Location Information Setting System

Abstract

To eliminate the need to reset position information when a work machine moves with respect to a work site.SOLUTION: A position information setting system 1 includes position information setting sections (53, 63) for setting position information D regarding a work machine 10. The position information setting sections (53, 63) set the position information D so that a position of the position information D with respect to a work site where the work machine 10 is arranged does not change regardless of whether the work machine 10 is arranged at an old position P1 or at a new position P2 different from the old position P1.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a position information setting system that sets position information related to a work machine. [Background technology]

[0002] For example, the invention described in Patent Document 1 aims to prevent contact or collision between a work machine that operates according to position information (teach data in the document) and other work machines other than this work machine (see Patent Document 1).

[0003] In the invention described in the same document, the deviation of the current position of the work machine from the position of the work machine when the position information was set is detected (see paragraph

[0031] of the same document, etc.). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 10-183671 Summary of the Invention [Problem to be solved by the invention]

[0004] In the invention described in the document, if the work machine deviates from the work site, the position information (teach data in the document) also deviates from the work site. In order for the work machine to perform work appropriately when it has deviated from its original position, it is necessary to reset the position information, which is time-consuming.

[0005] SUMMARY OF THE INVENTION It is therefore an object of the present invention to provide a position information setting system that can eliminate the need to reset position information when a work machine moves relative to a work site. [Means for solving the problem]

[0006] The position information setting system includes a position information setting unit that sets position information related to a work machine. The position information setting unit sets the position information so that the position of the position information relative to the work site where the work machine is located does not change between when the work machine is located at an old position and when the work machine is located at a new position different from the old position. [Effects of the Invention]

[0007] With the above configuration, it is possible to eliminate the need to reset the position information when the work machine moves relative to the work site. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 2 is a side view of the work machine 10 and other components of the position information setting system 1. [Figure 2] FIG. 2 is a block diagram of the position information setting system 1 shown in FIG. [Figure 3] FIG. 2 is a top view of the work machine 10 shown in FIG. 1. [Figure 4] 2 is a flowchart of the operation of the position information setting system 1 shown in FIG. [Figure 5] 3 for explaining the calculation of a new position information setting unit 63 shown in FIG. 3.

[0023] FIG. [Figure 6] 4 is a view equivalent to FIG. 3 when the work machine 10 shown in FIG. 3 has moved from the position shown in FIG. [Figure 7] 10 is a flowchart of the operation of the position information setting system 1 shown in FIG. 1 when notification is made by the notification unit 80 shown in FIG. 2. [Figure 8] FIG. 10 is a view corresponding to FIG. 2 of the second embodiment. [Figure 9] FIG. 10 is a view equivalent to FIG. 3 of the second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] (First embodiment) A position information setting system 1 according to a first embodiment will be described with reference to FIGS.

[0010] The position information setting system 1 is a system that sets position information D (described below) shown in Figure 3. The position information setting system 1 makes it possible to use the position information D that was set before the work machine 10 moved, even after the work machine 10 has moved (even if the standing position has shifted). In this embodiment, the position information setting system 1 makes it possible to use the old position information D1 that was set when the work machine 10 was placed at the old position P1, as new position information D2 when the work machine 10 is placed at the new position P2. The position information setting system 1 comprises the work machine 10, an attitude sensor 21 shown in Figure 2, a travel sensor 23, a feature detection device 25, a controller 30, and an alarm unit 80.

[0011] As shown in Fig. 1, the work machine 10 is a machine that performs work, such as a construction machine that performs construction work, and may be, for example, a shovel or a crane. The following describes a case where the work machine 10 is a shovel. The work machine 10 comprises a machine body 10a and an attachment 15.

