirring work (described later). The first work completion determination unit 42 determines whether or not to end the first work (described later). The work completion determination unit 43 determines whether or not to end the stirring work (described later).

[0033] The automatic driving control unit 50 controls the work machine 10 and causes the work machine 10 to operate automatically. The controller 30 is an automatic driving controller that performs automatic driving of the work machine 10. The automatic driving control unit 50 automatically drives the work machine 10 so that the work machine 10 operates in accordance with a work plan set in the work plan setting unit 31. For example, the automatic driving control unit 50 automatically drives the work machine 10 so that it performs mixing work. For example, the automatic driving control unit 50 controls the work machine 10 based on the detection value of the attitude detection unit 21. The automatic driving control unit 50 outputs a command to the drive control unit 17 to operate the work machine 10.

[0034] (Work object A, etc.) As shown in FIG. 1, work object A is an object that is the target of work by work machine 10, and is an object that is the target of excavation by bucket 15c. For example, work object A is an object that can be piled up with the top surface of work object A tilted. Specifically, work object A may be soil, granules, chips, powder, or the like. Work object A may be soil, stone, wood, metal, or waste.

[0035] The accumulation range B is the range in which the work objects A are accumulated. The accumulation range B may be, for example, inside the pit C (the range inside the pit wall Cw). The accumulation range B does not have to be located inside the pit C. The accumulation range B may be the range in which the work objects A (for example, a pile of earth and sand) accumulated on the ground are present. The accumulation range B may be the range inside the loading platform Da (see Figure 2). The accumulation range B is the range in which the work objects A are gathered and piled up in one place (as a single mass). In this embodiment, "accumulation range B" means one accumulation range B. For example, the range in which the work objects A are present within one pit C is one accumulation range B. For example, the range in which the work objects A are present within the pit C and the range in which the work objects A are present on the loading platform Da (see Figure 2) are not one accumulation range B.

[0036] The pit C is an area where the work objects A are accumulated. The pit C is a hole recessed into the ground in which the work machine 10 is placed. The pit C is an area surrounded by a pit wall Cw.

[0037] (Activation) The operating system 1 is configured to operate as follows.

[0038] (Work mode, etc.) 4 sets (selects) a work mode from a plurality of work modes. The automatic operation control unit 50 automatically operates the work machine 10 (see FIG. 1) in accordance with a work plan corresponding to the work mode (e.g., a mixing work mode) set in the work mode setting unit 40.

[0039] (stirring work) The controller 30 automatically controls the work machine 10 to perform mixing work. As shown in FIG. 1, the mixing work is work to mix work object A within accumulation range B (for example, mixing work within a pit). The mixing work is work performed within a pit C (for example, mixing work within a pit). The mixing work includes a first work and a second work.

[0040] The first operation is an operation (operation) to move the work object A from a specific position within the accumulation area B to the first side (the near side X2 in FIG. 1) using the bucket 15c. The "first side" may be in any direction, such as the near side X2 or the far side X1 in the forward-backward direction X, or on one side (e.g., the right side) or the opposite side (e.g., the left side) of the swing direction Sw shown in FIG. 3, or it may be both the forward-backward direction X and the swing direction Sw. For example, the first side has a horizontal component. As shown in FIG. 1, the work object A to be moved by the first operation and the work object A before the movement is referred to as the pre-movement work object A1. The pre-movement work object A1 is the work object A at the start position of the first operation. The work object A after being moved by the first operation is referred to as the post-movement work object A3. The post-movement work object A3 is the work object A at the end position of the first operation. When pre-movement work object A1 is moved by the first work, a space S is formed at the position where pre-movement work object A1 was located (the position where work object A is no longer present).

[0041] The second work is performed after the first work. The second work is a work to return the post-movement work object A3 to the position (or vicinity) of the pre-movement work object A1. More specifically, the second work is a work to move the work object A (post-movement work object A3) moved by the first work to the second side (the rear side X1 in FIG. 1) using the bucket 15c. The above-mentioned "second side" is the opposite side of the above-mentioned "first side." The second side does not have to be strictly opposite to the first side. The second side only needs to have a component that is opposite to the first side. Specifically, for example, if the first side is the front side X2, the second side is the rear side X1. If the first work is a work to move the work object A toward the work machine 10, the second work is a work to push the work object A back to the side opposite the work machine 10. For example, as shown in FIG. 3, if the first side is the left side of the turning direction Sw, the second side is the right side of the turning direction Sw. For example, the second side has a horizontal component. At least a portion of the post-movement work object A3 shown in FIG. 1 may be returned to the pre-movement work object A1. It is preferable that the majority of the post-movement work object A3 be returned to the pre-movement work object A1. It is preferable that the entirety or substantially the entirety of the post-movement work object A3 be returned to the pre-movement work object A1.

[0042] In "one cycle" of stirring work, the first operation is performed one or more times, and the second operation is performed one or more times. The stirring operation may be performed in only one cycle, or in multiple cycles. For example, in one cycle of stirring work, the first operation may be performed multiple times (e.g., three times), and then the second operation may be performed multiple times. Also, in one cycle of stirring work, the first operation may be performed once, and then the second operation may be performed once, thereby completing the first cycle of stirring work. Thereafter, the second and subsequent cycles of stirring work may be performed.

[0043] As shown in FIG. 2, the mixing work is performed in a work lane L. The work lane L is the trajectory of movement of the bucket 15c and work object A during the mixing work. The mixing work may be performed in only one work lane L, or in multiple work lanes L. In FIGS. 2 and 3, only the center line of the work lane L is shown.

[0044] A case will be described where the mixing operation is performed in multiple work lanes L. In this case, a first operation and a second operation are performed in each of the multiple work lanes L. The order of the operations in this case can be set in various ways. For example, after the first and second operations are completed in one work lane L, the mixing operation can begin in the next work lane L. Alternatively, after the first operation is completed in multiple work lanes L (e.g., all work lanes L), the second operation can be performed in the work lane L where the first operation was completed. The work lane L on which the first operation (or the second operation) is performed first is referred to as the start work lane Ls. The work lane L on which the first operation (or the second operation) is performed last is referred to as the end work lane Le. When the first operation (or the second operation) is performed in all lanes from the start work lane Ls to the end work lane Le, it is preferable that the first operation (or the second operation) is performed in the entire or substantially the entire accumulation range B.

[0045] As shown in FIG. 2, when the direction of movement of the work object A is the fore-and-aft direction X, the upper rotating body 13 rotates relative to the lower traveling body 11, and the bucket 15c moves in the swing direction Sw, thereby changing the work lane L. Then, mixing work is performed in each work lane L from the start work lane Ls (start swing position) to the end work lane Le (end swing position). As shown in FIG. 3, when the direction of movement of the work object A is the swing direction Sw, the bucket 15c moves in the fore-and-aft direction X, thereby changing the work lane L. Then, mixing work is performed in each work lane L from the start work lane Ls (start fore-and-aft position) to the end work lane Le (end fore-and-aft position). Note that when the work lane L is changed, the work lane L in which work was performed immediately before the change (this time) and the work lane L in which work will be performed after the change (next time) do not need to be adjacent to each other (the work lane L in which work is performed does not need to be shifted to the adjacent work lane L).

[0046] The distance between adjacent work lanes L (e.g., the amount of offset between the work lanes L) may be set by manual operation by a worker or may be calculated by the controller 30 (work plan setting unit 31) (see FIG. 4). For example, the distance between adjacent work lanes L may be set by the worker operating the operation unit 24, or may be set by teaching (see the description of the work plan setting unit 31). For example, the distance between adjacent work lanes L may be calculated by the controller 30 based on the dimensions of the bucket 15c. The dimensions of the bucket 15c may be calculated based on an image (a two-dimensional image or a range image) detected by the imaging device 22 (see FIG. 4), or may be manually input to the operation unit 24 (see FIG. 4). The distance between adjacent work lanes L may be an initial value or a fixed value preset in the controller 30. Similarly, parameters related to the mixing operation (such as threshold values) may be set based on manual operation by the worker (such as operation of the operation unit 24 or teaching), or may be automatically set by the controller 30 based on the detection results of a sensor, etc. The parameters relating to the stirring operation may be initial values ​​or fixed values ​​preset in the controller 30.

