Work machines, information processing devices

Abstract

To provide technology for improving work efficiency of slinging work in crane work.SOLUTION: A shovel 100 related to one embodiment of the present disclosure has a lower traveling body 1, an upper revolving body 3 revolvably mounted to the lower traveling body 1, an attachment mounted to the upper revolving body 3, and a hook 80 mounted at a tip of the attachment, and adjusts positioning of the hook 80 in relation to a suspended load SL. A control device 200 and a support device 300 related to one embodiment of the present disclosure transmit an instruction for automatically positioning the hook 80 in relation to the suspended load SL around the shovel 100 to the shovel 100.SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] The present disclosure provides: Work machinery etc. [Background technology]

[0002] For example, there is known a work machine (for example, an excavation work machine such as a shovel) that is capable of performing crane work (see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 10-88609 Summary of the Invention [Problem to be solved by the invention]

[0004] However, crane operation requires the rigging work of attaching and detaching a load to a hook provided at the tip of the attachment, which usually requires guiding the hook to a position near the load around the work machine and positioning a worker to attach the rigging equipment for the load to the hook, which can reduce work efficiency at the work site.

[0005] In view of the above problems, an object of the present invention is to provide a technology that can improve the efficiency of rigging work when performing crane work. [Means for solving the problem]

[0006] In order to achieve the above object, in one embodiment of the present disclosure, A lower traveling body and an upper rotating body rotatably mounted on the lower traveling body. a main body; the main body The upper rotating body of Attachments that can be attached to a hook attached to the tip of the attachment; a surrounding information acquisition unit that acquires information about the situation around the work machine; a hook position information acquisition unit that acquires information about the position of the hook; a recognition unit that recognizes a suspended load around the work machine based on information acquired by the surrounding information acquisition unit; an operation control unit that controls the operation of the work machine, The operation control unit is configured to control the suspended load recognized by the recognition unit to of Overall From a bird's eye view When I saw of the lower traveling body It is determined whether the hook is within a movable range without changing its position, and when it is determined that the load is within the movable range, the main body unit is of Overall From a bird's eye view When I saw of the lower traveling body A part of the main body without changing its position The upper rotating body rotates as follows: and the attachment Operation At least one Done By doing so, the hook is automatically aligned with the suspending portion of the suspending load. A work machine is provided.

[0007] In another embodiment of the present disclosure, A lower traveling body and an upper rotating body rotatably mounted on the lower traveling body. a main body portion; The upper rotating body of an attachment attached to the tip of the attachment; a surrounding information acquisition unit that acquires information about the situation around the work machine; a hook position information acquisition unit that acquires information about the position of the hook; a recognition unit that recognizes a suspended load around the work machine based on the information acquired by the surrounding information acquisition unit; and an operation control unit that controls the operation of the work machine, By transmitting a signal to the work machine to operate the work machine, the operation control unit detects that the suspended load recognized by the recognition unit is of Overall From a bird's eye view When I saw of the lower traveling bodyThe hook is caused to determine whether it is within a movable range without changing its position, and when it is determined that the load is within the movable range, the main body unit is of Overall From a bird's eye view When I saw of the lower traveling body A part of the main body without changing its position The upper rotating body rotates as follows: and the attachment Operation At least one of them carried out By controlling the control unit to automatically align the hook with the suspending portion of the suspended load, An information processing device is provided. [Effects of the Invention]

[0008] According to the above-described embodiment, it is possible to improve the efficiency of slinging work when performing crane work. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a schematic diagram illustrating an example of an excavator management system. [Figure 2] FIG. 1 is a block diagram showing an example of the configuration of an excavator management system. [Figure 3] FIG. 10 is a block diagram showing another example of the configuration of the excavator management system. [Figure 4] FIG. 10 is a diagram showing an operation status relating to the slinging support function of the excavator. [Figure 5] FIG. 10 is a diagram showing an operation status relating to the slinging support function of the excavator. [Figure 6] FIG. 10 is a diagram illustrating a first example of a control process related to a slinging support function of a shovel. [Figure 7] FIG. 10 is a diagram showing a second example of control processing relating to the slinging support function of the excavator. [Figure 8] FIG. 10 is a diagram illustrating a third example of control processing related to the slinging support function of the excavator. [Figure 9] FIG. 10 is a diagram showing a fourth example of control processing relating to the slinging support function of the excavator. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, an embodiment will be described with reference to the drawings.

[0011] [Outline of the excavator management system] First, with reference to FIG. 1, an outline of the excavator management system SYS according to this embodiment will be described.

[0012] FIG. 1 is a schematic diagram showing an example of an excavator management system SYS according to this embodiment.

[0013] As shown in FIG. 1, the shovel management system SYS includes an shovel 100, a management device 200, and a support device 300.

[0014] The shovel management system SYS, for example, collects information from the shovel 100 in the management device 200 and monitors various states of the shovel 100 (for example, whether or not there are any abnormalities in the various devices mounted on the shovel 100). In addition, the shovel management system SYS distributes various information related to the shovel 100 (for example, information collected from the shovel 100) from the management device 200 to the support device 300, and provides the information to the user via the support device 300.

[0015] The excavator management system SYS may include one or more excavators 100. Similarly, the excavator management system SYS may include multiple management devices 200. That is, the multiple management devices 200 may distribute and execute processing related to the excavator management system SYS. For example, each of the multiple management devices 200 may communicate with some of the excavators 100 that it is responsible for among the multiple excavators 100, and execute processing targeted at those some of the excavators 100. Similarly, the excavator management system SYS may include one or more support devices 300.

[0016] <Outline of the excavator> As shown in Fig. 1, an excavator 100 according to this embodiment includes a lower traveling body 1, an upper rotating body 3 rotatably mounted on the lower traveling body 1 via a rotating mechanism 2, a boom 4, an arm 5, and a bucket 6 that constitute attachments, and a cabin 10 for an operator to ride in. Hereinafter, the front of the excavator 100 corresponds to the direction in which the attachment extends from the upper rotating body 3 when the excavator 100 is viewed in a plan view from directly above along the rotation axis of the upper rotating body 3 (hereinafter simply referred to as a "plan view"). Furthermore, the left and right sides of the excavator 100 correspond to the left and right sides, respectively, as viewed from the operator inside the cabin 10.

[0017] The lower traveling body 1 includes, for example, a pair of left and right crawlers, and the excavator 100 travels by being hydraulically driven by a left traveling hydraulic motor 1ML and a right traveling hydraulic motor 1MR (see FIG. 2).

[0018] The upper rotating body 3 rotates relative to the lower traveling body 1 as a result of the rotating mechanism 2 being hydraulically driven by the rotating hydraulic motor 2A.

[0019] The boom 4 is pivotally attached to the front center of the upper rotating body 3 so that it can be raised and lowered, and an arm 5 is pivotally attached to the tip of the boom 4 so that it can rotate up and down, and a bucket 6 is pivotally attached to the tip of the arm 5 so that it can rotate up and down.

[0020] The bucket 6 is an example of an end attachment. The bucket 6 is used, for example, for excavation work. In addition, instead of the bucket 6, another end attachment may be attached to the tip of the arm 5 depending on the type of work, etc. The other end attachment may be, for example, a slope bucket, a dredging bucket, or another type of bucket. The other end attachment may also be a type of end attachment other than a bucket, such as a mixer or a breaker.

[0021] A hook 80 for crane work is also attached to the bucket 6. The base end of the hook 80 is rotatably connected to a bucket pin that connects the arm 5 and the bucket 6. As a result, the hook 80 is stored in the space formed between the two bucket links when work other than crane work (lifting work), such as excavation work, is being performed.

[0022] The boom 4, the arm 5, and the bucket 6 are hydraulically driven by a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9, which serve as hydraulic actuators, respectively.

[0023] The cabin 10 is a control room where an operator sits, and is mounted on the front left side of the upper rotating body 3.

[0024] The shovel 100 is equipped with a communication device 60 and can communicate with the management device 200 via a predetermined communication line NW (Network). This allows the shovel 100 to transmit (upload) various types of information to the management device 200 and receive various signals (e.g., information signals and control signals) from the management device 200. The communication line NW may include, for example, a mobile communication network terminated at a base station. The communication line NW may also include, for example, a satellite communication network that uses a communication satellite above the shovel 100. The communication line NW may also include, for example, the Internet network. The communication line NW may also include, for example, a LAN (Local Area Network). The communication line NW may also include, for example, a short-range communication network based on a predetermined short-range communication method such as WiFi or Bluetooth (registered trademark).

[0025] The excavator 100 operates actuators (e.g., hydraulic actuators) in response to operations by an operator in the cabin 10, and drives operating elements (driven elements) such as the lower running body 1, upper rotating body 3, boom 4, arm 5, and bucket 6.

[0026] Furthermore, instead of or in addition to being configured to be operable by an operator in the cabin 10, the shovel 100 may be configured to be remotely operable from outside the shovel 100. When the shovel 100 is remotely operated, the inside of the cabin 10 may be unmanned. The following description will be given on the assumption that the operation of the operator includes at least one of operation of the operating device 26 by the operator in the cabin 10 and remote operation by an operator of an external device.