[0012] The machine body 10a is the main body of the work machine 10 and comprises a lower traveling body 11 and an upper rotating body 13. The lower traveling body 11 allows the work machine 10 to travel. The lower traveling body 11 comprises, for example, crawlers. The upper rotating body 13 is mounted on the lower traveling body 11 so that it can rotate. The axis of rotation of the upper rotating body 13 relative to the lower traveling body 11 is defined as the rotation center 13a. The upper rotating body 13 comprises a cab 13c. The cab 13c is a part where an operator can operate the work machine 10. The work machine 10 does not have to be operated by an operator in the cab 13c, and may be remotely controlled or automatically operated.

[0013] The attachment 15 is a part that performs work and includes, for example, a boom 15b, an arm 15c, and a tip attachment 15d. The boom 15b is attached to the upper rotating body 13 so that it can be raised and lowered (rotated up and down). The arm 15c is rotatably attached to the boom 15b. The tip attachment 15d is provided at the tip of the attachment 15 and rotatably attached to the arm 15c. The tip attachment 15d may be, for example, a bucket for scooping soil and sand, a device for clamping objects (such as a grapple), or a device for crushing or excavating (such as a breaker). A specific part of the attachment 15 is referred to as a specific part 15e. In the example shown in FIG. 1, the specific part 15e is the tip of the tip attachment 15d, but it does not have to be the tip of the tip attachment 15d and may be, for example, the tip of the arm 15c.

[0014] The attitude sensor 21 detects the attitude of the work machine 10. The attitude sensor 21 detects the swing angle of the upper swing body 13 relative to the lower traveling body 11, and the attitude of the attachment 15. Specifically, for example, the attitude sensor 21 includes a swing sensor 21a, a boom sensor 21b, an arm sensor 21c, and a tip attachment sensor 21d.

[0015] The rotation sensor 21a detects the attitude (angle, direction) of the upper rotating body 13. For example, the rotation sensor 21a detects the rotation angle of the upper rotating body 13 relative to the lower traveling body 11. The rotation sensor 21a may include an angle sensor attached to the rotation axis or rotation support part of the upper rotating body 13 relative to the lower traveling body 11. The rotation sensor 21a may detect the attitude of the upper rotating body 13 based on at least one of a two-dimensional image and a distance image (described later). In this case, at least one of the two-dimensional image and the distance image may be captured by the feature detection device 25 (the same applies to the boom sensor 21b, the arm sensor 21c, the tip attachment sensor 21d, and the traveling sensor 23).

[0016] The boom sensor 21b detects the attitude of the boom 15b. For example, the boom sensor 21b detects the rotation angle of the boom 15b relative to the upper rotating structure 13. The boom sensor 21b may be equipped with an inclination sensor (such as a gyro sensor, an acceleration sensor, or an inertial measurement unit) that detects the angle of the boom 15b relative to the horizontal plane (the same applies to the arm sensor 21c and the tip attachment sensor 21d). The boom sensor 21b may be equipped with an angle sensor (such as a rotary encoder) that is attached to the rotation axis or rotation support part of the boom 15b relative to the upper rotating structure 13 (the same applies to the arm sensor 21c and the tip attachment sensor 21d). The boom sensor 21b may be equipped with a stroke sensor that detects the stroke of a cylinder (boom cylinder) that drives the boom 15b (the same applies to the arm sensor 21c and the tip attachment sensor 21d). The boom sensor 21b may detect the posture of the boom 15b based on at least one of a two-dimensional image and a distance image (described later) (the same applies to the arm sensor 21c and the tip attachment sensor 21d).

[0017] The arm sensor 21c detects the posture of the arm 15c. For example, the arm sensor 21c detects the rotation angle of the arm 15c relative to the boom 15b. The tip attachment sensor 21d detects the posture of the tip attachment 15d. For example, the tip attachment sensor 21d detects the rotation angle of the tip attachment 15d relative to the arm 15c.

[0018] The travel sensor 23 (see FIG. 2) detects the travel of the lower traveling structure 11. The travel sensor 23 may detect the operation of a motor (travel motor) that drives the lower traveling structure 11. The travel sensor 23 may also detect a command to drive the travel motor. The travel sensor 23 may detect the travel of the lower traveling structure 11 based on at least one of a two-dimensional image and a distance image (described later).

