Work System

Abstract

To start and terminate a space formation work by automatic operation of a work machine at an adequate timing.SOLUTION: A controller 30 makes a work machine 10 automatically operate so that the work machine 10 conducts a space formation work. The space formation work is a work to form a space S in an accumulation area B by moving a work object (A1) at a specific position in the accumulation area B to a position (A3) that is a position in the accumulation area B and different from the specific position. The controller 30 makes the work machine 10 start the space formation work when determining that work start condition is satisfied. The controller 30 makes the work machine 10 terminate the space formation work when determining work termination condition is satisfied.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to a work system for automatically driving a work machine to perform space forming work. [Background technology]

[0002] For example, Patent Document 1 describes an automatically operated work machine (a hydraulic excavator in the document). In the document, the work machine excavates work objects (earth and rocks) stored within an accumulation area (earth and rock storage area) and releases them outside the accumulation area (to a crusher) (see

[0009] in the document). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 10-306469 Summary of the Invention [Problem to be solved by the invention]

[0004] The document does not describe how a work machine automatically performs the space formation work of moving work objects within a collection area and forming a space within the collection area. Furthermore, it is desirable to perform the space formation work by automatic operation at an appropriate timing.

[0005] Therefore, the space forming work performed by the automatic operation of the work machine can be started and ended at an appropriate timing. [Means for solving the problem]

[0006] The work system includes a work machine that performs work and a controller. The controller automatically operates the work machine so that the work machine performs space formation work. The space formation work is work that forms a space within an accumulation area by moving a work object from a specific position within the accumulation area where the work object is accumulated to a position within the accumulation area that is different from the specific position. A work start condition and a work end condition are set in the controller. The work start condition is a condition that causes the work machine to start the space formation work. The work end condition is a condition that causes the work machine to end the space formation work. When the controller determines that the work start condition is satisfied, the controller causes the work machine to start the space formation work. When the controller determines that the work end condition is satisfied, the controller causes the work machine to end the space formation work. [Effects of the Invention]

[0007] With the above configuration, the space forming work performed by the automatic operation of the work machine can be started and ended at appropriate timing. [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 the determination of work end conditions by the work end determination unit 43 shown in FIG. 4. [Figure 7]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] The work system 1 is a system configured so that a work machine 10 performs space formation work (described below) as shown in Fig. 1. The work system 1 includes 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, 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, 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) and may be, for example, the vehicle position detection unit 25a (see FIG. 4). The imaging device 22 shown in FIG. 4 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 an 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, 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 space formation work (described later). For example, the operation unit 24 may output at least one of commands (described later) to start and end space formation work. For example, the operation unit 24 may output a command (described later) to set a target path P (see FIG. 7) for the bucket 15c for space formation 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 a button or a switch.

[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.

[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 controller 30 is a computer that inputs and outputs signals, performs calculations (processing), stores information, etc. For example, the functions of the controller 30 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.

[0024] 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. 7) 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. 7) 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. 7)). 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.

[0025] 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 pre-work (details will be described later). The work progress acquisition unit 37 acquires the progress of space formation work (details will be described later).

[0026] 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 space formation work (e.g., pit space formation work) and a mode other than space formation work. The modes other than space formation work may include, for example, a mode for vehicle loading work, a mode for vehicle bed leveling work, and a mode for mixing work (e.g., pit mixing work). The above-mentioned "vehicle loading work" is work (e.g., dump 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 bed leveling work) in which the work machine 10 levels work object A loaded onto bed Da. The "mixing work" is work in which the work machine 10 mixes work target A within an accumulation range B (for example, mixing work in a pit). The work mode setting unit 40 shown in FIG. 4 includes a determination unit that determines the start and end of space formation work. Specifically, the work mode setting unit 40 includes a work start determination unit 41 and a work end determination unit 43.

[0027] The work start determination unit 41 determines whether or not to start the space forming work (described later). The work end determination unit 43 determines whether or not to end the space forming work (described later).