[0027] Remote operation includes, for example, a mode in which the shovel 100 is operated by an operation input related to an actuator of the shovel 100 performed by a predetermined external device (for example, the management device 200 or the support device 300). In this case, the shovel 100 transmits image information (captured images) output by an imaging device included in the surrounding information acquisition device 40 (described later) to the external device, and the image information may be displayed on a display device (hereinafter referred to as a "display device for remote operation") provided in the external device. Furthermore, various information images (information screens) displayed on the display device 50 inside the cabin 10 of the shovel 100 may also be displayed on the display device for remote operation of the external device. This allows the operator of the external device to remotely operate the shovel 100 while checking the display contents of, for example, captured images and information screens showing the surroundings of the shovel 100 displayed on the display device for remote operation. The excavator 100 may then operate the actuators in response to a remote control signal received from an external device, which indicates the content of the remote control, and drive driven elements such as the lower traveling body 1, the upper rotating body 3, the boom 4, the arm 5, and the bucket 6.

[0028] Furthermore, remote control may include, for example, a mode in which the shovel 100 is operated by an external voice input, gesture input, or the like to the shovel 100 by a person (e.g., a worker) around the shovel 100. Specifically, the shovel 100 recognizes voices uttered by surrounding workers, gestures made by the workers, or the like through an imaging device or a voice input device (e.g., a microphone) mounted on the shovel 100. Then, the shovel 100 may operate actuators in accordance with the content of the recognized voices, gestures, or the like, to drive driven elements such as the lower traveling body 1, the upper rotating body 3, the boom 4, the arm 5, and the bucket 6.

[0029] The excavator 100 may also automatically operate the actuators regardless of the operation by the operator, thereby realizing a function (so-called "automatic driving function" or "machine control function") that automatically operates at least some of the driven elements such as the lower traveling structure 1, the upper rotating structure 3, the boom 4, the arm 5, and the bucket 6.

[0030] The automatic driving function may include a function (so-called "semi-automatic driving function") that automatically operates driven elements (hydraulic actuators) other than the driven element (hydraulic actuator) that is the target of operation, in response to an operator's operation of the operating device 26 or remote operation. The automatic driving function may also include a function (so-called "fully automatic driving function") that automatically operates at least some of the multiple driven elements (hydraulic actuators) on the assumption that there is no operation of the operating device 26 or remote operation by the operator. When the fully automatic driving function is enabled in the shovel 100, the inside of the cabin 10 may be unmanned. The semi-automatic driving function, the fully automatic driving function, etc. may also include a mode in which the operation content of the driven element (hydraulic actuator) that is the target of automatic driving is automatically determined in accordance with predetermined rules. The semi-automatic driving function, the fully automatic driving function, etc. may also include a mode in which the shovel 100 autonomously makes various decisions and autonomously determines the operation content of the driven element (hydraulic actuator) that is the target of automatic driving in accordance with the decision results (so-called "autonomous driving function").

[0031] <Overview of the management device> The management device 200 (an example of an information processing device) is located, for example, at a location geographically separated from the shovel 100 and the support device 300 (i.e., their users). The management device 200 may be, for example, a cloud server installed in a management center or the like outside the work site where the shovel 100 performs work. The management device 200 may also be, for example, an edge server installed within the work site where the shovel 100 performs work, or in a location relatively close to the work site (for example, a telecommunications carrier's office or base station). The management device 200 may also be a fixed or portable computer terminal installed in a management office or the like within the work site of the shovel 100.

[0032] The management device 200 has a communication device 220 (see FIGS. 2 and 3), and as described above, communicates with each of the shovel 100 and the support device 300 via the communication line NW. This allows the management device 200 to receive various information uploaded from the shovel 100 and transmit various signals to the shovel 100. Furthermore, the management device 200 can receive request signals from the support device 300 and transmit various information to the support device 300 in response to the request signals from the support device 300.

[0033] Furthermore, the management device 200 may be configured to be able to support remote operation of the shovel 100. For example, the management device 200 may have an operation device (hereinafter, for convenience, referred to as a "remote operation device") with which an operator performs remote operation, and a remote operation display device that displays image information and the like around the shovel 100. A signal input from the remote operation device is transmitted to the shovel 100 as a remote operation signal. This allows the worker or the like (operator) of the management device 200 to remotely operate the shovel 100 using the remote operation device while checking the state of the surroundings of the shovel 100 on the remote operation display device.

[0034] <Outline of the support device> The support device 300 (an example of an information processing device) is a user terminal. A user of the support device 300 is, for example, a supervisor or manager of the work site, an operator of the shovel 100, a manager of the shovel 100, a serviceman for the shovel 100, a developer of the shovel 100, or the like. The support device 300 is, for example, a mobile terminal such as a laptop computer terminal, a tablet terminal, or a smartphone that is carried by the user. The support device 300 may also be, for example, a stationary computer terminal such as a desktop computer.

[0035] The support device 300 has a communication device 320 (see FIGS. 2 and 3) and can communicate with the management device 200 via a communication line NW. This allows the support device 300 to receive various information transmitted from the management device 200 and provide the received information to a user via a display device 340 (described later). The support device 300 may also be configured to be able to communicate with the shovel 100 via the communication line NW. In this case, the support device 300 may be configured to be able to communicate with the shovel 100 directly, or may be configured to be able to communicate with the shovel 100 via the management device 200.

[0036] Furthermore, the support device 300 may be configured to be able to support the remote operation of the shovel 100. For example, the support device 300 may include a remote operation device. For example, the support device 300 may further include a remote operation display device. A signal input from the remote operation device is transmitted to the shovel 100 as a remote operation signal. This allows the user (operator) of the support device 300 to remotely operate the shovel 100 using the remote operation device while checking the surroundings of the shovel 100 within a range where the shovel 100 is visible. Furthermore, the user (operator) of the support device 300 may remotely operate the shovel 100 using the remote operation device while checking the surroundings of the shovel 100 on the remote operation display device.

[0037] [Excavator management system configuration] Next, a specific configuration of the excavator management system SYS will be described with reference to Figs. 2 and 3 in addition to Fig. 1.

[0038] 2 and 3 are block diagrams showing an example and another example of the configuration of the shovel management system SYS according to this embodiment. The shovel management system SYS shown in FIGS. 2 and 3 differ from each other in that, among the shovel 100, the management device 200, and the support device 300, only the configuration of the shovel 100 differs from each other.

[0039] In the drawings, mechanical power lines are indicated by double lines, high-pressure hydraulic lines by solid lines, pilot lines by broken lines, and electrical signal lines by dotted lines.

[0040] <Excavator configuration> 2 and 3 , the hydraulic drive system of the excavator 100 according to this embodiment includes hydraulic actuators that hydraulically drive the lower traveling body 1 (left and right crawlers), upper rotating body 3, boom 4, arm 5, bucket 6, etc., as described above. The hydraulic actuators include traveling hydraulic motors 1ML, 1MR, swing hydraulic motor 2A, boom cylinder 7, arm cylinder 8, bucket cylinder 9, etc. The hydraulic drive system of the excavator 100 according to this embodiment also includes an engine 11, a regulator 13, a main pump 14, and a control valve 17.

[0041] The engine 11 is the main power source in the hydraulic drive system. The engine 11 is, for example, a diesel engine that uses light oil as fuel. The engine 11 is mounted, for example, at the rear of the upper rotating body 3. The engine 11 rotates at a constant speed set in advance under direct or indirect control by a controller 30 (described later), and drives the main pump 14 and the pilot pump 15.

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

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

[0044] The control valve 17 is a hydraulic control device that controls the hydraulic actuators in response to the operator's operation of the operating device 26, the details of remote operation, or operation commands related to the automatic operation function output from the controller 30. The control valve 17 is mounted, for example, in the center of the upper rotating body 3. As described above, the control valve 17 is connected to the main pump 14 via a high-pressure hydraulic line, and selectively supplies hydraulic oil supplied from the main pump 14 to the hydraulic actuators (travel hydraulic motors 1ML, 1MR, swing hydraulic motor 2A, boom cylinder 7, arm cylinder 8, bucket cylinder 9, etc.) in response to the operating state of the operating device 26 or operation commands output from the controller 30. Specifically, the control valve 17 includes a plurality of control valves (also referred to as directional control valves) that control the flow rate and flow direction of hydraulic oil supplied from the main pump 14 to each of the hydraulic actuators.

[0045] 2 and 3, the operating system of the shovel 100 according to this embodiment includes a pilot pump 15, an operating device 26, and a hydraulic control valve 31. Furthermore, as shown in Fig. 2, the operating system of the shovel 100 according to this embodiment includes a shuttle valve 32 and a hydraulic control valve 33 when the operating device 26 is of a hydraulic pilot type.

[0046] The pilot pump 15 supplies pilot pressure to various hydraulic devices via a pilot line 25. The pilot pump 15 is mounted, for example, on the rear of the upper rotating body 3, similar to the engine 11. The pilot pump 15 is, for example, a fixed displacement hydraulic pump, and is driven by the engine 11 as described above.

[0047] The operation device 26 is provided near the operator's seat in the cabin 10 and is used by the operator to operate the various driven elements (undercarriage 1, upper revolving body 3, boom 4, arm 5, bucket 6, etc.). In other words, the operation device 26 is used by the operator to operate the hydraulic actuators that drive the respective driven elements (i.e., travel hydraulic motors 1ML, 1MR, swing hydraulic motor 2A, boom cylinder 7, arm cylinder 8, bucket cylinder 9, etc.). The operation device 26 includes, for example, lever devices that operate each of the boom 4 (boom cylinder 7), arm 5 (arm cylinder 8), bucket 6 (bucket cylinder 9), and upper revolving body 3 (swing hydraulic motor 2A). The operation device 26 also includes, for example, pedal devices or lever devices that operate each of the left and right crawlers (travel hydraulic motors 1ML, 1MR) of the undercarriage 1.