[0019] The feature object detection device 25 detects feature objects around the work machine 10. The feature object detection device 25 may detect the attitude of the work machine 10 (it may be the attitude sensor 21). The feature object detection device 25 is an imaging device that captures images of the detection object (e.g., feature object, work machine 10, etc.). The feature object detection device 25 may detect two-dimensional information of the detection object (e.g., position, shape, etc. in a two-dimensional image). The feature object detection device 25 may be equipped with a camera (monocular camera) that detects two-dimensional information. The feature object detection device 25 may detect three-dimensional information of the detection object (e.g., three-dimensional coordinates, three-dimensional shape, etc.), or may acquire an image (range image) having distance information (depth information). The feature object detection device 25 may be equipped with a device that detects three-dimensional information using laser light, and may be equipped with, for example, LIDAR (Light Detection and Ranging), or may be equipped with, for example, a TOF (Time Of Flight) sensor. The feature detection device 25 may be equipped with a device that detects three-dimensional information using radio waves (such as a millimeter wave radar). The feature detection device 25 may be equipped with a stereo camera. The feature detection device 25 may detect three-dimensional information of the detection target based on a range image and a two-dimensional image. Only one feature detection device 25 may be provided, or multiple feature detection devices 25 may be provided. The feature detection device 25 may be mounted on the work machine 10, or may be arranged external to the work machine 10.

[0020] The controller 30 (see Figure 2) is a computer that inputs and outputs signals, performs calculations (processing), stores information, and so on. For example, the functions of the controller 30 shown in Figure 2 are realized by a calculation device executing a program stored in a storage device. The controller 30 may be a single device or multiple devices. The controller 30 may be mounted on the work machine 10, or may be located external to the work machine 10. The controller 30 may include a device that controls the operation of the work machine 10 (see Figure 1), and may perform control to automatically drive the work machine 10. The controller 30 may be located in the cab 13c (see Figure 1), or may be provided in a mobile terminal (tablet, etc.) external to the work machine 10, or may be provided in a server or the like external to the work machine 10. The controller 30 includes a specific part position calculation unit 41, an old reference position setting unit 51, an old position information setting unit 53 (position information setting unit), a memory unit 55, a new reference position setting unit 61, a new position information setting unit 63 (position information setting unit), and a notification control unit 71.

[0021] The specific part position calculation unit 41 calculates the position (coordinates) of the specific part 15e (see FIG. 1) based on the detection result of the posture sensor 21.

[0022] The old reference position setting unit 51 sets a predetermined reference position R (old reference position R1) when the work machine 10 shown in Figure 3 is located at the old position P1 (details will be described later). The old position information setting unit 53 (see Figure 2) (position information setting unit) sets position information D (old position information D1) when the work machine 10 is located at the old position P1 (details will be described later). The memory unit 55 (see Figure 2) stores various information. For example, the memory unit 55 stores the old reference position R1 and the old position information D1 (details will be described later). The memory unit 55 may also store a new reference position R2. The new reference position setting unit 61 (see Figure 2) sets a reference position R (new reference position R2) when the work machine 10 is located at the new position P2 (details will be described later). The new position information setting unit 63 (see FIG. 2) (position information setting unit) calculates (sets) position information D (new position information D2) when the work machine 10 is placed at the new position P2 (details will be described later). The notification control unit 71 shown in FIG. 2 performs control related to notifications (described later).

[0023] The notification unit 80 (first notification unit, second notification unit) issues a notification to the worker. The notification unit 80 may issue a notification by light (including display), by sound (voice, warning sound, etc.), or by vibration. Specifically, for example, the notification unit 80 may be a mobile terminal (for example, a tablet, smartphone, etc.), a display and speaker in the operator's cab 13c, or a monitor and speaker for remotely operating the work machine 10. The content of the notification by the notification unit 80 will be described later.