[0028] 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 space formation 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.

[0029] (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 to be excavated by bucket 15c. 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.

[0030] 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.

[0031] 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.

[0032] (Activation) The operating system 1 is configured to operate as follows.

[0033] (Work mode, etc.) A work mode setting unit 40 shown in Figure 4 sets (selects) a work mode from a plurality of work modes. An automatic driving control unit 50 automatically drives the work machine 10 (see Figure 1) in accordance with a work plan corresponding to the work mode set in the work mode setting unit 40 (for example, a work mode for space formation work).

[0034] (Space formation work) The controller 30 automatically controls the work machine 10 (see FIG. 1 ) to perform space forming work. The space forming work is work to form a space S within the accumulation range B by moving a work object A (pre-movement work object A1) at a specific position within the accumulation range B to a position (position of post-movement work object A3) different from the "specific position" within the accumulation range B. The space forming work is, for example, work performed within a pit C (intra-pit space forming work, intra-pit leveling work). The work object A that is moved by the space forming work and that is before movement is referred to as the pre-movement work object A1. The work object A after being moved by the space forming work is referred to as the post-movement work object A3. The space S is the space that has been left empty after the work object A has been moved by the space forming work. The position of the space S is the same as the position of the pre-movement work object A1.

[0035] The direction (orientation) of movement of the work object A may be the front-to-rear direction X, for example, from the rear side X1 to the front side X2, or from the front side X2 to the rear side X1. As shown in FIG. 3 , the direction (orientation) of movement of the work object A may be the turning direction Sw, for example, from right to left or from left to right when viewed from the work machine 10 toward the accumulation area B. The direction (orientation) of movement of the work object A may be the front-to-rear direction X and the turning direction Sw. For example, the direction (orientation) of movement of the work object A may be from the right side and the rear side X1 to the left side and the front side X2 (or vice versa) when viewed from the work machine 10 toward the accumulation area B, or from the left side and the rear side X1 to the right side and the front side X2 (or vice versa).

[0036] 1 before and after movement (the positions of the pre-movement work object A1 and the post-movement work object A3), the positions within the accumulation range B can be set in various ways. For example, the position of the pre-movement work object A1 may be at an end of the accumulation range B (for example, an end in the front-rear direction X) or at the center of the accumulation range B (for example, the center in the front-rear direction X) (the same applies to the post-movement work object A3).

[0037] As shown in FIG. 2, the space formation work is carried out in a work lane L. The work lane L is the trajectory of movement of the bucket 15c and the work object A during the space formation work. The space formation work may be carried out 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.

[0038] We will now explain the case where space formation work is performed on multiple work lanes L. The work lane L where space formation work is performed first is referred to as the start work lane Ls. The work lane L where space formation work is performed last is referred to as the end work lane Le. When space formation work is performed on all lanes from the start work lane Ls to the end work lane Le, it is preferable that space formation work is performed on the entire or substantially the entire accumulation range B.

[0039] 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, space formation work is carried out 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, space formation work is carried out 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).

[0040] The distance between adjacent work lanes L (e.g., the amount of offset of 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 into 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 space formation work (such as threshold values) may be set based on manual operation by a 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 space forming operation may be initial values ​​or fixed values ​​preset in the controller 30.

[0041] (Examples of the purpose of space creation work) The purpose of space formation work is, for example, as follows.

[0042] [Example 1 of Objective] The space forming work may be performed to secure a space S for inserting an object E into the accumulation range B shown in FIG. 1. For example, the space forming work may be performed to secure a space S within the accumulation range B before or while the object E is inserted into the accumulation range B. Specifically, in the example shown in FIG. 1, the object E is inserted into the X1 portion of the accumulation range B on the rear side. Then, the work object A (the pre-movement work object A1) in the X1 portion of the accumulation range B is moved to the X2 portion (the position of the post-movement work object A3) by the space forming work. As a result, a space S is formed in the X1 portion of the accumulation range B on the rear side.