[0048] For example, as shown in FIG. 2, the operating device 26 is of a hydraulic pilot type. Specifically, the operating device 26 uses hydraulic oil supplied from the pilot pump 15 through a pilot line 25 and a pilot line 25A branching from the pilot line 25 to output a pilot pressure corresponding to the operation to a secondary pilot line 27A. The pilot line 27A is connected to an inlet port of a shuttle valve 32 and to the control valve 17 via a pilot line 27 connected to an outlet port of the shuttle valve 32. This allows pilot pressure corresponding to the operation of various driven elements (hydraulic actuators) in the operating device 26 to be input to the control valve 17 via the shuttle valve 32. Therefore, the control valve 17 can drive each hydraulic actuator according to the operation of the operating device 26 by an operator or the like.

[0049] 3, the operating device 26 is electrically operated. Specifically, the operating device 26 outputs an electric signal (hereinafter referred to as an "operation signal") corresponding to the operation content, and the operation signal is input to the controller 30. The controller 30 then outputs a control command corresponding to the operation signal, that is, a control signal corresponding to the operation content of the operating device 26, to the hydraulic control valve 31. As a result, a pilot pressure corresponding to the operation content of the operating device 26 is input from the hydraulic control valve 31 to the control valve 17, and the control valve 17 can drive each hydraulic actuator according to the operation content of the operating device 26.

[0050] Furthermore, the control valves (directional control valves) that are built into the control valve 17 and drive the hydraulic actuators may be of an electromagnetic solenoid type. In this case, an operation signal output from the operating device 26 may be input directly to the control valve 17, i.e., the electromagnetic solenoid type control valve.

[0051] A hydraulic control valve 31 is provided for each driven element (hydraulic actuator) to be operated by the operating device 26. That is, a hydraulic control valve 31 is provided for each of, for example, the left crawler (travel hydraulic motor 1ML), the right crawler (travel hydraulic motor 1MR), the upper swing body 3 (swing hydraulic motor 2A), the boom 4 (boom cylinder 7), the arm 5 (arm cylinder 8), and the bucket 6 (bucket cylinder 9). The hydraulic control valve 31 may be provided, for example, in the pilot line 25B between the pilot pump 15 and the control valve 17, and may be configured to change its flow path area (i.e., the cross-sectional area through which hydraulic oil can flow). This allows the hydraulic control valve 31 to output a predetermined pilot pressure to the secondary pilot line 27B using the hydraulic oil from the pilot pump 15 supplied through the pilot line 25B. Therefore, as shown in FIG. 2, the hydraulic control valve 31 can indirectly apply a predetermined pilot pressure to the control valve 17 in response to a control signal from the controller 30 via a shuttle valve 32 between the pilot line 27B and the pilot line 27B. 3, the hydraulic control valve 31 can apply a predetermined pilot pressure corresponding to a control signal from the controller 30 directly to the control valve 17 through the pilot line 27B and the pilot line 27. Therefore, the controller 30 can supply a pilot pressure corresponding to the operation of the electric operating device 26 from the hydraulic control valve 31 to the control valve 17, thereby realizing the operation of the excavator 100 based on the operation of the operator.

[0052] Furthermore, the controller 30 may, for example, control the hydraulic control valve 31 to realize an automatic driving function. Specifically, the controller 30 outputs a control signal corresponding to an operation command related to the automatic driving function to the hydraulic control valve 31, regardless of whether the operating device 26 is operated or not. As a result, the controller 30 causes the hydraulic control valve 31 to supply a pilot pressure corresponding to the operation command related to the automatic driving function to the control valve 17, thereby realizing the operation of the excavator 100 based on the automatic driving function.

[0053] Furthermore, the controller 30 may, for example, control the hydraulic control valve 31 to realize remote operation of the shovel 100. Specifically, the controller 30 outputs a control signal corresponding to the content of remote operation specified in a remote operation signal received from the management device 200 or the support device 300 to the hydraulic control valve 31 via the communication device 60 described below. As a result, the controller 30 causes the hydraulic control valve 31 to supply a pilot pressure corresponding to the content of remote operation to the control valve 17, thereby realizing operation of the shovel 100 based on remote operation by the operator.

[0054] As shown in FIG. 2 , the shuttle valve 32 has two inlet ports and one outlet port, and outputs hydraulic oil having a higher pilot pressure of the two pilot pressures input to the two inlet ports to the outlet port. A shuttle valve 32 is provided for each driven element (hydraulic actuator) to be operated by the operating device 26. That is, a shuttle valve 32 is provided for each of the left crawler (travel hydraulic motor 1ML), the right crawler (travel hydraulic motor 1MR), the upper rotating body 3 (swing hydraulic motor 2A), the boom 4 (boom cylinder 7), the arm 5 (arm cylinder 8), and the bucket 6 (bucket cylinder 9). One of the two inlet ports of the shuttle valve 32 is connected to a secondary pilot line 27A of the operating device 26 (specifically, the lever device or pedal device included in the operating device 26), and the other is connected to a secondary pilot line 27B of the hydraulic control valve 31. The outlet port of the shuttle valve 32 is connected to the pilot port of the corresponding control valve of the control valve 17 via the pilot line 27. The corresponding control valves are control valves that drive hydraulic actuators that are operated by the lever devices or pedal devices connected to one inlet port of the shuttle valves 32. Therefore, each of these shuttle valves 32 can apply the higher of the pilot pressure in the pilot line 27A on the secondary side of the operating device 26 and the pilot pressure in the pilot line 27B on the secondary side of the hydraulic control valve 31 to the pilot port of the corresponding control valve. In other words, the controller 30 can control the corresponding control valve regardless of the operator's operation of the operating device 26 by causing the hydraulic control valve 31 to output a pilot pressure higher than the pilot pressure on the secondary side of the operating device 26. Therefore, the controller 30 can control the operation of the driven elements (undercarriage 1, upper rotating body 3, and attachment) regardless of the state of operation of the operating device 26 by the operator, thereby achieving an automatic driving function.

[0055] As shown in FIG. 2 , the hydraulic control valve 33 is provided in a pilot line 27A connecting the operating device 26 and the shuttle valve 32. The hydraulic control valve 33 is configured to be able to change its flow path area, for example. The hydraulic control valve 33 operates in response to a control signal input from the controller 30. As a result, the controller 30 can forcibly reduce the pilot pressure output from the operating device 26 when the operating device 26 is operated by an operator. Therefore, even when the operating device 26 is being operated, the controller 30 can forcibly suppress or stop the operation of the hydraulic actuator corresponding to the operation of the operating device 26. Furthermore, for example, even when the operating device 26 is being operated, the controller 30 can reduce the pilot pressure output from the operating device 26 to make it lower than the pilot pressure output from the hydraulic control valve 31. Therefore, by controlling the hydraulic control valves 31 and 33, the controller 30 can reliably apply a desired pilot pressure to the pilot port of the control valve in the control valve 17, for example, regardless of the operation of the operating device 26. Therefore, the controller 30 can more appropriately realize the automatic operation function and remote control function of the excavator 100 by controlling the hydraulic control valve 33 in addition to the hydraulic control valve 31, for example.

[0056] 2 and 3, the control system of the excavator 100 according to this embodiment includes a controller 30, a calculation device 30E, a surrounding information acquisition device 40, storage devices 45 and 47, a display device 50, an input device 52, a communication device 60, a boom angle sensor S1, an arm angle sensor S2, a bucket angle sensor S3, a machine body inclination sensor S4, and a turning state sensor S5. Also, as shown in Fig. 2, the control system of the excavator 100 according to this embodiment includes an operating pressure sensor 29 when the operating device 26 is of a hydraulic pilot type.

[0057] The controller 30 performs various controls related to the shovel 100. The functions of the controller 30 may be realized by any hardware or any combination of hardware and software. For example, the controller 30 is configured mainly with a computer including a CPU (Central Processing Unit), a memory device such as RAM (Random Access Memory), a non-volatile auxiliary storage device such as ROM (Read Only Memory), and various input / output interface devices. The controller 30 realizes various functions by, for example, executing a program installed in the auxiliary storage device on the CPU.

[0058] For example, as described above, the controller 30 may control the remote operation function of the excavator 100, with the hydraulic control valve 31 as the control target.

[0059] Furthermore, for example, as described above, the controller 30 may control the hydraulic control valve 31 as a control target and perform control related to the automatic operation function of the shovel 100. Specifically, the controller 30 may control the hydraulic control valve 31 as described above based on the calculation result of the arithmetic device 30E, i.e., the operation command related to the automatic operation function generated by the arithmetic device 30E, to automatically drive at least one of the driven elements (hydraulic actuators) of the shovel 100.

[0060] Note that some of the functions of the controller 30 may be realized by another controller (control device). That is, the functions of the controller 30 may be realized in a distributed manner by a plurality of controllers.

[0061] The arithmetic device 30E performs arithmetic processing related to various functions of the controller 30 under the control of the controller 30. The functions of the arithmetic device 30E may be realized by any hardware or any combination of hardware and software. For example, the arithmetic device 30E includes hardware such as a GPU (Graphical Processing Unit), an ASIC (Application Specific Integrated Circuit), and an FPGA (Field-Programmable Gate Array) to realize high-speed arithmetic processing.

[0062] The calculation device 30E includes a surroundings recognition unit 301, a target trajectory calculation unit 302, and an operation command generation unit 303.