[0024] (Activated) The position information setting system 1 of this embodiment is configured to operate as follows. Each step (S11 to S32) shown in FIG. 4 will be explained below with reference to FIG. 4. As shown in FIG. 3, when the work machine 10 is located at the old position P1, the old reference position setting unit 51 (see FIG. 2) sets the old reference position R1 (step S11), and the old position information setting unit 53 (see FIG. 2) sets the old position information D1 (steps S12, S13). Thereafter, the work machine 10 moves from the old position P1 to the new position P2 (step S20). When the work machine 10 is located at the new position P2, the new reference position setting unit 61 (see FIG. 2) sets the new reference position R2 (step S21). Then, the new position information setting unit 63 (see FIG. 2) calculates the new position information D2 based on the old position information D1, the old reference position R1, and the new reference position R2 (steps S22, S31, S32). The operation of the position information setting system 1 is as follows.

[0025] (machine coordinate system) The position of specific portion 15e, old reference position R1, new reference position R2, old position information D1, and new position information D2 shown in Figure 3 are each expressed in a machine coordinate system. The machine coordinate system is a coordinate system based on work machine 10, and more specifically, a coordinate system based on upper rotating body 13. For example, the position of the origin of the machine coordinate system is set on the rotation center 13a. The position of the origin of the machine coordinate system is set, for example, at a predetermined position in the height direction of upper rotating body 13 (for example, the position of the bottom surface of upper rotating body 13) (see Figure 1). The old position P1 and the new position P2 are each the position of the origin of the machine coordinate system. More specifically, "the work machine 10 is located at the old position P1" means that the origin of the machine coordinate system is located at the old position P1 at the work site (the same applies to the new position P2).

[0026] Specifically, for example, as shown in FIG. 1, the Z axis in the machine coordinate system is the direction in which the axis of the swivel center 13a extends. The Y axis in the machine coordinate system is a direction perpendicular to the Z axis and is the direction in which the attachment 15 protrudes from the upper rotating body 13 (the front-to-rear direction of the upper rotating body 13). As shown in FIG. 3, the X axis in the machine coordinate system is a direction perpendicular to the Z axis and the Y axis (the width direction of the upper rotating body 13). Note that the machine coordinate system does not have to be a Cartesian coordinate system. For example, the machine coordinate system may be a cylindrical coordinate system, and may include a coordinate axis in a direction along the circumference of a circle centered on the swivel center 13a (the swivel direction).

[0027] (Reference position R) In the position information setting system 1, a reference position R is set. The reference position R is a predetermined position outside the work machine 10 (work site). The reference position R does not move relative to the work site. More specifically, even if the work machine 10 moves relative to the work site, the reference position R does not move relative to the work site. The "work site" is a site (location) outside the work machine 10 where the work machine 10 is located. It is not necessary for work to be performed at the "work site." The reference position R includes a plurality of points that are different from one another. Two points, or three or more points may be set as the reference position R. Specifically, for example, the reference position R includes a first reference position Ra and a second reference position Rb. The reference position R includes an old reference position R1 and a new reference position R2. The old reference position R1 is information (specifically, coordinates) of the reference position R expressed in the machine coordinate system when the work machine 10 was located at the old position P1. The new reference position R2 is information (specifically, coordinates) of the reference position R expressed in the machine coordinate system when the work machine 10 is placed at the new position P2.

[0028] (Old reference position R1) The old reference position setting unit 51 (see FIG. 2) sets (determines) the old reference position R1 (step S11 in FIG. 4). The old reference position R1 set in the old reference position setting unit 51 is stored in the memory unit 55 (see FIG. 2). The old position information D1 set in the old position information setting unit 53 (see FIG. 2) and the new reference position R2 set in the new reference position setting unit 61 (see FIG. 2) are also stored in the memory unit 55. The old reference position R1 may be set, for example, at the start of work by the work machine 10 in a day (at the start of work), or when the work machine 10 starts work at a new work site, or when the work machine 10 starts new work in accordance with a new work plan.