[0047] (Example of purpose of mixing work) The purpose of the stirring operation is, for example, as follows: The stirring operation is performed to stir the work object A within the accumulation range B shown in Figure 1. [Example 1] The stirring operation may be performed without throwing the input object E into the accumulation range B.

[0048] [Example 2] The stirring operation may be performed when the input item E has been input into the accumulation range B. In this case, the position at which the first operation is started (the position of the work object A1 before movement) may be the position at which the input item E was input, or may not be the position at which the input item E was input. Note that the input item E is included in the "work object A" when it is input into the accumulation range B. [Example 2a] The stirring operation may be performed to stir the input items E input into the accumulation range B. For example, when multiple types of input items E are input into the accumulation range B, the stirring operation may be performed to stir (mix) the multiple types of input items E together. [Example 2b] The stirring operation may be performed to stir (mix) the input item A that was in the accumulation range B before the input item E was input and the input item E that has been input into the accumulation range B.

[0049] [Example 3] The stirring operation may be performed to change the quality of the work object A. For example, the stirring operation may be performed to change the hardness of the work object A. For example, the stirring operation may be performed to change the moisture content (moisture content, moisture ratio) of the work object A. For example, the stirring operation may be performed to change the acidity or degree of contamination of the work object A. [Example 3a] The input E may be something used to change the quality of the work object A (chemicals, soil, etc.). [Example 3a1] For example, the input E may be something used to change the hardness of the work object A (to make it harder or softer). Specifically, for example, the input E may be something used to change the moisture content of the work object A.

[0050] Further specific examples of the above [Example 2a], [Example 2b], and [Example 3a1] are as follows. For example, the input material E may contain soil (input material E) that is wetter than the soil (work object A) that was present in the accumulation area B before the input of the input material E. The input material E may also contain an agent (input material E) that solidifies the wet soil. The stirring operation may then be performed to stir (mix) the less wet soil (work object A) that was present in the accumulation area B before the input of the input material E, the wet soil (input material E), and the agent (input material E).

[0051] (Work start and end conditions) A start condition for the agitation work (work start condition) (see FIG. 5) and an end condition for the agitation work (work end condition) (see FIG. 7) are set in the controller 30 shown in FIG. 4 (more specifically, the work start determination unit 41 and the work end determination unit 43). For example, if a first work is performed multiple times in one cycle of agitation work, an end condition for the first work (first work end condition) (see FIG. 6) may be set in the controller 30. In the following example, a case where the work start condition, the first work end condition, and the work end condition are set will be described.

[0052] (Work start conditions) The work start condition (see FIG. 5) is a condition that causes the work machine 10 to start mixing work (more specifically, the first work). Only one work start condition may be set, or multiple work start conditions may be set. If multiple work start conditions are set, the controller 30 may cause the work machine 10 to start mixing work when at least one of the multiple work start conditions is satisfied. The controller 30 may cause the work machine 10 to start mixing work when two or more or all of the multiple work start conditions are satisfied. Specific examples of work start conditions are as follows:

[0053] (Work start conditions: conditions related to the operation unit 24, etc.) The work start condition may include a condition related to a command output by the operation unit 24 (see step S11 in FIG. 5). The work start condition may include a condition related to manual operation of the operation unit 24 by an operator (person). Specifically, for example, the work start condition may include the operation unit 24 outputting a command to start the mixing operation. The "command to start the mixing operation" may be, for example, a command to select a work mode for the mixing operation. Note that the work start condition may include the command to start the mixing operation being output by something other than the operation unit 24 (the output of a command not operated by the operator).

[0054] (Work start conditions: time-related conditions) The work start condition may include a condition related to the time set in the controller 30 (more specifically, the time information setting unit 33) (see step S12 in FIG. 5). The work start condition may include the arrival of the time set in the time information setting unit 33. Specifically, for example, if the work machine 10 is to perform mixing work during the lunch break at the work site, a time based on the start time of the lunch break at the work site (for example, a few minutes after the start of the lunch break) may be set in the time information setting unit 33 as the start time of the mixing work. Furthermore, for example, if the work machine 10 is to perform mixing work before the vehicle D (see FIG. 2) arrives at the work site, a predetermined time before the scheduled time when the vehicle D will arrive at the work site may be set in the time information setting unit 33 as the start time of the mixing work.

[0055] (Work start condition: Condition regarding the position of vehicle D) The work start condition may include a condition related to the position of vehicle D (see FIG. 2) detected by vehicle position detection unit 25a (see step S13 in FIG. 5). The "condition related to the position of vehicle D" may be, for example, that the distance from a predetermined position to vehicle D is equal to or less than a predetermined distance (work start distance threshold). The "predetermined position" may be the work site, or may be the position where loading work from work machine 10 to vehicle D is performed (planned loading position). The "condition related to the position of vehicle D" may include, for example, a condition related to the traveling direction of vehicle D. Specifically, the work start condition may include vehicle D approaching the work site (the timing to enter the work site is approaching). For example, the work start condition may include vehicle D reaching a position a predetermined distance (work start distance threshold) away from the work site, or vehicle D moving toward the work site (approaching the work site). For example, the work start condition may include vehicle D entering (entering) the work site.

[0056] (Conditions for starting work: Conditions for pre-work) The work start conditions may include the progress of the preliminary work reaching a predetermined state set in the controller 30 (see step S14 in Figure 5). The above-mentioned "preliminary work" is work that is carried out before the mixing work. The preliminary work may be work carried out by the work machine 10 (see Figure 1), or may be work carried out by a machine other than the work machine 10.

[0057] For example, the pre-work may be work in which an input item E is input into the accumulation range B shown in FIG. 1. The work start condition may include the status of the work of inputting the input item E into the accumulation range B reaching a predetermined status. The status of the work of inputting the input item E is detected by the input detection unit 25b (see FIG. 4). For example, the work start condition may include the input detection unit 25b detecting that the input item E has been input into the accumulation range B. Furthermore, the work start condition may include the amount of input item E input into the accumulation range B reaching a predetermined amount (input amount threshold).

[0058] For example, the pre-work may be work other than the input of input material E shown in FIG. 1. For example, the pre-work may be set in advance (before the work start conditions are determined) in the work plan setting unit 31 shown in FIG. 4. For example, the pre-work may be work related to a mode set in the work mode setting unit 40, and may be work other than mixing work. Specifically, for example, the order of work modes for work to be performed by the work machine 10 is set in the work plan setting unit 31. In this case, work related to a work mode selected before the mixing work mode is selected is the pre-work. The pre-work progress acquisition unit 35 acquires the progress status of the pre-work. For example, the work start conditions may include that the pre-work has been completed.

[0059] (Work start conditions: shape conditions) The work start conditions may include a shape condition, which is a condition related to the shape of the work object A (see FIG. 1) detected by the work object detection unit 23 (see step S15 in FIG. 5). The shape condition may include at least one of the conditions of the slope and height of the work object A shown in FIG. 1. Note that in FIG. 5, the work object A is described as "earth and sand" (the same applies to FIGS. 6 and 7).

[0060] (Work start condition: slope condition) The work start condition may include a condition (tilt condition) regarding the degree of tilt of the work object A shown in Figure 1. The "tilt of the work object A" refers to the tilt of the top surface (upper Z1 surface) of the work object A relative to the horizontal direction. For example, the work start condition (tilt condition) may include a change in the tilt of the work object A.

[0061] The tilt condition may be set as the work start condition for the following reasons, for example: When the tilt of work object A changes, it is assumed that an input item E has been input into accumulation range B, indicating a high need for mixing work. Therefore, the work start condition may include the state where the tilt of work object A (e.g., the magnitude of the tilt, the amount of change in tilt, etc.) exceeds a predetermined state (work start tilt threshold). Note that the tilt condition may be set for reasons other than those described above (the same applies to the reasons for setting other conditions described below). The work start tilt threshold may be set automatically by controller 30. The work start tilt threshold may be calculated based on information about the tilt of work object A detected (e.g., imaged) by work object detection unit 23. Furthermore, controller 30 may determine that the position where the tilt of work object A exceeds the work start tilt threshold is the position where input item E has been input.

[0062] (Work start conditions: height conditions) The work start condition may include a condition (height condition) regarding the height of the work object A. The work start condition (height condition) may include a change in the height of the work object A. The "height of the work object A" is the height of the upper surface of a certain portion of the work object A.