[0063] The functions of the arithmetic unit 30E may be incorporated into the controller 30.

[0064] The surrounding information acquisition device 40 acquires information (hereinafter referred to as "surrounding information") relating to the situation around the shovel 100. The surrounding information acquisition device 40 outputs the acquired surrounding information to the calculation device 30E, and the surrounding information is taken into the calculation device 30E.

[0065] The surrounding information acquisition device 40 includes, for example, an imaging device such as a monocular camera, a stereo camera, or a depth camera. The imaging device acquires, as surrounding information, image information (captured images) that represent the state of the surroundings of the shovel 100. Furthermore, the imaging device may acquire, as surrounding information, three-dimensional data (for example, point cloud data or surface data) that represent the positions and outer shapes of objects around the shovel 100 within a predetermined imaging range (angle of view) based on the captured images.

[0066] Furthermore, the surrounding information acquisition device 40 may include a distance sensor such as a LIDAR (Light Detecting and Ranging), a millimeter wave radar, an ultrasonic sensor, an infrared sensor, a distance image sensor, etc. The distance sensor may acquire, as surrounding information, three-dimensional data representing the positions and shapes of objects around the shovel 100 within a predetermined detection range.

[0067] The surrounding information acquisition device 40 is attached to the front end of the top surface of the cabin 10, for example, as shown in FIG. 1, and acquires surrounding information in front of the upper rotating body 3, including the working range of the end attachment (bucket 6). This allows the calculation device 30E to recognize the situation in front of the shovel 100 based on the surrounding information. Furthermore, the calculation device 30E can recognize the position of the shovel 100 and the rotation state of the upper rotating body 3, etc., based on the positions and changes in appearance of objects around the shovel 100 recognized from the surrounding information. Furthermore, the acquisition range of the surrounding information of the surrounding information acquisition device 40 (for example, the imaging range of the imaging device or the detection range of the distance sensor) includes the boom 4, the arm 5, and the end attachment (bucket 6), i.e., the attachments. This allows the calculation device 30E to recognize the attitude state of the attachment (for example, the attitude angle of at least one of the boom 4, the arm 5, and the bucket 6) based on the surrounding information.

[0068] Furthermore, the surrounding information acquisition device 40 may be further configured to be able to acquire surrounding information relating to at least one of the left, right, and rear of the upper rotating body 3.

[0069] The storage devices 45 and 47 store various data used by the arithmetic device 30E.

[0070] Various types of static data or quasi-static data used by the arithmetic device 30E are registered in advance in the storage device 45. Static data is data that basically does not change. Furthermore, quasi-static data is data that does not change while the shovel 100 is in operation and can be changed after the fact. The storage device 45 may store, for example, data relating to the external shapes of the attachments (boom 4, arm 5, and end attachment) (hereinafter referred to as "external shape data"). The external shape data of the attachments may include not only the external shape data of the bucket 6 but also the external shape data of other types of end attachments. Furthermore, the storage device 45 may store identification information of the shovel 100. The identification information of the shovel 100 is, for example, a machine serial number or ID (identifier) ​​unique to each shovel 100. Furthermore, identification information of an operator who operates the shovel 100 may be registered in the storage device 45. There may be multiple operators who operate the shovel 100, and identification information for each of the operators may be registered. The identification information of the operator is an ID (Identifier) ​​unique to each operator.

[0071] Various types of dynamic data used by the arithmetic device 30E are accumulated in chronological order in the storage device 47. For example, surrounding information acquired by the surrounding information acquisition device 40 is accumulated in chronological order in the storage device 47. The surrounding information may be stored (written) in the storage device 47 by the surrounding information acquisition device 40, or the processing may be performed by another device (for example, the arithmetic device 30E).

[0072] At least one of the storage devices 45 and 47 may be installed inside the arithmetic device 30E. Also, the storage devices 45 and 47 may be integrated into one storage device.

[0073] The display device 50 is provided in a location that is easily visible to an operator seated in the cabin 10, and displays various information images. The display device 50 is, for example, a liquid crystal display or an organic EL (Electroluminescence) display.

[0074] The input device 52 is provided in the cabin 10 within a range close to the seated operator, and receives various inputs from the operator. Signals corresponding to the received inputs are taken into the controller 30.

[0075] For example, the input device 52 is an operation input device that accepts operation input. The input device 52 (operation input device) may include hardware operation input means such as a touch panel mounted on the display device 50, a touch pad installed around the display device 50, a button switch, a lever, a toggle, or a knob switch provided on the operation device 26. The input device 52 (operation input device) may also include software operation input means that can be operated by hardware operation input means such as virtual operation objects (e.g., operation icons) displayed on various operation screens displayed on the display device 50.

[0076] Furthermore, for example, the input device 52 may be a voice input device that accepts voice input from an operator. The voice input device includes, for example, a microphone.

[0077] Furthermore, for example, the input device 52 may be a gesture input device that accepts gesture input from an operator. The gesture input device includes, for example, an imaging device installed in the cabin 10.

[0078] The input device 52 includes a sling assist switch 52a.

[0079] The slinging assist switch 52a is used by the operator to cause the excavator 100 to execute a function of automatically aligning the hook 80 with the suspended load (hereinafter referred to as the "slinging assist function"). When the slinging assist switch 52a is turned ON, the controller 30 controls the hydraulic control valve 31 based on the calculation result of the computing device 30E (i.e., the operation command for the hydraulic actuator), thereby realizing the slinging assist function in the excavator 100. Details will be described later (see FIGS. 4 to 9).

[0080] In addition, instead of or in addition to the slinging assist switch 52a, a means for activating the slinging assist function by voice input, gesture input, or the like may be provided.

[0081] 3, the operating pressure sensor 29 detects the pilot pressure on the secondary side (pilot line 27A) of the hydraulic pilot type operating device 26, that is, the pilot pressure corresponding to the operating state of each driven element (hydraulic actuator) in the operating device 26. A detection signal of the pilot pressure by the operating pressure sensor 29 corresponding to the operating state of the lower traveling structure 1, upper rotating structure 3, boom 4, arm 5, bucket 6, etc. in the operating device 26 is input to the controller 30.

[0082] The communication device 60 is connected to a communication line NW and communicates with devices external to the excavator 100 (for example, the management device 200 and the support device 300). th Generation) and 5G (5 th The communication device 60 may be a mobile communication module that complies with standards such as the IEEE 802.11 Generation. The communication device 60 may also be, for example, a satellite communication module. The communication device 60 may also be, for example, a Wi-Fi communication module or a Bluetooth communication module.

[0083] The boom angle sensor S1 acquires detection information related to the attitude angle of the boom 4 (hereinafter referred to as "boom angle") relative to a predetermined reference (for example, a horizontal plane or a state at either end of the movable angle range of the boom 4). The boom angle sensor S1 may include, for example, a rotary encoder, an acceleration sensor, an angular velocity sensor, a six-axis sensor, an IMU (Inertial Measurement Unit), etc. The boom angle sensor S1 may also include a cylinder sensor capable of detecting the extension / retraction position of the boom cylinder 7.

[0084] The arm angle sensor S2 acquires detection information relating to the attitude angle of the arm 5 (hereinafter referred to as "arm angle") relative to a predetermined reference (for example, a straight line connecting the connection points at both ends of the boom 4 or a state at either end of the movable angle range of the arm 5). The arm angle sensor S2 may include, for example, a rotary encoder, an acceleration sensor, an angular velocity sensor, a six-axis sensor, an IMU, etc. The arm angle sensor S2 may also include a cylinder sensor capable of detecting the extension / retraction position of the arm cylinder 8.

[0085] The bucket angle sensor S3 acquires detection information related to the attitude angle of the bucket 6 (hereinafter referred to as "bucket angle") relative to a predetermined reference (for example, a straight line connecting the connection points at both ends of the arm 5 or a state at either end of the movable angle range of the bucket 6). The bucket angle sensor S3 may include, for example, a rotary encoder, an acceleration sensor, an angular velocity sensor, a six-axis sensor, an IMU, etc. The bucket angle sensor S3 may also include a cylinder sensor capable of detecting the extension / retraction position of the bucket cylinder 9.

[0086] The vehicle tilt sensor S4 acquires detection information relating to the tilt state of the vehicle, including the undercarriage 1 and the upper rotating body 3. The vehicle tilt sensor S4 is mounted, for example, on the upper rotating body 3, and acquires detection information relating to the tilt angles in the fore-aft and lateral directions (hereinafter referred to as "fore-aft tilt angle" and "lateral tilt angle") of the upper rotating body 3. The vehicle tilt sensor S4 may include, for example, an acceleration sensor (tilt sensor), an angular velocity sensor, a six-axis sensor, an IMU, etc.

[0087] The turning state sensor S5 acquires detection information relating to the turning state of the upper turning body 3. The turning state sensor S5 acquires detection information relating to the turning angle of the upper turning body 3 with respect to a predetermined reference (for example, a state in which the forward direction of the lower traveling body 1 and the front of the upper turning body 3 are aligned). The turning state sensor S5 includes, for example, a potentiometer, a rotary encoder, a resolver, etc.

[0088] Furthermore, if the components of the aircraft tilt sensor S4 (e.g., a six-axis sensor, an IMU, etc.) can acquire detection information regarding the attitude state of the upper rotating body 3, including not only the tilt angle of the upper rotating body 3 but also the rotation angle, the rotation state sensor S5 may be omitted.