[0043] [Example 2 of Objective] The space forming work may be performed to improve the efficiency of the work (loading work) of loading the work object A from the accumulation range B shown in Figure 2 onto the vehicle D. The space forming work may be performed to shorten the time it takes to load the work object A from the accumulation range B onto the vehicle D. The space forming work may be performed to shorten the travel distance (stroke) of the work object A from the accumulation range B to the vehicle D. [Example 2a] It is assumed that the work machine 10 performs the work of loading the work object A from the accumulation range B onto the vehicle D (more specifically, the loading platform Da). In this case, the work object A may be moved (pulled over) to the side closer to the work machine 10 (the front side X2) by the space forming work. [Example 2b] It is also assumed that a machine other than the work machine 10 (a "loading machine" not shown) performs the work of loading the work object A from the accumulation range B onto the vehicle D. In this case, the work object A may be moved to a side closer to the loading machine by space formation work (space formation work by the work machine 10). [Example 2c] The work object A may be moved to a side closer to the planned placement position of the vehicle D by space formation work (see Figure 3).

[0044] (Work start conditions) Work start conditions (see FIG. 5) are set in the controller 30 (more specifically, the work start determination unit 41) shown in FIG. 4. The work start conditions are conditions that cause the work machine 10 to start space formation 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 space formation work when at least one of the multiple work start conditions is satisfied. The controller 30 may cause the work machine 10 to start space formation work when two or more or all of the multiple work start conditions are satisfied. Specific examples of work start conditions are as follows:

[0045] (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 a worker (person). Specifically, for example, the work start condition may include the operation unit 24 outputting a command to start a space formation work. The "command to start a space formation work" may be, for example, a command to select a work mode for the space formation work. Note that the work start condition may include the command to start a space formation work being output by something other than the operation unit 24 (the output of a command not operated by the worker).

[0046] (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, when the work machine 10 is to perform space formation 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 for the space formation work. Furthermore, for example, when the work machine 10 is to perform space formation work before the vehicle D (see FIG. 2) arrives at the work site, a predetermined time before the scheduled time for the vehicle D to arrive at the work site may be set in the time information setting unit 33 as the start time for the space formation work.

[0047] (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 a 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, for example, the work start condition may include vehicle D approaching the work site (the timing to enter the work site 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.

[0048] (Conditions for starting work: Conditions for pre-work) The work start condition may include the progress of the preliminary work reaching a predetermined state set in the controller 30 (see step S14 in FIG. 5). The above-mentioned "preliminary work" is work that is carried out before the space formation work. The preliminary work may be work performed by the work machine 10 (see FIG. 1), or may be work performed by a machine other than the work machine 10. For example, the preliminary work may be set in advance in the work plan setting unit 31 (before the work start condition is determined). For example, the order of work modes for work performed by the work machine 10 is set in advance in the work plan setting unit 31. In this case, the work mode (work mode for the preliminary work) that is selected before the work mode for the space formation work is selected is set in advance in the work plan setting unit 31. A specific example of the preliminary work is leveling work on the loading platform Da of the vehicle D shown in FIG. 2 (for example, work performed by the work machine 10). Then, the preliminary work progress acquisition unit 35 shown in FIG. 4 acquires the progress of the preliminary work. The controller 30 (more specifically, the work start determination unit 41) determines whether the progress of the pre-work has reached a predetermined state. Specifically, for example, the work start determination unit 41 determines whether the pre-work has been completed. When the pre-work has reached a predetermined state (for example, has been completed), the work start determination unit 41 determines that the conditions related to the pre-work have been met.

[0049] (Work start conditions: shape conditions) The work start conditions may include shape conditions that are conditions 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 conditions 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 FIG. 6).