[0063] The height condition is set as the work start condition, for example, for the following reason. When the height of work object A changes (becomes higher), it is assumed that an input item E has been input into accumulation range B, and there is a high need for mixing work. Therefore, the work start condition may include the height of work object A exceeding a predetermined height (work start height threshold). Furthermore, controller 30 may determine that the position where the height of work object A exceeds the work start height threshold is the position where input item E has been input.

[0064] The work start height threshold may be set by manual operation by the worker. "Manual operation by the worker" may be, for example, operation of the operation unit 24 (see FIG. 4) or teaching (the same applies to "manual operation by the worker" below). The work start height threshold may be automatically set by the controller 30 (see FIG. 4). The work start height threshold may be calculated based on information about the height of the work object A detected (for example, imaged) by the work object detection unit 23 (see FIG. 4).

[0065] (Start of mixing, start of first operation) When the controller 30 shown in FIG. 4 determines that the work start conditions (one or more work start conditions as described above) are satisfied, it causes the work machine 10 to start mixing work (first work) (step S19 in FIG. 5). Specifically, for example, when the work start conditions are satisfied, the work mode setting unit 40 sets (selects) the mixing work mode as the work mode. For example, the work mode setting unit 40 changes from a mode other than mixing work to the mixing work mode. The controller 30 (more specifically, the automatic driving control unit 50) outputs a command to the drive control unit 17 so that the work machine 10 performs the first work in accordance with the work content of the first work set in the work plan setting unit 31. As a result, the work machine 10 automatically performs the first work.

[0066] (First work completion condition) A first work end condition is set in the controller 30 (more specifically, the first work end determination unit 42). The first work end condition is a condition that causes the work machine 10 to end the first work. Only one first work end condition may be set, or multiple first work end conditions may be set. If multiple first work end conditions are set, the controller 30 may cause the work machine 10 to end the first work when at least one of the multiple first work end conditions is satisfied. The controller 30 may also cause the work machine 10 to end the first work when two or more or all of the multiple first work end conditions are satisfied. A condition similar to the work start condition may be set as the first work end condition. Specific examples of the first work end condition will be described below, focusing mainly on the differences from the work start condition. Note that the "conditions related to preparatory work" in the work start conditions is not set in the first work end condition.

[0067] (First work completion condition: condition related to the operation unit 24, etc.) The first work completion condition may include a condition related to a command output by the operation unit 24 (see step S21 in FIG. 6). Specifically, for example, the first work completion condition may include a condition in which the operation unit 24 outputs a command to end the first work. Note that the first work completion condition may include a condition in which a command to end the first work is output by something other than the operation unit 24 (a condition in which a command not operated by the worker is output).

[0068] (First task completion condition: time-related condition) The first work end condition may include a condition related to the time set in the controller 30 (more specifically, the time information setting unit 33). When the start time of the mixing work is set in the time information setting unit 33 as the work start condition, a time later than the start time of the mixing work (first work end time) is set in the time information setting unit 33 as the first work end condition.

[0069] (First work completion condition: condition regarding the position of vehicle D) The first work end condition may include a condition related to the position of vehicle D (see FIG. 2) detected by vehicle position detection unit 25a. When a condition related to the position of vehicle D is set as the work start condition, the first work end condition is set to a condition different from the condition related to the position of vehicle D set as the work start condition. Specifically, for example, the work start condition may be set to be that the distance from a predetermined position (e.g., a work site, a planned loading position, etc.) to vehicle D is equal to or less than a work start distance threshold. In this case, the first work end condition may be set to be that the distance from the predetermined position to D is equal to or less than a predetermined first work end distance threshold that is smaller than the work start distance threshold. Specifically, for example, the work start condition may be set to be that vehicle D has arrived at a position a predetermined distance (work start distance threshold) away from the work site and is approaching the work site. In this case, the first work end condition may be set to be that vehicle D has entered the work site.

[0070] (Conditions for completing the first task: Conditions regarding the progress of the first task) The first work completion condition may include the progress of the first work reaching a predetermined state set in the controller 30 (more specifically, the work completion determination unit 43) (see steps S31, S32, S33, and S35 in FIG. 6). Here, a case will be described in which the first work is performed on multiple work lanes L shown in FIG. 2. Each step shown in FIG. 6 will be described below with reference to FIG. 6.

[0071] The conditions related to the progress of the first work task are outlined below, for example. The controller 30 (first work completion determination unit 42) shown in FIG. 4 determines the conditions related to the progress of the first work task (each lane's first work completion condition) for each work lane L (for each of the multiple work lanes L) shown in FIG. 2 (steps S31, S32, S33). If the "each lane work completion condition" is satisfied for one work lane L and the first work task has not been completed for the end work lane Le (NO in step S35), the controller 30 (see FIG. 4) changes the work lane L on which the first work task is to be performed (step S36). If the first work task has been completed for all work lanes L (YES in step S35), the controller 30 determines that the first work completion condition has been satisfied. Specific examples of the conditions related to the progress of the first work task are as follows:

[0072] (Conditions for completing the first task in each lane: number of tasks, etc.) The first work completion condition for each lane (first work completion condition) may include the number of times the bucket 15c has moved the work object A reaching a predetermined number (first work completion count threshold) (see step S31 in FIG. 6). Specifically, for example, the movement of the work object A by the bucket 15c from the rear side X1 to the front side X2 shown in FIG. 1 is defined as "one movement." In this case, the first work completion condition for each lane may include the number of times this "one movement" has reached a predetermined number (first work completion count threshold).

[0073] The first work completion condition for each lane may include that the time taken for the bucket 15c to move the work object A reaches a predetermined time (first work completion time threshold).

[0074] (Condition for completing the first task in each lane: Shape condition) The first work completion condition for each lane may include a condition (shape condition) related to the shape of the work object A detected by the work object detection unit 23 (see FIG. 4) (see step S32 in FIG. 6). The shape condition may include at least one of a condition related to the inclination and height of the work object A.

[0075] (Conditions for completing the first task in each lane: Inclined conditions) The first work completion condition for each lane may include a condition (slope condition) regarding the magnitude of the slope of the work object A. For example, if the slope of the work object A is large (steep), it is assumed that the pre-movement work object A1 has moved sufficiently to the position of the post-movement work object A3, and the first work has been sufficiently completed. Therefore, the first work completion condition (slope condition) for each lane may include the slope of the work object A being larger (steeper) than a predetermined slope (work completion slope threshold).

[0076] (Conditions for completing the first task in each lane: height conditions) The first work completion condition for each lane may include a condition (height condition) related to the height of the work object A. For example, whether the first work completion condition (height condition) for each lane is satisfied may be determined by comparing the height of the work object A with a predetermined threshold (work completion height threshold). The height condition is set as the first work completion condition for each lane for the following reasons, for example.

[0077] [Example 3a] For example, if the height of work object A at the position where pre-movement work object A1 was placed is sufficiently low, it is assumed that pre-movement work object A1 has moved sufficiently to the position of post-movement work object A3, and the first work has been sufficiently completed. Therefore, the first work completion condition for each lane may include that the height of work object A at the position where pre-movement work object A1 was placed is lower than a predetermined height (first first work completion height threshold).

[0078] [Example 3b] For example, if the height of the post-movement work object A3 is sufficiently high, it is assumed that the pre-movement work object A1 has moved sufficiently to the position of the post-movement work object A3, and the first work has been sufficiently completed. Therefore, the first work completion condition for each lane may include that the height of the post-movement work object A3 is higher than a predetermined height (second first work completion height threshold).

[0079] [Example 3c] For example, it is conceivable that the height of the work object A3 after movement is near the height of the upper end of the pit wall Cw. In this case, even if the first work is continued, it is expected that the work object A will overflow from the pit wall Cw. Therefore, when the height of the work object A3 after movement is higher than a predetermined height (third first work end height threshold), high The first work completion condition for each lane may include that the lane is not in a position to complete the work.

[0080] The first work end height threshold may be set manually by the worker. The first work end height threshold may also be set automatically by the controller 30 (see FIG. 4). For example, the first work end height threshold may be calculated based on information about the height of the work object A detected (e.g., imaged) by the work object detection unit 23 (see FIG. 4) before the start of the first work. Also, for example, the first work end height threshold may be calculated based on the shape (e.g., height) of the pit wall Cw. In the above [Example 3c], the third first work end height threshold may be set to the height of the upper end of the pit wall Cw, or may be set to a height that is lower than the height of the upper end of the pit wall Cw by a predetermined set value.