[0089] Furthermore, for example, the shovel 100 may further be equipped with a positioning device capable of measuring the absolute position of the shovel itself. The positioning device is, for example, a GNSS (Global Navigation Satellite System) sensor. This can improve the accuracy of estimating the attitude state of the shovel 100.

[0090] Furthermore, the sensors S1 to S5 may be omitted. The surrounding information acquired by the surrounding information acquisition device 40 includes information on the positions and shapes of surrounding objects and attachments as seen from the machine body (upper rotating body 3), and depending on the required accuracy, it is also possible to estimate the attitude state of the shovel 100 from the surrounding information.

[0091] The surroundings recognition unit 301 (an example of a recognition unit) recognizes the situation around the shovel 100. The situation around the shovel 100 includes the positions and shapes of objects around the shovel 100. The objects around the shovel 100 may include, for example, the ground, earth and sand, suspended loads, utility poles, fences, road cones, buildings such as temporary offices, construction machinery, work vehicles, etc. Specifically, the surroundings recognition unit 301 may recognize the situation around the shovel 100 based on the output of the surroundings information acquisition device 40 at each predetermined control cycle (hereinafter simply referred to as the "control cycle").

[0092] The target trajectory calculation unit 302 (an example of a target trajectory generation unit) calculates (generates) a target trajectory (hereinafter referred to as "target trajectory") for a predetermined working part of the attachment of the shovel 100, which is realized by the automatic driving function. Examples of the working part include the tip of the bucket 6, the back of the bucket 6, and the (tip of) the hook 80. Specifically, the target trajectory calculation unit 302 generates and outputs a target trajectory for the working part of the attachment for each control cycle.

[0093] The operation command generation unit 303 (an example of an operation control unit) generates operation commands related to the automatic driving function. Specifically, the operation command generation unit 303 generates operation commands for moving the working part of the attachment along a target trajectory while grasping the position of the working part of the attachment (e.g., hook 80) based on the outputs of sensors S1 to S5 (an example of a hook position information acquisition unit) and surrounding information acquisition device 40 (an example of a hook position information acquisition unit), and outputs the operation commands to the controller 30. In this way, the operation command generation unit 303 can automatically control the operation of at least one of the attachment, the lower traveling body 1, and the upper rotating body 3 via the controller 30 so that the working part of the attachment moves along the target trajectory.

[0094] <Configuration of management device> As shown in FIGS. 2 and 3, the management device 200 includes a control device 210, a communication device 220, an input device 230, and a display device 240.

[0095] The control device 210 performs various controls related to the management device 200. The functions of the control device 210 are realized by any hardware or any combination of hardware and software. The control device 210 is configured around a computer including, for example, a CPU, a memory device such as RAM, a non-volatile auxiliary storage device such as ROM, and various input / output interface devices. The control device 210 realizes various functions by, for example, executing a program installed in the auxiliary storage device on the CPU.

[0096] For example, the control device 210 may acquire information received from the shovel 100 via the communication device 220, and perform processing such as constructing a database or performing predetermined processing to generate processed information.

[0097] Furthermore, for example, the control device 210 may distribute various types of information from the communication device 220 to the support device 300 in response to a request signal (hereinafter referred to as "information request signal") received from the support device 300 by the communication device 220. The information to be distributed may include information uploaded from the shovel 100 to the management device 200, the above-mentioned processing information, etc.

[0098] Furthermore, for example, the control device 210 performs control related to the remote operation of the shovel 100. The control device 210 may take in an operation input signal related to the remote operation of the shovel 100 received by the remote operation device, and may use the communication device 320 to transmit to the shovel 100 a remote operation signal indicating the content of the operation input, i.e., the content of the remote operation of the shovel 100. The control device 210 may also take in a signal of an input requesting the execution of a rigging support function of the shovel 100 received by the input device 230 (hereinafter, a "rigging support request input"), and use the communication device 220 to transmit to the shovel 100 a signal requesting the execution of the rigging support function (hereinafter, a "rigging support request signal"). In this way, the controller 30 of the shovel 100 executes the rigging support function in response to the rigging support request signal from the management device 200 received by the communication device 60.

[0099] Furthermore, for example, the control device 210 includes a learning unit 2101 as a functional unit realized by executing a program installed in an auxiliary storage device on a CPU. The control device 210 also uses a learning model storage unit 2102, etc. The learning model storage unit 2102 may be realized by, for example, an auxiliary storage device inside the control device 210 or an external storage device communicably connected to the control device 210.

[0100] The learning unit 2101 performs machine learning on the trajectory of the working part of the attachment of the shovel 100, and generates a learned model (hereinafter referred to as "learning model"). For example, the learning unit 2101 may perform machine learning on the trajectory of the hook 80 during crane operation, and generate a learning model that inputs the position, shape, etc. of the suspended load and outputs a target trajectory of the hook 80. Furthermore, the learning unit 2101 may update the learning model by performing additional learning based on the latest learning model.

[0101] Specifically, the learning unit 2101 may perform supervised learning using data relating to the trajectory of the working part of the attachment operated by a skilled operator as training data, and generate a learning model that outputs a target trajectory of the working part of the attachment. The learning unit 2101 may also perform reinforcement learning based on data relating to the trajectory of the working part of the attachment obtained by computer simulation, and generate a learning model that outputs a target trajectory of the attachment.

[0102] The learning model generated by the learning unit 2101 is stored in the learning model storage unit 2102 .

[0103] The learning model storage unit 2102 stores a learning model. The learning model storage unit 2102 may store multiple types of learning models for each target task. The learning model in the learning model storage unit 2102 may be updated by the learning unit 2101 as appropriate.

[0104] The latest learning model stored in the learning model storage unit 2102 is distributed to the shovel 100 via the communication device 220. This allows the shovel 100 (target trajectory calculation unit 302) to calculate (generate) the target trajectory using the learning model.

[0105] The communication device 220 is connected to the communication line NW and communicates with the outside of the management device 200 (for example, the excavator 100 and the support device 300).

[0106] The input device 230 receives input from an administrator or an operator of the management device 200, and outputs a signal representing the content of the input (for example, an operation input or a voice input). The signal representing the content of the input is taken into the control device 210.

[0107] The input device 230 may include, for example, a remote control device. This allows the worker (operator) of the management device 200 to remotely control the shovel 100 using the remote control device. The input device 230 may also include, for example, input means for the worker (operator) of the management device 200 to input a rigging assistance request. This allows the worker (operator) of the management device 200 to execute the rigging assistance function from outside the shovel 100.

[0108] The display device 240 displays various information images related to the management device 200. The display device 240 may include, for example, a remote operation display device, and the remote operation display device may display image information of the surroundings of the shovel 100 uploaded from the shovel 100 under the control of the control device 210. This allows the worker (operator) of the management device 200 to remotely operate the shovel 100 while checking the image information of the surroundings of the shovel 100 displayed on the remote operation display device.

[0109] <Configuration of the support device> As shown in FIGS. 2 and 3, the assistance device 300 includes a control device 310, a communication device 320, an input device 330, and a display device 340.

[0110] The control device 310 performs various controls related to the assistance device 300. The functions of the control device 310 are realized by any hardware or a combination of any hardware and software. The control device 310 is mainly configured with a computer including, for example, a CPU, a memory device such as RAM, a non-volatile auxiliary storage device such as ROM, and various input / output interface devices. The control device 310 realizes various functions by, for example, executing a program installed in the auxiliary storage device on the CPU.

[0111] For example, the control device 310 may transmit an information request signal to the management device 200 in response to a predetermined input from the user.

[0112] Furthermore, for example, the control device 310 may cause the display device 340 to display various types of information distributed from the management device 200.

[0113] Further, for example, the control device 310 performs control related to the remote operation of the shovel 100. The control device 310 may take in an operation input signal related to the remote operation of the shovel 100 received by the remote operation device, and may transmit the content of the operation input, i.e., a remote operation signal indicating the content of the remote operation of the shovel 100, to the shovel 100 using the communication device 320. The control device 310 may also take in an input signal requesting execution of a slinging support function of the shovel 100 received by the input device 330, and may transmit a signal requesting execution of the slinging support function (a slinging support request signal) using the communication device 320. The remote operation signal or the slinging support request signal may be transmitted directly to the shovel 100, or may be transmitted to the shovel 100 via the management device 200. In this way, the controller 30 of the shovel 100 executes the slinging support function in response to the slinging support request signal from the support device 300 received by the communication device 60.

[0114] The communication device 320 is connected to the communication line NW and communicates with the outside of the support device 300 (for example, the excavator 100 and the support device 300).

[0115] The input device 330 receives an input from the user of the assistance device 300 and outputs a signal representing the content of the input (for example, an operation input, a voice input, etc.). The signal representing the content of the input is taken into the control device 310.

[0116] The input device 330 may include, for example, a remote control device. This allows a user (operator) of the support device 300 to remotely control the shovel 100 using the remote control device. The input device 330 may also include, for example, input means for the user (operator) of the support device 300 to input a slinging support request. This allows the user (operator) of the support device 300 to execute the slinging support function from outside the shovel 100.

[0117] The display device 340 displays various information images related to the support device 300. The display device 340 may include, for example, a remote operation display device, and image information about the surroundings of the shovel 100 may be displayed on the remote operation display device under the control of the control device 210. The image information about the surroundings of the shovel 100 may be transmitted directly from the shovel 100 to the support device 300, or may be transmitted from the shovel 100 to the support device 300 via the management device 200. This allows the worker (operator) of the support device 300 to remotely operate the shovel 100 while checking the image information about the surroundings of the shovel 100 displayed on the remote operation display device.