[0050] (Work start condition: slope condition) The work start condition may include a condition (inclination condition) regarding the magnitude of the inclination of the work object A shown in Figure 1. The "inclination of the work object A" refers to the inclination of the top surface (upper Z1 surface) of the work object A relative to the horizontal. For example, the work start condition (inclination condition) may include the inclination of the work object A being smaller (gentle, close to horizontal) than a predetermined inclination (work start inclination threshold).

[0051] The reason why a slope condition is set as a work start condition is, for example, as follows: When the slope of the work object A is small, it is assumed that there is little space S into which the work object A can be placed, and there is a high need to form the space S. Therefore, the work start condition may include the slope of the work object A being smaller than a predetermined slope (work start slope threshold). Note that a slope condition may also be set for reasons other than those described above (the same applies to the reasons for setting other conditions, described below).

[0052] (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 the height of the work object A being higher or lower than a predetermined height (work start height threshold). The "height of the work object A" is the height of the upper surface of a certain portion of the work object A.

[0053] The reasons for setting a height condition as a work start condition are, for example, as follows. [Example 1a] When the height of the work object A is high in the portion of the accumulation range B where the input material E is to be input (for example, near the upper end of the pit wall Cw), it is assumed that there is little space S into which the input material E is to be input, and that there is a high need to form the space S. Therefore, the work start condition may include a condition that the height of the work object A at the planned input position of the input material E is higher than a predetermined height (first work start height threshold). [Example 1b] Furthermore, it is conceivable that the height of the work object A at the planned excavation position of the work object A when loading work is performed from the accumulation range B to the vehicle D (see FIG. 2) is low. In this case, it is assumed that there is a high need to move the work object A from a position different from the planned excavation position of the work object A to the planned excavation position of the work object A. Therefore, the work start condition may include a condition that the height of the work object A at the planned excavation position is lower than a predetermined height (second work start height threshold).

[0054] The work start height threshold may be set by manual operation by an operator. "Manual operation by an operator" may be, for example, operation of the operation unit 24 (see FIG. 4) or teaching (the same applies to "manual operation by an operator" below). The work start height threshold may be automatically set by the controller 30 (see FIG. 4). Specifically, for example, the work start height threshold may be automatically set by the controller 30 based on the shape of the pit wall Cw (e.g., the height of the pit wall Cw). The shape of the pit wall Cw may be calculated based on information captured by the imaging device 22 (see FIG. 4).

[0055] (Space creation work begins) 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 space formation work (see step S19 in FIG. 5). Specifically, for example, when the work start conditions are satisfied, the work mode setting unit 40 sets (selects) the space formation work mode as the work mode. For example, the work mode setting unit 40 changes from a mode other than the space formation work mode to the space formation 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 space formation work in accordance with the work content of the space formation work set in the work plan setting unit 31. As a result, the work machine 10 automatically performs the space formation work.

[0056] (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 space formation 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 space formation 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 space formation work when two or more or all of the multiple work end conditions are satisfied. The same conditions as the work start conditions may be set as work end conditions. Specific examples of work end conditions will be explained below, focusing mainly on the differences from the work start conditions. Note that the "conditions related to preparatory work" in the work start conditions is not set as a work end condition.

[0057] (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 S21 in FIG. 6). Specifically, for example, the work end condition may include the operation unit 24 outputting a command to end the space formation work. The "command to end the space formation work" may be a command to select a work mode different from the work mode of the space formation work, or a command to stop the work machine 10. Note that the work end condition may include the command to end the space formation work being output by something other than the operation unit 24 (the output of a command not operated by the worker).

[0058] (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 S22 in FIG. 6). When the start time of the space formation work is set in the time information setting unit 33 as the work start condition, an end time that is later than the start time of the space formation work is set in the time information setting unit 33 as the work end condition.

[0059] (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 S23 in FIG. 6). When a condition related to the position of vehicle D is set as the work start 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. 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 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 distance (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 work end condition may be set to be that vehicle D has entered the work site.