[0081] (Condition for completing the first task in each lane: Hardness of workpiece A) The first work completion condition may include that the hardness of work object A detected by hardness detection unit 27 (see FIG. 4) has reached a predetermined hardness (see step S33 in FIG. 6) (details will be described later).

[0082] (First work completion condition: Condition for completing work in multiple work lanes L) The first work completion condition may include the first work being completed in a specific range within accumulation range B shown in FIG. 2 (see step S35 in FIG. 6). For example, the "specific range within accumulation range B" is the entire or substantially the entire accumulation range B. Specifically, the "specific range within accumulation range B" is the range of all work lanes L, for example, the range of all work lanes L from the start work lane Ls to the end work lane Le.

[0083] (First work completion condition: When work is performed in only one work lane L) In the above example, a case where the first work is performed in multiple work lanes L has been described, but the first work may also be performed in only one work lane L. When the first work is performed in only one work lane L, the above-mentioned "conditions for work completion in multiple work lanes L" (step S35 in FIG. 6) do not need to be set. In this case, the above-mentioned "first work end condition for each lane" may be set as the first work end condition (condition for ending the first work). Note that even when work is performed in multiple work lanes L, the condition described as the "first work end condition for each lane" may be set as the first work end condition (condition for ending the first work).

[0084] (End of first work, start of second work) When the controller 30 determines that the first work completion condition has been satisfied, it causes the work machine 10 to end the first work and start the second work (step S41 in FIG. 6). The controller 30 (more specifically, the automatic driving control unit 50) outputs a command to the drive control unit 17 so that the work machine 10 performs the second work in accordance with the work content of the second work set in the work plan setting unit 31. As a result, the work machine 10 ends the first work and performs the second work.

[0085] (Work completion conditions) A work end condition is set in the controller 30 (more specifically, the work end determination unit 43). The work end condition is a condition that causes the work machine 10 to end the mixing work. Only one work end condition may be set, or multiple work end conditions may be set. If multiple work end conditions are set, the controller 30 may cause the work machine 10 to end the mixing work when at least one of the multiple work end conditions is satisfied. The controller 30 may also cause the work machine 10 to end the mixing work when two or more or all of the multiple work end conditions are satisfied. Specific examples of work end conditions will be explained below, focusing on the differences from the work start condition and the first work end condition. Note that the "conditions related to pre-work" in the work start conditions is not set in the work end conditions.

[0086] (Work completion conditions: conditions related to the operation unit 24, etc.) The work end condition may include a condition related to a command output by the operation unit 24 (see step S51 in FIG. 7). Specifically, for example, the work end condition may include the operation unit 24 outputting a command to end the mixing work. The "command to end the mixing work" may be a command that simply indicates the end of the mixing work, a command to select a work mode different from the work mode for the mixing work, or a command to stop the work machine 10. Note that the work end condition may also include the output of a command to end the mixing work by something other than the operation unit 24 (the output of a command not based on operation by the worker).

[0087] (Work completion conditions: time-related conditions) The work end condition may include a condition related to the time set in the controller 30 (more specifically, the time information setting unit 33) (see step S52 in FIG. 7). When the start time of the mixing work is set in the time information setting unit 33 as the work start condition (or the first work end condition), an end time that is later than the start time of the mixing work (or the end time of the first work) is set in the time information setting unit 33 as the work end condition.

[0088] (Work completion condition: condition regarding the position of vehicle D) The work end condition may include a condition related to the position of vehicle D (see FIG. 2) detected by vehicle position detection unit 25a (see step S53 in FIG. 7). When a condition related to the position of vehicle D is set as the work start condition (or first work end condition), the work end condition is set to a condition different from the condition related to the position of vehicle D set as the work start condition (or first work end condition). Specifically, for example, the work start condition (or first work end condition) may be set to be that the distance from a predetermined position (e.g., a work site, a planned loading position, etc.) to vehicle D is equal to or less than a work start distance threshold. In this case, the work end condition may be set to be that the distance from the predetermined position to vehicle D is equal to or less than a predetermined distance (work end distance threshold) that is smaller than the work start distance threshold (or first work end distance threshold). Specifically, for example, the work start condition (or first work end condition) may be set to be that vehicle D has arrived at a position that is the work start distance threshold (or the first work end distance threshold) away from the work site and that vehicle D is approaching the work site. In this case, the work completion condition may be set to be that the vehicle D has entered the work site.

[0089] (Work completion conditions: Conditions related to the progress of the mixing work) The work completion condition may include the progress of the mixing work reaching a predetermined state set in the controller 30 (more specifically, the work completion determination unit 43) (see steps S61, S62, S63, and S65 in FIG. 7). Here, a case where mixing work is performed in multiple work lanes L shown in FIG. 2 will be described. Each step shown in FIG. 7 will be described below with reference to FIG. 7.

[0090] An example of a summary of the conditions related to the progress of the mixing work is as follows. The controller 30 (work completion determination unit 43) shown in FIG. 4 determines the conditions related to the progress of the mixing work (each lane work completion condition) for each work lane L shown in FIG. 2 (for each of the multiple work lanes L) (steps S61, S62, S63). If the "each lane work completion condition" is met for one work lane L and the mixing work has not been completed for the final work lane Le (NO in step S65), the controller 30 (see FIG. 4) changes the work lane L in which the mixing work is being performed (step S66). If the mixing work has been completed for all work lanes L (YES in step S65), the controller 30 determines that the work completion condition has been met. Specific examples of the conditions related to the progress of the mixing work are as follows.

[0091] (Conditions for completing each lane's work: number of work tasks, etc.) The work end condition for each lane (the work end condition) may include the number of times that the bucket 15c has moved the work object A reaching a predetermined number of times (the work end count threshold) (the movement work has been completed a predetermined number of times) (step S61 in FIG. 7). Also, the work end condition for each lane may include the time that the bucket 15c has moved the work object A reaching a predetermined time (the work end time threshold).

[0092] (Each lane work completion condition: shape condition) The work termination conditions for each lane may include a shape condition (see step S62 in FIG. 7) that is a condition related to the shape of the work object A detected by the work object detection unit 23 (see FIG. 4). The shape condition may include at least one of the conditions of the inclination and height of the work object A shown in FIG. 1. The shape condition may include the shape of the work object A when the second work is being performed being the same as or approximately the same as the shape of the work object A at the start of the first work. The shape condition may be set based on the shape (e.g., inclination, height) of the work object A at the start of the first work.

[0093] (Each lane's work completion condition: Incline condition) The work completion condition for each lane may include a condition (slope condition) regarding the magnitude of the slope of the work object A. For example, the work completion condition (slope condition) may include the slope of the work object A being the same as or approximately the same as the slope of the work object A at the start of the first work. The work completion condition (slope condition) may include the slope of the work object A being equal to or less than a predetermined slope (work completion slope threshold) (the same as or gentler).

[0094] The reason for setting an inclination condition as the work completion condition for each lane is, for example, as follows: For example, if the detected inclination of work object A is the same as or approximately the same as the inclination of work object A at the start of the first work, it is assumed that the post-movement work object A3 has moved sufficiently to the position of the pre-movement work object A1, and the second work has been sufficiently performed. Therefore, the work completion condition for each lane may include that the inclination of work object A is equal to or less than a predetermined inclination (work completion inclination threshold) (the same as or gentler).

[0095] Specifically, for example, at the start of a first task, work object detection unit 23 (see FIG. 4) detects the shape of work object A. Controller 30 (see FIG. 4) sets the inclination (or approximate inclination) of work object A at the start of the first task as a task end inclination threshold. Then, during a second task, work object detection unit 23 detects the shape of work object A. Controller 30 (task end determination unit 43 (see FIG. 4)) compares the inclination of work object A detected during the second task with the task end inclination threshold. If the inclination of work object A detected during the second task is equal to or less than the task end inclination threshold, controller 30 determines that the detected inclination of work object A is the same (or approximate the same) as the inclination at the start of the first task, and determines that the task end condition for each lane is met.