[0118] [Overview of the slinging support function] Next, an overview of the slinging support function of the excavator 100 will be described with reference to FIGS.

[0119] 4 and 5 are diagrams showing the operational status of the slinging support function of the excavator 100. FIG.

[0120] 4 and 5, the hook 80 is omitted from the drawings.

[0121] The slinging assist function of the shovel 100 is started, for example, as described above, in response to operation of the slinging assist switch 52a (an example of a predetermined trigger). Also, the slinging assist function of the shovel 100 may be started, for example, as described above, in response to reception of a slinging assist request signal from the management device 200 or the support device 300 (a predetermined trigger).

[0122] First, as shown in Fig. 4, the calculation device 30E (surroundings recognition unit 301) recognizes a load SL to be lifted around (in front of) the shovel 100. Furthermore, the surroundings recognition unit 301 may recognize the slinging gear ST attached to the load SL in addition to the load SL to be lifted. Specifically, the surroundings recognition unit 301 may recognize the load SL to be lifted and the slinging gear ST in front of the shovel 100 based on surroundings information in front of the shovel 100 acquired by the surroundings information acquisition device 40 (for example, an imaging device).

[0123] Next, as shown in FIG. 5 , with the shovel 100 facing the load SL, the controller 30, in cooperation with the arithmetic device 30E, automatically operates at least one of the boom 4, the arm 5, and the bucket 6 to bring the bucket 6 (the location where the hook 80 is installed) closer to the load SL. The state in which the shovel 100 faces the load SL means that, when viewed from above, the load SL is located on an extension of the orientation of the shovel 100 (the direction in which the attachment extends). The controller 30 and the arithmetic device 30E then align the hook 80 with the load SL. Specifically, the arithmetic device 30E (operation command generator 303) generates an operation command and outputs it to the controller 30. Then, in response to the operation command, the controller 30 outputs a control signal to the hydraulic control valve 31 to bring the hook 80 closer to the load and align the hook 80 with the load SL. That is, when the shovel 100 is facing the load SL, the calculation device 30E (operation command generation unit 303) automatically controls the operation of the attachment (at least one of the boom 4, arm 5, and bucket 6) via the controller 30 so as to align the hook 80 with the load SL.

[0124] For example, the controller 30 and the arithmetic device 30E position the hook 80 at a predetermined position above the load SL. The predetermined position corresponds to a height at which the sling portion of the slinging gear can be hooked onto the hook 80 without coming into contact with the load SL. As a result, for example, after operating the slinging assist switch 52a and completing the positioning of the hook 80, the operator in the cabin 10 can dismount from the cabin 10, perform slinging work for the load SL, and then return to the cabin 10 to transition to crane work for the shovel 100. Furthermore, after inputting a slinging assistance request and completing the positioning of the hook 80, the user (e.g., an operator) of the support device 300 can perform slinging work for the load SL and then transition to crane work for the shovel 100 by remote control using the support device 300. Therefore, there is no need to assign an operator, in addition to the operator of the shovel 100, to guide the shovel 100 during slinging work, and crane work for the shovel 100 can be completed with a minimum number of personnel. This improves work efficiency at the work site.

[0125] Furthermore, for example, if the slinging equipment ST is a freestanding type, the controller 30 and the arithmetic device 30E may further move the hook 80 so that it automatically hooks onto the slinging portion of the slinging equipment ST of the load SL, thereby automatically lifting the load SL. A freestanding type refers to a slinging equipment ST in which the slinging portion hooked by the hook 80 can maintain a freestanding state. A freestanding slinging equipment ST may include, for example, an eyebolt. Furthermore, a freestanding slinging equipment ST may include, for example, a dedicated jig that is normally in a down position and can autonomously rise in accordance with crane operation. The jig may be equipped with, for example, an actuator, determine whether crane operation is to be performed based on a signal from the excavator 100, and autonomously raise and lower. This allows the operator of the cabin 10 or the user of the support device 300 to have the excavator 100 automatically perform slinging operation and continuously transition to crane operation of the excavator 100 without having to perform the slinging operation themselves. Furthermore, provided that a self-standing slinging device is installed in advance, the operator of the management device 200 can have the excavator 100 perform crane work from a remote location without the need for additional personnel, thereby further improving work efficiency at the work site.

[0126] [Control processing for sling support function] Next, the control process relating to the slinging support function of the excavator 100 will be described with reference to FIGS.

[0127] <First example of control processing related to slinging support function> Fig. 6 is a flowchart showing a first example of control processing relating to the slinging support function by the controller 30 and the arithmetic device 30E. The processing of this flowchart is started when the slinging support switch 52a is turned ON. The processing of this flowchart may also be started when a slinging support request signal is received by the communication device 60. The same applies to the flowcharts of Figs. 7 to 9 below.

[0128] In step S102, the surroundings recognition unit 301 of the arithmetic device 30E acquires the latest surroundings information.

[0129] When the processing of step S102 is completed, the arithmetic device 30E proceeds to step S104.

[0130] In step S104, the surroundings recognition unit 301 determines whether or not a liftable object (hanging load SL) has been recognized. For example, when the surroundings recognition unit 301 recognizes an object to which a slinging device is attached, the surroundings recognition unit 301 may determine that the object is the object (hanging load SL). Furthermore, the surroundings recognition unit 301 may determine that the object is a liftable object when, for example, the shovel 100 is directly facing the object and the object is within a range in which the hook 80 can be moved (hereinafter referred to as the "hook movable range"). The hook movable range may be determined based on the movable range of the attachment joint in the radial direction centered on the rotation axis of the upper rotating body 3. Furthermore, the hook movable range may be determined taking into consideration the static postural stability of the shovel 100 in addition to the movable range of the attachment joint. This is because the moment that tends to tip the machine body increases as the tip of the attachment moves away from the machine body.

[0131] If the surroundings recognition unit 301 recognizes an object that can be lifted (hanging load SL), the process proceeds to step S106, and if the surroundings recognition unit 301 does not recognize an object that can be lifted, the process ends in this flowchart.

[0132] In step S106, the target trajectory calculation unit 302 of the calculation device 30E acquires (measures) the shape of the recognized object (suspended load SL) and its relative position with respect to the shovel 100 based on the latest surrounding information. The relative position of the object with respect to the shovel 100 may be, for example, a relative position with respect to the upper rotating body 3, a relative position with respect to the attachment (hook 80), or both.

[0133] When the processing of step S106 is completed, the arithmetic device 30E proceeds to step S108.

[0134] In step S108, the target trajectory calculation unit 302 of the calculation device 30E generates a target trajectory from the current position of the hook 80 to a predetermined position above the object (suspended load SL) based on the shape of the object acquired in step S106 and its position relative to the shovel 100. For example, the target trajectory calculation unit 302 may use a learning model delivered from the management device 200 to generate a target trajectory for aligning the hook 80 with the object.

[0135] When the processing of step S108 is completed, the arithmetic device 30E proceeds to step S110.

[0136] In step S110, the controller 30 and the arithmetic device 30E cooperate to move the hook 80 to a predetermined position above the target object. Specifically, the operation command generation unit 303 of the arithmetic device 30E outputs an operation command to the controller 30 for each control cycle based on the target trajectory generated in step S108, for moving the hook 80 along the target trajectory. Then, in response to the operation command output from the arithmetic device 30E for each control cycle, the controller 30 outputs a control signal corresponding to the operation command to the hydraulic control valve 31 corresponding to at least one of the boom 4, the arm 5, and the bucket 6. This allows the controller 30 to cooperate with the arithmetic device 30E to drive the attachment so that the hook 80 moves along the target trajectory. Therefore, the excavator 100 can move the hook 80 to a predetermined position above the target object (suspended load SL) and complete alignment with the object.

[0137] <Second example of control processing related to slinging support function> FIG. 7 is a flowchart schematically showing a second example of control processing related to the slinging support function by the controller 30 and the arithmetic device 30E.

[0138] The processing in steps S202 and S204 is the same as steps S102 and S104 in FIG. 6, and therefore a description thereof will be omitted.

[0139] In step S206, in the case of the slinging support function based on the operation of the slinging support switch 52a, the controller 30 causes the display device 50 (an example of a display unit) to display candidate objects (suspended loads SL) based on the calculation results of the calculation device 30E (surroundings recognition unit 301). For example, the controller 30 may cause the display device 50 to display image information of the area in front of the excavator 100, and may also cause the display device 50 to superimpose a marker (e.g., a frame icon) on the candidate objects that have been recognized and are shown in the image information. This allows the operator in the cabin 10 to check the candidate objects recognized by the calculation device 30E, and, if multiple candidates are recognized, select an appropriate target object (suspended load SL) via the input device 52 (an example of an input unit).

[0140] Furthermore, in the case of a slinging support function based on reception of a slinging support request signal from the management device 200 or the support device 300, the controller 30 transmits information indicating candidate objects along with image information of the shovel 100 to the sender of the slinging support request signal via the communication device 60. This allows the controller 30 to display candidate objects on the display device 240 of the management device 200 or the display device 340 of the support device 300. Therefore, the worker (operator) of the management device 200 or the user (operator) of the support device 300 can check the candidate objects recognized by the calculation device 30E, and if multiple candidates are recognized, can select an appropriate target object (suspended load SL).

[0141] When an input is made via the input device 230 to select an appropriate object from among the object candidates, the control device 210 of the management device 200 transmits a signal including the selected object candidate (hereinafter referred to as a "selection input signal") to the shovel 100 via the communication device 220. The same applies to the support device 300.