[0060] (Work completion conditions: conditions regarding the progress of space creation work) The work completion condition may include the progress of the space formation work reaching a predetermined state set in the controller 30 (more specifically, the work completion determination unit 43) (see steps S31, S32, and S35 in FIG. 6). Here, a case will be described in which the space formation work is carried out in multiple work lanes L shown in FIG. 2. Below, each step shown in FIG. 6 will be described with reference to FIG. 6.

[0061] An overview of the conditions related to the progress of the space formation work is as follows, for example. The controller 30 (work completion determination unit 43) shown in FIG. 4 determines the conditions related to the progress of the space formation work (each lane work completion condition) for each work lane L shown in FIG. 2 (for each of the multiple work lanes L) (steps S31 and S32). If the "each lane work completion condition" is met for one work lane L and the space formation work for the ending work lane Le has not been completed (NO in step S35), the controller 30 (see FIG. 4) changes the work lane L on which the space formation work is being performed (step S36). If the space formation work has been completed for all work lanes L (YES in step S35), the controller 30 determines that the work completion condition has been met. Specific examples of the conditions related to the progress of the space formation work are as follows.

[0062] (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 the bucket 15c has moved the work object A reaching a predetermined number (number threshold) (the movement work being completed a predetermined number of times) (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 work end condition for each lane may include the number of times this "one movement" reaching a predetermined number threshold.

[0063] The conditions for completing work on each lane may include that the time taken for the bucket 15c to move the work object A reaches a predetermined time (time threshold).

[0064] (Each lane work completion condition: shape condition) The work termination conditions 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.

[0065] (Each lane's work completion condition: Incline condition) The work end 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 end condition for each lane (slope condition) may include that the slope of the work object A is greater (steeper) than a predetermined slope (work end slope threshold).

[0066] The reasons for setting a slope condition as the work completion condition for each lane are, for example, as follows: [Example 2a] For example, if the slope of 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. In this case, it is considered that the space S for loading the input item E has been formed by the space formation work. [Example 2b] For example, if the slope of work object A is large (steep), it is assumed that the work object A has moved sufficiently to make the loading work efficient. Therefore, the work completion condition for each lane may include that the slope of work object A is larger (steeper) than a predetermined slope (work completion slope threshold).

[0067] (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.

[0068] [Example 3a] For example, if the height of work object A is sufficiently low in the part of accumulation range B where item E is to be dropped, it is assumed that space S for dropping item E has been secured. Therefore, the work end conditions for each lane may include that the height of work object A at the planned drop position of item E is lower than a predetermined height (first work end height threshold).

[0069] [Example 3b] For example, if the height of the work object A (post-movement work object A3) that is excavated when being loaded onto vehicle D (see Figure 2) is high, it is assumed that the work object A has moved sufficiently from the pre-movement work object A1 to the post-movement work object A3. Therefore, the work completion conditions for each lane may include that the height of the work object A (post-movement work object A3) at the position where excavation is performed when being loaded is higher than a predetermined height (second work completion height threshold).

[0070] [Example 3c] For example, if the height of the work object A (moved work object A3) moved by the space forming work is near the height of the upper end of the pit wall Cw, it is expected that the work object A will overflow from the pit wall Cw even if the space forming work is continued. Therefore, the work completion conditions for each lane may include that the height of the moved work object A3 is higher than a predetermined height (third work completion height threshold).

[0071] The work end height threshold may be set manually by the worker, or may be set automatically by the controller 30 (see FIG. 4). Specifically, for example, the work end height threshold may be automatically set by the controller 30 based on the shape of the pit wall Cw (e.g., the height of the pit wall Cw) (similar to the work start height threshold). In the above [Example 3c], the second 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.

[0072] (Work completion condition: Condition for completing work in multiple work lanes L) The work completion condition may include completion of the space formation work in a specific range within the 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, for example, 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.