[0096] (Each lane work completion condition: height condition) Each lane work end condition may include a condition (height condition) related to the height of the work object A. For example, whether each lane work end condition (height condition) is satisfied may be determined by comparing the height of the work object A with a predetermined threshold (work end height threshold). The height condition is set as the work end condition for each lane for the following reasons, for example.

[0097] [Example 3a] For example, suppose that the height of work object A at the position of pre-movement work object A1 during the second work is the same as or higher than the height of pre-movement work object A1 before the start of the first work. In this case, it is assumed that post-movement work object A3 has moved sufficiently to the position of pre-movement work object A1, and the second work has been fully completed. Therefore, the work completion condition for each lane may include that the height of work object A at the position of pre-movement work object A1 during the second work is equal to or greater than a predetermined height (first work completion height threshold). In this case, the first work completion height threshold is set, for example, to the same height or approximately the same height as the height of pre-movement work object A1 before the start of the first work.

[0098] [Example 3b] For example, suppose the height of the moved work object A3 during the second task becomes the same as or lower than the height of the work object A at the position of the moved work object A3 before the start of the first task. In this case, it is assumed that the moved work object A3 has moved sufficiently to the position of the moved work object A1, and the second task has been fully completed. Therefore, the task completion condition for each lane may include that the height of the moved work object A3 during the second task is equal to or less than a predetermined height (second task completion height threshold). In this case, the second task completion height threshold is set, for example, to the same height as or approximately the same height as the height of the work object A at the position of the moved work object A3 before the start of the first task.

[0099] The work end height threshold may be set manually by the worker, as with the first work end height threshold, or may be set automatically by the controller 30 (see FIG. 4).

[0100] (Conditions for completing work in each lane: hardness conditions) The work termination condition for each lane may include the fact that the hardness of the work object A detected by the hardness detection unit 27 (see FIG. 4) has reached a predetermined hardness (hardness condition) (see step S63 in FIG. 7). The hardness condition is set as the work termination condition for each lane for the following reasons, for example.

[0101] For example, stirring may be performed to change the hardness of work object A. Specifically, stirring may be performed to harden wet soil (work object A) with a chemical (input E). When stirring is performed to harden work object A, the controller 30 determines that the work end condition for each lane is met when the hardness of work object A detected by the hardness detection unit 27 (see FIG. 4) becomes harder than a predetermined hardness (work end hardness threshold). When stirring is performed to soften work object A, the controller 30 determines that the work end condition for each lane is met when the hardness of work object A detected by the hardness detection unit 27 becomes softer than a predetermined hardness (work end hardness threshold).

[0102] The hardness condition may be set for only one of the first work end condition and the work end condition, or may be set for both. When the hardness condition is set for each of the first work end condition and the work end condition, the hardness threshold for the first work end condition (first work end hardness threshold) may be different from the hardness threshold for the work end condition (work end hardness threshold).

[0103] (Work completion condition: Condition for completing work in multiple work lanes L) The work end condition may include the completion of the stirring work in a specific range within accumulation range B shown in FIG. 2 (see step S65 in FIG. 7) (similar to the first work end condition).

[0104] (Work completion condition: Work is performed only in one work lane L) In the above example, a case where mixing work is performed in multiple work lanes L has been described, but mixing work may also be performed in only one work lane L. When mixing work is performed in only one work lane L, the above-mentioned "conditions for work completion in multiple lanes" do not need to be set. In this case, the above-mentioned "conditions for work completion in each lane" may be set as the work completion conditions. Note that even when work is performed in multiple work lanes L, the conditions described as "conditions for work completion in each lane" may be set as the work completion conditions (conditions for ending the mixing work).

[0105] (End of mixing, end of second operation) When the controller 30 shown in FIG. 4 determines that a work end condition (one or more work end conditions as described above) has been satisfied, it causes the work machine 10 to end the mixing work (step S71 in FIG. 7). Specifically, for example, when a work end condition has been satisfied, the work mode setting unit 40 sets (selects) a work mode other than mixing work. For example, the work mode setting unit 40 changes from the work mode for mixing work to a work mode other than mixing work. The controller 30 (more specifically, the automatic driving control unit 50) outputs a command to the drive control unit 17 to cause the work machine 10 to end the mixing work. As a result, the work machine 10 ends the mixing work.

[0106] (Specific route and location of mixing work) The controller 30 (more specifically, the work plan setting unit 31) sets the range in which the mixing work will be performed (e.g., the position of the work lane L (see FIG. 2)). The range in which the mixing work will be performed may be automatically set by the work plan setting unit 31 or may be manually set by the worker. For example, the range in which the mixing work will be performed may be automatically set by the work plan setting unit 31 based on the shape of the work object A (see FIG. 1) in the accumulation range B (see FIG. 1). The shape of the work object A may be detected by the work object detection unit 23. For example, the range in which the mixing work will be performed may be automatically set by the work plan setting unit 31 based on the position at which the input item E was input. For example, the position at which the input item E was input (or its vicinity) may be set as the start position of the mixing work (for the first work). For example, the range in which the mixing work will be performed may be automatically set by the work plan setting unit 31 based on the shape of the pit C (e.g., the pit wall Cw) (see FIG. 1). The shape of the pit C may be detected by the imaging device 22. The range in which the stirring work is performed may be set by the work plan setting unit 31 based on the teaching results, or may be set by the work plan setting unit 31 based on the content of the operation on the operation unit 24.

[0107] The work plan setting unit 31 sets a target path P for a specific portion of the attachment 15 (for example, the arm tip 15bt, the bucket tip 15ct, etc.) in the mixing work shown in Fig. 8. Specific examples of the target path P are as follows.

[0108] The target path P is set within the accumulation range B. The target path P is set inside the work object A and at a position Z1 above the work object A. For example, the target path P includes multiple target positions (e.g., target positions of the bucket 15c). Specifically, for example, the target path P for the first work includes an initial position P0, a first position P1, a second position P2, and a third position P3. The target path P for the second work includes a third position P3, a fourth position P4, and a fifth position P5. The number of target positions included in the target path P does not need to be six, and may be five or less, or seven or more. For example, in the first work, the target is for the bucket 15c to move in the following order: initial position P0, first position P1 (start position of the first work), second position P2, and third position P3 (end position of the first work). In the second work, the bucket 15c is targeted to move from the third position P3 (start position of the second work), to the fourth position P4, and to the fifth position P5 (end position of the second work) in this order.

[0109] For example, the initial position P0 is set to a position directly above the position where the mixing operation is to be started. The initial position P0 is set to a position Z1 above the work object A. The first position P1 is set to a position Z2 below (e.g., directly below) the initial position P0. The first position P1 is set to a position where the bucket 15c (more specifically, the bucket tip 15ct) contacts the top surface of the work object A. The second position P2 is set to a position directly below the first position P1. The second position P2 is set to a position where the bucket 15c is stuck into the work object A. The third position P3 is set to a position of the bucket 15c after the work object A has been moved to the first side (the near side X2 in FIG. 8). The third position P3 is set to a position where the bucket 15c (more specifically, the bucket tip 15ct) contacts the top surface of the work object A before the first operation is performed. In the example shown in FIG. 8, the third position P3 is set to a position Z1 above the second position P2.

[0110] For example, the fourth position P4 is set to a position where the bucket 15c is stuck into the work object A. The fourth position P4 is set to a position Z2 below the third position P3 (for example, a position directly below). For example, the fifth position P5 is set to the position of the bucket 15c after the work object A has been moved to the second side (the far side X1 in FIG. 8). For example, the fifth position P5 is the same position as the first position P1. Note that the end position of the first work (third position P3) and the start position of the second work (third position P3) may be the same or different. Also, the start position of the first work (first position P1) and the end position of the second work (fifth position P5) may be the same or different.

[0111] For example, the target path P is expressed by a coordinate in the front-to-rear direction X and a coordinate in the up-down direction Z. The target path P may include information on the angle of the bucket 15c (bucket angle Xi) (for the bucket angle Xi, see the bucket 15c at the second position P2 in FIG. 8). For example, the bucket angle Xi is the angle of the bucket 15c with respect to the horizontal direction. Specifically, the bucket angle Xi may be the angle of the bucket tip back surface 15c2 with respect to the horizontal direction, or the angle of the bucket opening surface 15c1 with respect to the horizontal direction (not shown). The position of the reference point (origin) of the coordinates can be set in various ways. For example, the reference point of the coordinates may be set at the work site. For example, the reference point of the coordinates may be set at a specific part of the work machine 10 shown in FIG. 1, specifically, the base end of the boom 15a (the position of the boom foot pin), or the position of the rotation center of the upper rotating body 13 with respect to the lower traveling body 11.