[0142] In step S208, the controller 30 determines whether or not a selection input has been made to select one candidate from among the candidate objects.

[0143] Specifically, in the case of a slinging support function based on the operation of the slinging support switch 52a, the controller 30 determines whether or not a selection input for selecting one candidate from among candidate objects has been received through the input device 52.

[0144] In addition, in the case of a rigging assistance function based on receiving a rigging assistance request signal from the management device 200 or the assistance device 300, the controller 30 determines via the communication device 60 whether a selection input signal has been received from the management device 200 or the assistance device 300.

[0145] If there is a selection input to select one of the object candidates, the controller 30 proceeds to step S210, and if there is no selection input within a predetermined time, the controller 30 ends this flow chart.

[0146] The processing in steps S210 to S214 is the same as steps S106 to S110 in FIG. 6, and therefore a description thereof will be omitted.

[0147] In this way, in this example, the recognized candidate object is presented (displayed) to the operator, etc., for confirmation, which prevents the slinging assistance function from continuing when an object other than the appropriate suspended load SL is recognized as the object.

[0148] <Third example of control processing related to slinging support function> FIG. 8 is a flowchart schematically showing a third example of control processing related to the slinging support function by the controller 30 and the arithmetic device 30E.

[0149] The processing in steps S302 and S304 is the same as steps S102 and S104 in FIG. 6, and therefore a description thereof will be omitted.

[0150] Note that between the processes of steps S304 and S306, processes similar to steps S206 and S208 in FIG. 7 may be provided.

[0151] In step S306, the surroundings recognition unit 301 of the calculation device 30E determines whether the slinging gear ST set for the recognized load SL is a free-standing type. If the slinging gear ST is not a free-standing type, the surroundings recognition unit 301 proceeds to step S308, and if it is a free-standing type, the processing proceeds to step S314.

[0152] In step S306, the surroundings recognition unit 301 may determine whether it is possible to automatically move the hook 80 from the recognized posture of the slinging equipment and hook it onto the hanging part, regardless of whether the slinging equipment ST is self-standing or not.

[0153] The processing in steps S308 to S312 is the same as steps S106 to S110 in FIG. 6, and therefore a description thereof will be omitted.

[0154] Furthermore, the processing in step S314 is the same as that in step S308, and therefore a description thereof will be omitted.

[0155] When the processing of step S314 is completed, the arithmetic device 30E proceeds to step S316.

[0156] In step S316, the target trajectory calculation unit 302 of the calculation device 30E generates a target trajectory from the current position of the hook 80 to a predetermined position near the object (suspended load SL) based on the shape of the object and its position relative to the shovel 100 acquired in step S314. The predetermined position near the object corresponds to the movement start position for hooking the hook 80 onto the sling of the slinging equipment. The predetermined position near the object may be the same as or different from the predetermined position above the object when only aligning the hook 80 with the object (suspended load SL). For example, the target trajectory calculation unit 302 may generate a target trajectory for aligning the hook 80 with the object using a learning model delivered from the management device 200.

[0157] When the processing of step S316 is completed, the arithmetic device 30E proceeds to step S318.

[0158] In step S318, the controller 30 and the computing device 30E cooperate to move the hook 80 to a predetermined position near the object.

[0159] When the processing of step S318 is completed, the arithmetic device 30E proceeds to step S320.

[0160] In step S320, the target trajectory calculation unit 302 of the calculation device 30E generates a target trajectory for moving the hook 80 from its current position so that it will be hooked onto the hanging part of the slinging gear. For example, the target trajectory calculation unit 302 may use a learning model delivered from the management device 200 to generate a target trajectory for hooking the hook 80 onto the hanging part of the slinging gear installed on the target, similar to when the hook 80 is moved closer to the target object.

[0161] When the processing of step S320 is completed, the arithmetic device 30E proceeds to step S322.

[0162] In step S322, the controller 30 and the arithmetic device 30E cooperate to move the hook 80 so that it is hooked onto the hanging portion of the slinging tool to be installed on the object.

[0163] When the processing of step S322 is completed, the arithmetic device 30E proceeds to step S324.

[0164] In step S324, the surroundings recognition unit 301 of the computing device 30E determines, based on the latest surroundings information, whether or not the hook 80 was able to be hooked onto the sling portion of the slinging equipment and the object was able to be lifted by the hook 80. If the object was able to be lifted by the hook 80, the surroundings recognition unit 301 ends this processing, but if the object was not able to be lifted by the hook 80, the processing returns to step S316 and repeats the processing of steps S316 to S324.

[0165] Note that the determination condition of step S324 may not be met, and the number of times the processes of steps S316 to S324 are repeated may be limited to a predetermined number of times or less. Specifically, if the determination condition of step S324 is not met after the predetermined number of repetitions, i.e., if the object cannot be lifted by hook 80 even after the predetermined number of attempts, the process of this flowchart may be terminated.

[0166] In this way, in this example, when the shovel 100 determines that it is possible to automatically hook the hook 80 onto the sling portion of the slinging gear, it not only aligns the hook 80 with the load SL, but also automatically moves the hook 80 so that it hooks onto the sling portion of the slinging gear. This allows the shovel 100 to perform slinging work automatically, thereby further improving work efficiency at the work site.

[0167] <Fourth example of control processing related to slinging support function> FIG. 9 is a flowchart schematically showing a fourth example of control processing related to the slinging support function by the controller 30 and the arithmetic device 30E.

[0168] The process of step S402 is the same as step S102 in FIG. 6, and therefore a description thereof will be omitted.

[0169] In step S404, the surroundings recognition unit 301 of the calculation device 30E determines whether or not an object (suspended load SL) has been recognized around the shovel 100. If the surroundings recognition unit 301 has recognized an object around the shovel 100, the process proceeds to step S406, and if the object has not been recognized, the process of this flowchart ends.

[0170] Note that processing equivalent to steps S206 and S208 in FIG. 7 may be provided between the processing of steps S404 and S406.

[0171] In step S406, the surroundings recognition unit 301 determines whether the recognized object is within a range that can be lifted by the hook 80, i.e., within the hook movement range. If the recognized object is not within the hook movement range, the surroundings recognition unit 301 proceeds to step S408, and if the recognized object is within the hook movement range, the surroundings recognition unit 301 proceeds to step S410.

[0172] In step S408, the controller 30 and the arithmetic device 30E cooperate to cause the shovel 100 to travel and move to a position where the shovel 100 can lift the object in an orientation facing the object. Specifically, the target trajectory calculation unit 302 of the arithmetic device 30E generates a target trajectory for the travel of the lower traveling structure 1, and the operation command generation unit 303 generates an operation command for moving the lower traveling structure 1 along the target trajectory for each control cycle and outputs the operation command to the controller 30. Then, in response to the operation command output from the arithmetic device 30E for each control cycle, the controller 30 outputs a control signal corresponding to the operation command to the hydraulic control valve 31 corresponding to the lower traveling structure 1. In this way, the controller 30 cooperates with the arithmetic device 30E to cause the shovel 100 to travel and move to a position where the shovel 100 can lift the object in an orientation facing the object.

[0173] Furthermore, the controller 30 and the calculation device 30E may, for example, move the shovel 100 along the shortest target trajectory to a position where the object is within the hook movement range, and then rotate the upper rotating body 3 to make the shovel 100 face the object.

[0174] When the processing of step S408 is completed, the arithmetic device 30E proceeds to step S414.

[0175] On the other hand, in step S410, the surroundings recognition unit 301 of the calculation device 30E determines whether or not the shovel 100 is facing the object directly. If the shovel 100 is not facing the object directly, the surroundings recognition unit 301 proceeds to step S412, and if the shovel 100 is facing the object directly, the surroundings recognition unit 301 proceeds to step S414.

[0176] In step S412, the controller 30 and the arithmetic device 30E cooperate to rotate the upper rotating body 3 so that the shovel 100 faces the target object. Specifically, the target trajectory calculation unit 302 of the arithmetic device 30E generates a target trajectory for the hook 80, and the operation command generation unit 303 generates an operation command for moving the hook 80 along the target trajectory for each control cycle and outputs the operation command to the controller 30. The target trajectory for the hook 80 may be, for example, a target trajectory that avoids contact with objects around the shovel 100, including the target object, during a rotation operation to align the orientation of the upper rotating body 3 with the orientation of the target object. When there is no possibility that the hook 80 will come into contact with objects around the shovel 100, including the target object, as the upper rotating body 3 rotates, the target trajectory for the hook 80 is a circular trajectory that accompanies the rotation operation of the upper rotating body 3. Then, in response to an operation command output from the arithmetic device 30E for each control cycle, the controller 30 outputs a control signal corresponding to the operation command to the hydraulic control valve 31 corresponding to the upper rotating body 3. Furthermore, when it is necessary to operate an attachment, the controller 30 outputs a control signal corresponding to the operation command to the hydraulic control valve 31 corresponding to at least one of the boom 4, the arm 5, and the bucket 6, in addition to the hydraulic control valve 31 corresponding to the upper rotating body 3. In this way, the controller 30, in cooperation with the arithmetic device 30E, can rotate the upper rotating body 3 so that the excavator 100 is in a state of facing the target object.

[0177] In this step, the controller 30 and the arithmetic device 30E may cooperate to make the lower traveling structure 1 perform a pivot turn or a super pivot turn so that the excavator 100 faces the target object directly.