[0073] (Work completion condition: Work is performed only in one work lane L) In the above example, a case where space formation work is performed in multiple work lanes L has been described, but space formation work may also be performed in only one work lane L. When space formation 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 "work end conditions for each lane" may be set as the work end conditions (conditions for ending the space formation work). Note that even when work is performed in multiple work lanes L, the conditions described as "work end conditions for each lane" may also be set as the work end conditions (conditions for ending the space formation work).

[0074] (Completion of space creation work) 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 space formation work (step S41 in FIG. 6). Specifically, for example, when a work end condition has been satisfied, the work mode setting unit 40 sets (selects) a work mode different from the space formation work mode. For example, the work mode setting unit 40 changes from the space formation work mode to a work mode different from the space formation work mode. 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 space formation work. As a result, the work machine 10 ends the space formation work.

[0075] (Specific route and location of space formation work) The controller 30 (more specifically, the work plan setting unit 31) sets the range in which the space formation work will be performed (for example, the position of the work lane L (see FIG. 2)). The range in which the space formation 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 space formation 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 space formation work will be performed may be automatically set by the work plan setting unit 31 based on the shape of the pit C (for example, 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 space formation work will be 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.

[0076] The work plan setting unit 31 sets a target path P for specific parts of the attachment 15 (for example, the arm tip 15bt and the bucket tip 15ct) in the space forming work shown in Fig. 7. A specific example of the target path P is as follows.

[0077] 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 includes an initial position P0, a first position P1, a second position P2, and a third position P3. The number of target positions included in the target path P does not have to be four, but may be three, or five or more. For example, the target is that the bucket 15c moves in the following order: initial position P0, first position P1, second position P2, and third position P3. Note that the target position next to the third position P3 may be the initial position P0 or the first position P1.

[0078] For example, the initial position P0 is set to a position directly above the position where the space S (see FIG. 1) is to be formed. The initial position P0 is set to a position Z1 above the work object A. The first position P1 is set to a position 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. 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 space forming operation is performed. In the example shown in FIG. 7, the third position P3 is set to a position Z1 above the second position P2. In the example shown in the figure, the third position P3 is set on the near side X2 from the second position P2.

[0079] 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. 7). 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 undercarriage 11.

[0080] (input data) Before the work plan setting unit 31 (see FIG. 4) sets (generates and outputs) the target path P shown in FIG. 7, 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 a setting value for determining the initial position P0 and the second position P2.

[0081] (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.

[0082] [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 to be set as the first position P1 (the position where the space S (see FIG. 1) is to be formed). 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 at 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 an initial value or a fixed value preset 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).

[0083] 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).

[0084] (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).

[0085] (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 in the front-to-back direction X of bucket tip 15ct at third position P3 is set as px_end, and the coordinate 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.

[0086] [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).

[0087] 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.

[0088] (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.

[0089] (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.

[0090] (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 for each of the initial position P0, first position P1, second position P2, and third position P3. Specific examples of the output data are as follows:

[0091] The bucket angle Xi (p1xi) at the first position P1 is determined to a magnitude that takes into account the inclination of the upper surface of the workpiece A at the position where the space S (see FIG. 1) is to be formed. For example, p1xi is determined based on the angle setting value (one of the input data) described above.

[0092] 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.

[0093] 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).

[0094] 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. 7, 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.

[0095] 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.

[0096] When the bucket 15c moves from the second position P2 to the third position P3, the bucket tip 15ct may or may not move linearly (see FIG. 7). 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. 7) or may move horizontally.

[0097] (Effects of the first invention) The effects of the work system 1 shown in Fig. 1 are as follows: The work system 1 comprises a work machine 10 that performs work, and a controller 30 shown in Fig. 4 .

[0098] [Configuration 1-1] The controller 30 automatically operates the work machine 10 shown in Figure 1 so that the work machine 10 performs space forming work. The space forming work is work to form a space S within the accumulation range B by moving a work object A (pre-movement work object A1) at a specific position within the accumulation range B to a position within the accumulation range B that is different from the "specific position" (position of the post-movement work object A3). The accumulation range B is the range in which the work object A is accumulated.