[0112] (input data) Before the work plan setting unit 31 (see FIG. 4) sets (generates and outputs) the target path P shown in FIG. 8, the following input data is set in the work plan setting unit 31. For example, the input data may include the positions (coordinates) of the bucket tip 15ct at the first position P1 and the third position P3. For example, the input data may include a setting value for determining the bucket angle Xi at the first position P1. For example, the input data may include setting values ​​for determining the initial position P0, the second position P2, and the fourth position P4.

[0113] (Input data: Coordinates of the bucket tip 15ct at the first position P1) The coordinates of bucket tip 15ct at first position P1 are set as input data. The coordinate of bucket tip 15ct at first position P1 in the front-to-rear direction X is set as px_start, and the coordinate in the up-down direction Z is set as pz_start.

[0114] [Example 4a] px_start may be set by manual operation by an operator (e.g., teaching, operation of the operation unit 24). [Example 4b] px_start may be set based on the position of a pit wall Cw (e.g., the pit wall Cw on the far side X1) near the position desired to be set as the first position P1 (the position desired to start the first task). The position of the pit wall Cw may be set by manual operation by an operator or may be detected by the imaging device 22 (see FIG. 4). [Specific example of Example 4b] px_start may be set to a position a predetermined distance N1 away from the pit wall Cw. The distance N1 is set to a size that prevents contact between the bucket 15c and the pit wall Cw when the bucket 15c is placed at the first position P1. For example, the distance N1 may be set by manual operation by an operator or may be a fixed value set in the controller 30 (see FIG. 4). For example, the distance N1 may be automatically set by the controller 30 based on the shapes of at least one of the pit wall Cw and the bucket 15c. In this case, for example, the shape of at least one of the pit wall Cw and the bucket 15c may be detected by the imaging device 22 (see FIG. 4).

[0115] pz_start is set based on the height (position in the vertical direction Z) of the top surface of the work object A at the position desired to be set as the first position P1. For example, pz_start is set to a height that matches (or approximately matches) the height of the top surface of the work object A at the position desired to be set as the first position P1. The height of the top surface of the work object A is detected by the work object detection unit 23 (see FIG. 4).

[0116] (Input data: angle setting value for bucket angle Xi at first position P1) A set value (angle set value) for determining the bucket angle Xi at the first position P1 is set as input data. The angle set value is set so that the bucket 15c will properly pierce the workpiece A when the bucket 15c is moved from the first position P1 toward the second position P2 (toward the lower side Z2). For example, the angle set value is set so that the bucket tip back surface 15c2 of the bucket 15c at the first position P1 is inclined (e.g., approximately perpendicular) with respect to the top surface of the workpiece A at the first position P1. For example, the angle set value may be automatically set by the controller 30 based on the shape of the workpiece A (e.g., the inclination of the top surface of the workpiece A).

[0117] (Input data: Coordinates of the bucket tip 15ct at the third position P3) The coordinates of bucket tip 15ct at third position P3 are set as input data. The coordinate of bucket tip 15ct in the front-to-rear direction X at third position P3 is set as px_end, and the coordinate of bucket tip 15ct in the up-down direction Z is set as pz_end. The following describes the settings of px_end and pz_end, focusing mainly on the differences from px_start and pz_start.

[0118] [Example 5a] px_end may be set manually by an operator. [Example 5b] px_end may be set based on the position of a pit wall Cw (e.g., the pit wall Cw on the near side X2) near the position desired to be set as the third position P3. [Specific example of Example 5b] px_end may be set at a position distance N2 away from the pit wall Cw. Distance N2 is set to a size that prevents contact between the bucket 15c and the pit wall Cw when the bucket 15c is positioned at the third position P3. The method for setting distance N2 is the same as the method for setting distance N1 (see [Specific example of Example 4b] above).

[0119] pz_end is set based on the height (position in the vertical direction Z) of the top surface of the work object A at the position desired to be set as the third position P3. For example, pz_end is set to a height that coincides (or approximately coincides) with the height of the top surface of the work object A at the position desired to be set as the third position P3.

[0120] (Input data: Height setting value for initial position P0 (first setting value)) A setting value (first setting value) of the height of the initial position P0 is set as input data. Specifically, the first setting value is the distance in the vertical direction Z from the Z coordinate (p1z) of the arm tip 15bt at the first position P1 to the Z coordinate (p0z) of the arm tip 15bt at the initial position P0.

[0121] (Input data: Depth setting value of second position P2 (second setting value)) A setting value (second setting value) for the depth of the second position P2 is set as input data. Specifically, the second setting value is the distance in the vertical direction Z from the Z coordinate (p1z) of the arm tip 15bt at the first position P1 to the Z coordinate (p2z) of the arm tip 15bt at the second position P2.

[0122] (Input data: Depth setting value at fourth position P4 (third setting value)) A depth setting value (third setting value) for the fourth position P4 is set as input data. Specifically, the third setting value is the distance in the up-down direction Z from the Z coordinate (pz_end) of the bucket tip 15ct at the third position P3 to the Z coordinate of the bucket tip 15ct at the fourth position P4.

[0123] (output data) The work plan setting unit 31 (see FIG. 4) sets (outputs, generates) a target path P (output data) based on input data. For example, the output data is the coordinates of the arm tip 15bt and the bucket angle Xi at each position from the initial position P0 to the fifth position P5. Specific examples of the output data are as follows:

[0124] The bucket angle Xi (p1xi) at the first position P1 is determined to a magnitude that takes into account the inclination of the top surface of the work object A at the position where the first task is to be started. For example, p1xi is determined based on the inclination of the top surface of the work object A and the above-mentioned angle setting value (one of the input data).

[0125] The coordinate (p1x) in the front-to-rear direction X and the coordinate (p1z) in the up-to-down direction Z of the arm tip 15bt at the first position P1 are determined to positions taking into consideration the above px_start, pz_start, and p1xi. More specifically, p1x and p1z are determined so that the coordinate of the bucket tip 15ct in the front-to-rear direction X is px_start, the coordinate in the up-to-down direction Z is pz_start, and the bucket angle Xi is p1xi.

[0126] The initial position P0 is determined, for example, to be a position directly above the first position P1. The bucket angle Xi of the initial position P0 is determined, for example, to be the same value as the bucket angle Xi of the first position P1. More specifically, the bucket angle Xi (p0xi) of the initial position P0 is determined to be p1xi. The coordinate (p0x) in the front-to-back direction X of the arm tip 15bt at the initial position P0 is set to p1x. The coordinate (p0z) in the up-down direction Z of the arm tip 15bt at the initial position P0 is determined to be the sum (p1z + first set value) of p1z and a first set value (one of the input data).

[0127] The second position P2 is determined to be, for example, a position directly below the first position P1, and a bucket angle Xi different from that of the first position P1 is determined. In the example shown in FIG. 8, the bucket angle Xi (p2xi) of the second position P2 is determined so that the bucket tip back surface 15c2 is in the vertical or approximately vertical direction, and is determined to be, for example, 230° (the specific numerical value of the bucket angle Xi can be changed in various ways). The coordinate (p2x) of the arm tip 15bt at the second position P2 in the front-to-back direction X is determined to be p1x. The coordinate (p2z) of the arm tip 15bt at the second position P2 in the up-down direction Z is determined to be a value (p1z - second set value) obtained by subtracting a second set value (one of the input data) from p1z.

[0128] The bucket angle Xi (p3xi) at the third position P3 is determined to be the same value as the bucket angle Xi (p2xi) at the second position P2, for example. The coordinate (p3x) in the front-to-rear direction X and the coordinate (p3z) in the up-to-down direction Z of the arm tip 15bt at the third position P3 are determined to positions taking into consideration the above-mentioned px_end, pz_end, and p3xi. More specifically, p3x and p3z are determined so that the coordinate of the bucket tip 15ct in the front-to-rear direction X is px_end, the coordinate in the up-to-down direction Z is pz_end, and the bucket angle Xi is p3xi.