[0178] The processing in steps S414 to S418 is the same as steps S106 to S110 in FIG. 6, and therefore a description thereof will be omitted.

[0179] As described above, in this example, when the target object (hanging load SL) is not within the hook movement range, the calculation device 30E (operation command generation unit 303) automatically moves the lower traveling body 1 so that the target object is within the hook movement range. Furthermore, when the calculation device 30E (operation command generation unit 303) is not directly facing the target object (hanging load SL), the calculation device 30E (operation command generation unit 303) automatically rotates the upper rotating body 3 via the controller 30 so that the upper rotating body 3 faces the target object. Furthermore, when the calculation device 30E (operation command generation unit 303) is not directly facing the target object (hanging load SL), the calculation device 30E (operation command generation unit 303) may automatically move the lower traveling body 1 via the controller 30 so that the lower traveling body 1 faces the target object. That is, the calculation device 30E (operation command generation unit 303) controls the operation of at least one of the attachment, the lower traveling body 1, and the upper rotating body 3 via the controller 30 so as to align the hook 80 with the load SL. As a result, even if the positional relationship between the shovel 100 and the load SL is not appropriate, the slinging support function of the shovel 100 can be realized. This improves convenience for the operator of the shovel 100. Furthermore, when executing the slinging support function, the operator does not need to precisely align the positions of the slinging shovel 100 and the load SL in advance, which further improves work efficiency at the work site.

[0180] The flowchart of FIG. 9 corresponds to a form in which the processing of steps S404 to S412 is added instead of step S104 in the flowchart of FIG. 6, but the processing of steps S404 to S412 may also be added instead of step S304 in the flowchart of FIG. 8.

[0181] [Transformation / Change] Although the embodiments have been described in detail above, the present disclosure is not limited to such specific embodiments, and various modifications and variations are possible within the scope of the gist described in the claims.

[0182] For example, in the above-described embodiment, the excavator 100 is configured such that all of the driven elements, such as the lower traveling body 1, the upper rotating body 3, the boom 4, the arm 5, and the bucket 6, are hydraulically driven, but some of them may be electrically driven. In other words, the configurations disclosed in the above-described embodiment may be applied to hybrid excavators, electric excavators, etc.

[0183] Furthermore, in the above-described embodiment and modified example, the excavator 100 automatically aligns the hook 80 with respect to the load SL in response to a predetermined trigger. However, the excavator 100 may also align the hook 80 with respect to the load SL in a manner that supports (assists) the operation of the operator. That is, the excavator 100 may align the hook 80 with respect to the load SL in response to the operation of at least one of the upper rotating body 3 and the attachments (boom 4, arm 5, bucket 6). Specifically, during operation of the slinging support function, the computing device 30E (operation command generating unit 303) may output an operation command to the controller 30 that adjusts the operator's operation so that the hook 80 follows the target trajectory, and the controller 30 may output a control signal corresponding to the operation command to the hydraulic control valve 31. In this way, the excavator 100 can realize the slinging support function in a manner that assists the operator's operation.

[0184] Furthermore, in the above-described embodiment and modified examples, the slinging assist function is employed in the excavator 100, but a similar function may also be employed in other work machines that perform lifting work of a load. For example, a similar slinging assist function may be employed in a mobile crane. [Explanation of symbols]

[0185] 1 Undercarriage 3 Upper rotating body 4. Boom 5 Arm 6 buckets 7 Boom cylinder 8 Arm Cylinder 9 Bucket cylinder 10 Cabins 11 Engine 13 Regulator 14 Main pump 15 Pilot pump 17 Control valve 30 Controllers 30E Arithmetic unit 31 Hydraulic control valve 32 Shuttle valve 33 Hydraulic control valve 40 Surrounding information acquisition device (hook position information acquisition unit) 50 Display device (display section) 52 Input device (input section) 52a Sling support switch 80 Hook 100 Shovel 200 Management device (information processing device) 300 Support device (information processing device) 301 Surrounding Recognition Unit (Recognition Unit) 302 Target trajectory calculation unit (target trajectory generation unit) 303 Operation command generation unit (motion control unit) S1 Boom angle sensor (hook position information acquisition unit) S2 Arm angle sensor (hook position information acquisition unit) S3 Bucket angle sensor (hook position information acquisition unit) S4 Machine body tilt sensor (hook position information acquisition part) S5 Rotation status sensor (hook position information acquisition unit) SL hanging load

Claims

1. A main body including a lower running body and an upper rotating body rotatably mounted on the lower running body; an attachment attached to the upper rotating body of the main body; a hook attached to the tip of the attachment; a surrounding information acquisition unit that acquires information about the situation around the work machine; a hook position information acquisition unit that acquires information about the position of the hook; a recognition unit that recognizes a suspended load around the work machine based on information acquired by the surrounding information acquisition unit; an operation control unit that controls the operation of the work machine, The operation control unit determines whether the load recognized by the recognition unit is within a range in which the hook can move without changing the position of the lower running body when the main body is viewed as a whole from a bird's-eye view, and if it determines that the load is within that range, automatically aligns the hook with the hanging part of the load by performing at least one of the rotation operation of the upper rotating body as part of the main body and the operation of the attachment, based on information acquired by the hook position information acquisition unit, without changing the position of the lower running body when the main body is viewed as a whole from a bird's-eye view. Work machinery.

2. The operation control unit performs at least one of the rotation operation of the upper rotating body as part of the main body and the operation of the attachment without changing the position of the lower running body when the main body is viewed from above as a whole, and automatically moves the hook to align the hook to a first position where the hanging part can be manually hung on the hook, or aligns the hook with respect to the hanging part and automatically hangs the hook on the hanging part.

2. The work machine according to claim 1.

3. The recognition unit determines whether or not it is possible to automatically hang the hook on the hanging portion based on the recognized state of the hanging portion of the suspended load, When the recognition unit determines that the hook can be automatically hung on the hanging part, the operation control unit automatically moves the hook to align it with the hanging part and automatically hangs the hook on the hanging part, while when the recognition unit determines that the hook cannot be automatically hung on the hanging part, the operation control unit automatically moves the hook to align it with the first position.

3. The work machine according to claim 2.

4. The recognition unit determines whether or not the hook can be automatically attached to the suspending portion depending on whether or not the suspending portion of the recognized suspended load is self-supporting.

4. The work machine according to claim 3.

5. a target trajectory generating unit that acquires the shape and position of the suspended load based on the information acquired by the surrounding information acquiring unit, and generates a target trajectory of the hook for aligning the hook with the suspension part based on the shape and position of the suspended load, The operation control unit performs at least one of the rotation operation of the upper rotating body as part of the main body and the operation of the attachment based on the information acquired by the hook position information acquisition unit so that the hook moves along the target trajectory. A work machine according to any one of claims 1 to 4.

6. the target trajectory includes a first target trajectory for moving the hook from a current position to a second position near the hanging part, and a second target trajectory for moving the hook from the second position as a starting point and hooking the hook onto the hanging part, the target trajectory generation unit generates the first target trajectory and the second target trajectory separately based on information acquired by the surrounding information acquisition unit; The operation control unit aligns the hook to the second position by performing at least one of a rotation operation of the upper rotating body as a part of the main body and an operation of the attachment so that the hook moves along the first target trajectory, and then automatically hangs the hook on the hanging part by performing at least one of a rotation operation of the upper rotating body as a part of the main body and an operation of the attachment so that the hook moves along the second target trajectory.

6. A work machine according to claim 5.

7. the target trajectory generation unit generates the second target trajectory when the hook moves to the second position by moving along the first target trajectory under the control of the motion control unit.

7. The work machine according to claim 6.

8. A display unit that displays the candidates for the suspended load recognized by the recognition unit; an input unit that accepts an input to select one candidate as the suspended load from the candidates displayed on the display unit, Aligning the hook with the hanging part of the load selected through the input unit; A work machine according to any one of claims 1 to 7.

9. The target trajectory generation unit generates the target trajectory of the hook relative to the load based on a learning model related to a trajectory of alignment of the hook. A work machine according to any one of claims 5 to 7.

10. The operation control unit aligns the hook with respect to the suspended load in response to an operation on at least one of a plurality of driven elements included in the upper rotating body and the attachment. A work machine according to any one of claims 1 to 9.

11. The operation control unit automatically aligns the hook with respect to the suspended load in response to a predetermined trigger. A work machine according to any one of claims 1 to 9.

12. An information processing device capable of communicating with a work machine, comprising: a main body including a lower running body and an upper rotating body mounted on the lower running body so as to be freely rotatable; an attachment attached to the upper rotating body of the main body; a hook attached to the tip of the attachment; a surrounding information acquisition unit that acquires information about the situation around the work machine; a hook position information acquisition unit that acquires information about the position of the hook; a recognition unit that recognizes suspended loads around the work machine based on the information acquired by the surrounding information acquisition unit; and an operation control unit that controls the operation of the work machine, By transmitting a signal to the work machine to operate the work machine, the operation control unit determines whether the load recognized by the recognition unit is within a range in which the hook can move without changing the position of the lower running body when the main body is viewed as a whole from a bird's-eye view, and if it is determined that the load is within that range, based on information acquired by the surrounding information acquisition unit and the hook position information acquisition unit, the operation control unit controls at least one of the rotation operation of the upper rotating body as part of the main body and the operation of the attachment to be performed without changing the position of the lower running body when the main body is viewed as a whole from a bird's-eye view, thereby automatically aligning the hook with the hanging part of the load. Information processing device.

Images