[0099] [Configuration 1-2] A work start condition (see FIG. 5) and a work end condition (see FIG. 6) are set in the controller 30 shown in FIG. 4. The work start condition is a condition that causes the work machine 10 to start space formation work. The work end condition is a condition that causes the work machine 10 to end space formation work. When the controller 30 determines that the work start condition is met, it causes the work machine 10 to start space formation work. When the controller 30 determines that the work end condition is met, it causes the work machine 10 to end space formation work.

[0100] The above [Configuration 1-1] allows the work machine 10 to perform space formation work by automatic driving. In the above [Configuration 1-2], when the controller 30 determines that the work start condition for starting the space formation work has been met, the work machine 10 can start the space formation work by automatic driving. Furthermore, when the controller 30 determines that the work end condition for starting the space formation work has been met, the work machine 10 can end the space formation work by automatic driving. Therefore, when the work start condition and work end condition are set appropriately, the space formation work by the work machine 10 by automatic driving can be started and ended at the appropriate timing.

[0101] (Effects of the second invention) [Configuration 2] 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 S32 in FIG. 6).

[0102] The above [Configuration 2] provides the following effect. The necessity of the space formation work changes depending on the shape of the work object A shown in Figure 1 (details are described above). Therefore, at least one of the work start condition and the work end condition includes the shape condition of the above [Configuration 2]. Therefore, the space formation work can be started or ended depending on the necessity of the space formation work.

[0103] (Effect of the third invention) [Configuration 3] The shape conditions include at least one of the conditions of the inclination and height of the workpiece A.

[0104] The above [Configuration 3] provides the following effect. The necessity of the space formation work changes depending on at least one of the inclination and height of the work object A (details described above). Therefore, in the above [Configuration 3], the shape condition (the above [Configuration 2]) includes at least one of the conditions of the inclination and height of the work object A. Therefore, the space formation work can be started or ended depending on the necessity of the space formation work.

[0105] (Effect of the fourth invention) [Configuration 4] The work system 1 includes a vehicle position detection unit 25a shown in Figure 4. The vehicle position detection unit 25a detects the position of a vehicle D (see Figure 2) that is scheduled to perform work on a work object A (see Figure 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 Figure 5 and step S23 in Figure 6).

[0106] The above [Configuration 4] provides the following effect. The necessity of the space formation work may change depending on the position of vehicle D, which is scheduled to perform work on work object A shown in FIG. 2. Therefore, in the above [Configuration 4], at least one of the work start condition and the work end condition includes a condition related to the position of vehicle D. Therefore, the space formation work can be started or ended depending on the necessity of the space formation work.

[0107] (Effect of the fifth invention) [Configuration 5] The work system 1 includes an operation unit 24 shown in Fig. 4. The operation unit 24 outputs commands related to the space formation 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 S21 in Fig. 6).

[0108] According to the above [Configuration 5], the space forming work can be started or ended in response to the operator's operation of the operation unit 24. Therefore, the space forming work can be started or ended based on the operator's intention.

[0109] (Effect of the sixth aspect of the invention) [Configuration 6] 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 S22 in FIG. 6).

[0110] The above [Configuration 6] provides the following effect. The time of day may affect whether or not a space formation task is suitable for execution. In this case, the above [Configuration 6] allows the space formation task to be started or ended depending on the time that is suitable for execution.

[0111] (Effect of the seventh invention) [Configuration 7] The work start condition includes that the progress of the work (preliminary work) performed before the space forming work has reached a predetermined state set in the controller 30 (see step S14 in FIG. 5).

[0112] The above [Configuration 7] provides the following effect. The timing when the progress of the work (preliminary work) performed before the space formation work reaches a predetermined state (for example, when it is completed) can be the appropriate timing to start the space formation work. In this case, the above [Configuration 7] makes it possible to start the space formation work at the appropriate timing.