[0129] When the bucket 15c moves from the second position P2 to the third position P3, the bucket tip 15ct may move linearly (see FIG. 8), or not linearly. When the bucket 15c moves from the second position P2 to the third position P3, the bucket tip 15ct may move diagonally upward Z1 (see FIG. 8) or horizontally. The same applies when the bucket 15c moves from the fourth position P4 to the fifth position P5. When viewed from the side, the path of the bucket tip 15ct from the second position P2 to the third position P3 and the path of the bucket tip 15ct from the fourth position P4 to the fifth position P5 may intersect (see FIG. 8). These paths do not have to intersect when viewed from the side; for example, they may overlap or be parallel. The above "when viewed from the side" more specifically means when viewed horizontally and in a direction intersecting the direction in which the mixing operation is performed (first side, second side).

[0130] The bucket angle Xi (p4xi) at the fourth position P4 is determined to be the same as the bucket angle Xi (p2xi) at the second position P2, and is determined to be the same as the bucket angle Xi (p3xi) at the third position P3. Note that p4xi may differ from p2xi and p3xi. In this case, p4xi may be set as input data or may be set based on, for example, the inclination of the work object A at the third position P3 (e.g., the inclination before the start of the first task, or the inclination before the start of the second task). Also, p4xi may be calculated and determined based on p2xi or p3xi. The coordinate (p4x) in the front-to-back direction X and the coordinate (p4z) in the up-to-down direction Z of the arm tip 15bt at the fourth position P4 are determined taking into account the above-mentioned px_end, pz_end, the third setting value (one of the input data), and p4xi. More specifically, p4x and p4z are determined so that the coordinate of the bucket tip 15ct in the fore-and-aft direction X is px_end, the coordinate in the up-and-down direction Z is pz_end minus the third set value (pz_end - third set value), and the bucket angle Xi is p4xi.

[0131] The fifth position P5 is determined to be, for example, the same position as the first position P1.

[0132] (Effects of the first invention) The effects of the work system 1 shown in Figure 1 are as follows: The work system 1 comprises a work machine 10 and a controller 30 (see Figure 4). The work machine 10 is equipped with a bucket 15c capable of digging a work object A.

[0133] [Configuration 1] The controller 30 (see Figure 4) automatically operates the work machine 10 so that the work machine 10 performs mixing work. The mixing work includes a first work and a second work. The first work is work to move the work object A in the accumulation range B where the work object A has accumulated to a first side (for example, the front side X2) using the bucket 15c. The second work is work to move the work object A moved by the first work to a second side (for example, the back side X1) opposite to the first side using the bucket 15c.

[0134] With the above [Configuration 1], the work object A in the accumulation range B can be moved to the first side and to the second side opposite the first side by the automatic operation of the work machine 10 using the bucket 15c. Therefore, the work of stirring the work object A can be performed by the automatic operation of the work machine 10.

[0135] (Effects of the second invention) [Configuration 2] A work start condition and a work end condition are set in the controller 30 shown in Figure 4. The work start condition is a condition that causes the work machine 10 to start mixing work. The work end condition is a condition that causes the work machine 10 to end mixing work. When the controller 30 determines that the work start condition is met, it causes the work machine 10 to start mixing work. When the controller 30 determines that the work end condition is met, it causes the work machine 10 to end mixing work.

[0136] With the above [Configuration 2], when the controller 30 determines that the work start condition for starting mixing work has been satisfied, the work machine 10 can start mixing work through automatic operation. Furthermore, when the controller 30 determines that the work end condition for starting mixing work has been satisfied, the work machine 10 can end mixing work through automatic operation. Therefore, when the work start condition or work end condition is set appropriately, mixing work through automatic operation of the work machine 10 can be started or ended at the appropriate timing.

[0137] (Effect of the third invention) [Configuration 3] The work system 1 includes a work object detection unit 23. The work object detection unit 23 detects the shape of a work object A (see FIG. 1) within an accumulation range B (see FIG. 1). At least one of the work start condition and the work end condition includes a shape condition, which is a condition related to the shape of the work object A detected by the work object detection unit 23 (see step S15 in FIG. 5 and step S63 in FIG. 7).

[0138] The above [Configuration 3] provides the following effect. The necessity of the mixing work may change depending on the shape of the work object A shown in FIG. 1 (details described above). Therefore, at least one of the work start condition and the work end condition includes the shape condition of the above [Configuration 3]. Therefore, the mixing work can be started or ended depending on the necessity of the mixing work.

[0139] (Effect of the fourth invention) [Configuration 4] The shape conditions include at least one of the conditions of the inclination and height of the workpiece A.

[0140] The above [Configuration 4] provides the following effect. The necessity of the mixing operation changes depending on at least one of the inclination and height of the work object A (details described above). Therefore, in the above [Configuration 4], the shape condition (the above [Configuration 3]) includes at least one of the conditions of the inclination and height of the work object A. Therefore, the mixing operation can be started or ended depending on the necessity of the mixing operation.

[0141] (Effect of the fifth invention) [Configuration 5] The work system 1 includes a vehicle position detection unit 25a shown in Fig. 4. The vehicle position detection unit 25a detects the position of a vehicle D (see Fig. 2) that is scheduled to perform work on a work object A (see Fig. 2). At least one of the work start condition and the work end condition includes a condition related to the position of the vehicle D detected by the vehicle position detection unit 25a (see step S13 in Fig. 5 and step S53 in Fig. 7).

[0142] The above [Configuration 5] provides the following effect. The necessity of the mixing work may change depending on the location of vehicle D, which is scheduled to perform work on work object A shown in FIG. 2. Therefore, in the above [Configuration 5], at least one of the work start condition and the work end condition includes a condition related to the location of vehicle D. Therefore, the mixing work can be started or ended depending on the necessity of the mixing work.

[0143] (Effect of the sixth aspect of the invention) [Configuration 6] The work system 1 includes an operation unit 24 shown in Fig. 4. The operation unit 24 outputs commands related to the mixing work in response to operations by the worker. At least one of the work start conditions and the work end conditions includes a condition related to the command output by the operation unit 24 (see step S11 in Fig. 5 and step S51 in Fig. 7).

[0144] According to the above [Configuration 6], the stirring operation can be started or ended in response to the operator's operation of the operation unit 24. Therefore, the stirring operation can be started or ended based on the operator's intention.

[0145] (Effect of the seventh invention) [Configuration 7] At least one of the work start condition and the work end condition includes a condition related to the time set in the controller 30 (see step S12 in FIG. 5 and step S52 in FIG. 7).

[0146] The above [Configuration 7] provides the following effect. The time of day may affect whether or not it is appropriate to perform the stirring operation. In this case, the above [Configuration 7] allows the stirring operation to be started or ended depending on the appropriate time for the stirring operation.

[0147] (Effect of the eighth aspect of the invention) [Configuration 8] The work system 1 includes a throw-in detection unit 25b. The throw-in detection unit 25b detects a work object A (throw-in object E) thrown into the accumulation range B shown in Fig. 1. The work start conditions include that the work of throwing the work object A (throw-in object E) into the accumulation range B has reached a predetermined state.

[0148] The above [Configuration 8] provides the following effect: The timing when the progress of the work of inserting work object A (input item E) into accumulation range B reaches a predetermined state (for example, when input item E is inserted) can be the appropriate timing to start the mixing work. In this case, the above [Configuration 8] makes it possible to start the mixing work at the appropriate timing.

[0149] (Effect of the ninth invention) [Configuration 9] The work end conditions include that the progress of the mixing work reaches a predetermined state set in the controller 30 shown in FIG. 4 (see steps S61, S62, S63, and S65 in FIG. 7).

[0150] The above [Configuration 9] provides the following effect. The timing when the progress of the mixing operation reaches a predetermined state (for example, completion) can be the appropriate timing to end the mixing operation. In this case, the above [Configuration 9] makes it possible to end the mixing operation at the appropriate timing.

[0151] (Effect of the 10th invention) [Configuration 10] The work end conditions include the completion of the stirring work in a specific range within accumulation range B (see FIG. 2) (see step S65 in FIG. 7).

[0152] The above-mentioned [Configuration 10] provides the following effect. The timing when the stirring operation is completed in a specific range (e.g., the entire range or substantially the entire range) within accumulation range B (see FIG. 2) may be the appropriate timing to end the stirring operation. In this case, the above-mentioned [Configuration 10] makes it possible to end the stirring operation at the appropriate timing.