[0113] (Effect of the eighth aspect of the invention) [Configuration 8] The work end condition includes that the progress of the space formation work reaches a predetermined state set in the controller 30 (see steps S31, S32, and S35 in FIG. 6).

[0114] The above [Configuration 8] provides the following effect. The timing when the progress of the space formation work reaches a predetermined state (for example, completion) can be the appropriate timing to end the space formation work. In this case, the above [Configuration 8] makes it possible to end the space formation work at the appropriate timing.

[0115] (Effect of the ninth invention) [Configuration 9] The work end condition includes the completion of the space formation work in a specific range within accumulation range B (see FIG. 2) (see step S35 in FIG. 6).

[0116] The above [Configuration 9] provides the following effect. The timing when the space formation work is completed in a specific area (e.g., the entire area or substantially the entire area) within accumulation area B (see FIG. 2) may be an appropriate timing to end the space formation work. In this case, the above [Configuration 9] makes it possible to end the space formation work at an appropriate timing.

[0117] (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 detected values ​​from a sensor (such as the imaging device 22). For example, the various parameters may be fixed, may be changed manually, or may be automatically changed in response to certain conditions. For example, the order of the steps in the flowcharts shown in FIGS. 5 and 6 may be changed, or some steps may not be performed. For example, each component may have only a part of each characteristic (function, arrangement, shape, operation, etc.). [Explanation of symbols]

[0118] 1. Work System 10. Work Machinery (Shovel) 15 Attachments 15a Boom 15b Arm 15c Bucket (tip attachment) 23 Work object detection unit 24 Control section 25a Vehicle position detection unit 30 Controllers A. Work object B. Accumulation range D Vehicle S space

Claims

1. a work machine that is a shovel having an attachment for performing work; a controller that automatically operates the work machine so that the work machine performs space forming work; Equipped with The attachment is Boom and an arm rotatably attached to the boom; a tip attachment rotatably attached to the arm and configured to be able to move a work object while capturing the work object, the tip attachment being provided at the tip of the attachment; Equipped with The space forming work is a work of forming a space within the accumulation range by moving the work object at a specific position within the accumulation range, which is the range where the work objects are gathered and piled up in one mass, to a position within the accumulation range that is different from the specific position, The controller includes: a work start condition that causes the work machine to start the space forming work; a work completion condition that causes the work machine to complete the space forming work; is set, The controller When it is determined that the work start condition is satisfied, the work machine is caused to start the space forming work; When it is determined that the work completion condition is satisfied, the work machine is caused to complete the space forming work. Working system.

2. The work system according to claim 1, a vehicle position detection unit that detects the position of a vehicle; the vehicle is scheduled to perform one or both of the following tasks: transporting the work objects loaded onto the vehicle from the accumulation area; and transporting the work objects to be supplied into the accumulation area; 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. Working system.

3. 3. The work system according to claim 1 or 2, a work object detection unit that detects the shape of the work object within the accumulation range, 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. Working system.

4. The work system according to claim 3, 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.

5. The work system according to any one of claims 1 to 4, an operation unit that outputs a command related to the space forming work in response to an operation by a worker; At least one of the work start condition and the work end condition includes a condition related to the command output by the operation unit. Working system.

6. The work system according to any one of claims 1 to 5, At least one of the work start condition and the work end condition includes a condition related to a time set in the controller. Working system.

7. The work system according to any one of claims 1 to 6, The work start condition includes that a progress status of a work performed before the space forming work has reached a predetermined status set in the controller. Working system.

8. The work system according to any one of claims 1 to 7, The work completion condition includes that the progress of the space formation work has reached a predetermined state set in the controller. Working system.

9. The work system according to claim 8, The work completion condition includes that the space forming work is completed in a specific range within the accumulation range. Working system.

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