[0153] (Effects of the eleventh invention) [Configuration 11] The work system 1 includes a hardness detection unit 27. The hardness detection unit 27 detects the hardness of the work object A (see FIG. 2) that has been stirred by the stirring work. The work end conditions include the hardness of the work object A (see FIG. 2) detected by the hardness detection unit 27 reaching a predetermined hardness.

[0154] The above [Configuration 11] provides the following effect. For example, a stirring operation may be performed to change the hardness of work object A shown in FIG. 1. In this case, the timing when the hardness of work object A has reached the desired hardness may be an appropriate timing to end the stirring operation. In this case, the above [Configuration 11] makes it possible to end the stirring operation at an appropriate timing.

[0155] (Effects of the twelfth invention) [Configuration 12] The hardness detection unit 27 (see FIG. 4) detects the hardness of the work object A by detecting the load acting on the bucket 15c during the mixing work.

[0156] With the above [Configuration 12], the hardness detection unit 27 (see FIG. 4) can be provided on the work machine 10. Therefore, there is no need to provide a device for detecting the hardness of the work object A that is separate from the work machine 10.

[0157] (Variation) The above-described embodiment may be modified in various ways. For example, the number of components in the above-described embodiment may be changed, or some of the components may not be provided. For example, the connections of the components shown in FIG. 4 and the like may be changed. For example, what has been described as multiple different components or parts may be combined into a single component or part. For example, what has been described as a single component or part may be provided as multiple different components or parts. Specifically, for example, the components of the controller 30 (such as the work plan setting unit 31 and the automatic driving control unit 50) do not need to be provided in a single controller 30, but may be provided separately in multiple controllers 30. For example, various parameters (such as setting values, thresholds, and ranges) may be set in advance in the controller 30. For example, the various parameters may be set manually by an operator, may be set by teaching, or may be calculated by the controller 30 based on detection values ​​of a sensor (such as the imaging device 22). For example, the various parameters may be fixed, may be changed manually, or may be changed automatically in response to certain conditions. For example, the order of steps in the flowcharts shown in Figures 5 to 7 may be changed, some steps may not be performed, or steps in different flowcharts may be combined. For example, each component may have only some of its characteristics (functions, arrangements, shapes, operations, etc.). [Explanation of symbols]

[0158] 1. Work System 10. Work Machinery 15c bucket 23 Work object detection unit 24 Control section 25b Insertion detection unit 27 Hardness detection unit 30 Controllers A. Work object B. Accumulation range L Work Lane X1 Back side (second side) X2 Front side (first side)

Claims

1. a work machine equipped with a bucket capable of excavating a work object; a controller that automatically operates the work machine so that the work machine performs the mixing work; a work object detection unit that detects the shape of the work object within a collection area in which the work objects are collected; Equipped with The stirring operation is a first operation of moving the work object within the accumulation range to a first side having a horizontal component by the bucket; a second operation of moving the work object moved by the first operation to a second side, which is opposite to the first side and has a horizontal component, by the bucket; Including, The controller includes: a work start condition that causes the work machine to start the mixing work; a work completion condition that causes the work machine to complete the mixing work; is set, At least one of the work start condition and the work end condition includes a shape condition that is a condition related to the shape of the work object detected by the work object detection unit, The controller When it is determined that the work start condition is satisfied, the work machine is caused to start the mixing work; When it is determined that the work completion condition is satisfied, the work machine is caused to complete the mixing work. Working system.

2. The work system according to claim 1, The shape conditions include at least one of a condition of an inclination and a condition of a height of the work object. Working system.

3. a work machine equipped with a bucket capable of excavating a work object; a controller that automatically operates the work machine so that the work machine performs the mixing work; a vehicle position detection unit that detects the position of a vehicle that is scheduled to perform work on the work object; Equipped with The stirring operation is a first operation of moving the work objects within a stacking range in which the work objects are stacked, by the bucket, to a first side having a horizontal component; a second operation of moving the work object moved by the first operation to a second side, which is opposite to the first side and has a horizontal component, by the bucket; Including, The controller includes: a work start condition that causes the work machine to start the mixing work; a work completion condition that causes the work machine to complete the mixing work; is set, at least one of the work start condition and the work end condition includes a condition related to the position of the vehicle detected by the vehicle position detection unit, The controller When it is determined that the work start condition is satisfied, the work machine is caused to start the mixing work; When it is determined that the work completion condition is satisfied, the work machine is caused to complete the mixing work. Working system.

4. a work machine equipped with a bucket capable of excavating a work object; a controller that automatically operates the work machine so that the work machine performs the mixing work; a throw-in detection unit that detects the work object thrown into a stacking range in which the work objects are stacked; Equipped with The stirring operation is a first operation of moving the work object within the accumulation range to a first side having a horizontal component by the bucket; a second operation of moving the work object moved by the first operation to a second side, which is opposite to the first side and has a horizontal component, by the bucket; Including, The controller includes: a work start condition that causes the work machine to start the mixing work; a work completion condition that causes the work machine to complete the mixing work; is set, the work start condition includes that the work of putting the work object into the accumulation range, detected by the putting detection unit, has reached a predetermined state; The controller When it is determined that the work start condition is satisfied, the work machine is caused to start the mixing work; When it is determined that the work completion condition is satisfied, the work machine is caused to complete the mixing work. Working system.

5. a work machine equipped with a bucket capable of excavating a work object; a controller that automatically operates the work machine so that the work machine performs the mixing work; a hardness detection unit that detects the hardness of the work object stirred by the stirring operation; Equipped with The stirring operation is a first operation of moving the work objects within a stacking range in which the work objects are stacked, by the bucket, to a first side having a horizontal component; a second operation of moving the work object moved by the first operation to a second side, which is opposite to the first side and has a horizontal component, by the bucket; Including, The controller includes: a work start condition that causes the work machine to start the mixing work; a work completion condition that causes the work machine to complete the mixing work; is set, the work completion condition includes that the hardness of the work object detected by the hardness detection unit has reached a predetermined hardness; The controller When it is determined that the work start condition is satisfied, the work machine is caused to start the mixing work; When it is determined that the work completion condition is satisfied, the work machine is caused to complete the mixing work. Working system.

6. The work system according to claim 5, the hardness detection unit detects the hardness of the work object by detecting a load acting on the bucket due to the mixing operation. Working system.

7. a work machine equipped with a bucket capable of excavating a work object; a controller that automatically operates the work machine so that the work machine performs the mixing work; Equipped with The stirring operation is a first operation of moving the work objects within a stacking range in which the work objects are stacked, by the bucket, to a first side having a horizontal component; a second operation of moving the work object moved by the first operation to a second side, which is opposite to the first side and has a horizontal component, by the bucket; Including, a work start condition that is a condition for causing the work machine to start the mixing work is set in the controller; When the controller determines that the work start condition is satisfied, the controller causes the work machine to start the mixing work. Working system.

8. a work machine equipped with a bucket capable of excavating a work object; a controller that automatically operates the work machine so that the work machine performs the mixing work; Equipped with The stirring operation is a first operation of moving the work objects within a stacking range in which the work objects are stacked, by the bucket, to a first side having a horizontal component; a second operation of moving the work object moved by the first operation to a second side, which is opposite to the first side and has a horizontal component, by the bucket; Including, a first work completion condition that is a condition for causing the work machine to complete the first work is set in the controller; the controller causes the work machine to end the first work when it determines that a first work end condition is satisfied; Working system.

9. A work system according to claim 8, The stirring operation is carried out in a plurality of working lanes, a first work end condition for each lane, which is a condition for ending work in the work lane, is set in the controller; When the controller determines that the first work completion condition for each lane has been satisfied, the controller causes the work machine to complete the first work in the work lane in which the work machine was performing the first work. Working system.

10. The work system according to any one of claims 1 to 9, an operation unit that outputs a command related to the stirring operation in response to an operation by an operator; the condition for causing the work machine to start or end the mixing work includes a condition regarding the presence or absence of the command output by the operation unit. Working system.

11. The work system according to any one of claims 1 to 10, the condition for causing the work machine to start or end the mixing work includes a condition related to a time set in the controller. Working system.

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