[0029] (Specific method for setting the old reference position R1) The old reference position R1 can be set by various methods. For example, the old reference position R1 may be set based on teaching (see Example 1a below), or may be set based on a manual input operation other than teaching (see Example 1b below). The old reference position R1 may also be set based on the detection result of the feature detection device 25 (see Example 1c below).

[0030] [Example 1a] The old reference position R1 may be set based on teaching. More specifically, the old reference position setting unit 51 (see FIG. 2) may set the old reference position R1 based on the detection result of the attitude sensor 21 (see FIG. 2) when the specific part 15e of the attachment 15 is located at the reference position R. Specifically, for example, teaching is performed as follows: An operator gets on the work machine 10 and operates the work machine 10, or the operator remotely operates the work machine 10. The operator operates the work machine 10 to place the specific part 15e at the reference position R (align it with the reference position R). For example, in this state, the operator performs a determination operation. The specific part position calculation unit 41 (see FIG. 2) calculates the position of the specific part 15e based on the detection result of the attitude sensor 21 when the specific part 15e is located at the reference position R. The old reference position setting unit 51 (see FIG. 2) sets the old reference position R1 based on the position of the specific part 15e. The set old reference position R1 is stored in the storage unit 55 (see FIG. 2). When multiple reference positions R are set, each of the multiple reference positions R (each of the first reference position Ra and the second reference position Rb) is set as the old reference position R1 by teaching.

[0031] [Example 1b] The old reference position R1 may be set based on a manual input operation by an operator other than teaching. This "input operation" may be performed, for example, by a device external to the work machine 10 (e.g., a tablet, remote control device, etc.), or may be performed, for example, by a device inside the work machine 10 (e.g., in the operator's cab 13c). Specifically, this "input operation" may be, for example, an operation (touch operation, cursor operation, etc.) to specify the position of the reference position R from an image or graphic of the work site displayed on a screen, or an operation to input the coordinates of the reference position R numerically.

[0032] [Example 1c] The old reference position R1 may be set based on the detection result of the feature object detection device 25. The old reference position setting unit 51 (see FIG. 2) may set the old reference position R1 based on the detection result of the feature object detection device 25. Specific examples of this setting are as follows: [Example 1c-1] For example, a marker is provided at the reference position R of the work site in advance (before detection by the feature object detection device 25). The marker has a specific color, shape, pattern, etc., and specifically, is, for example, an AR (Augmented Reality) marker. The feature object detection device 25 detects the position of this marker. Then, the old reference position setting unit 51 (see FIG. 2) may set the position of the marker detected by the feature object detection device 25 as the old reference position R1. [Example 1c-2] For example, the feature object detection device 25 detects (learns) the shape of an object present at the work site (site shape). The feature object detection device 25 extracts feature points (such as corners of an object) from the detected shape. Then, the old reference position setting unit 51 (see FIG. 2) may set the positions of the feature points extracted by the feature object detection device 25 as the old reference position R1. The object detected by the feature object detection device 25 may be, for example, a partial point of an obstacle O, or a partial point of a wall, block, pillar, etc.

[0033] (interval Ri) When multiple reference positions R are provided, the wider the interval Ri between the multiple reference positions R, the more accurate the setting of the old reference position R1 by teaching or the setting of the old reference position R1 based on the detection results of the feature detection device 25. The wider the interval Ri, the smaller the difference (error) between the actual coordinates of the reference position R and the coordinates of the old reference position R1 set in the old reference position setting unit 51 (see FIG. 2). Specifically, the interval Ri is the distance between the first reference position Ra and the second reference position Rb.

[0034] For example, if the interval Ri is narrower than a predetermined interval threshold, the old reference position setting unit 51 (see FIG. 2) may not set the old reference position R1, and may cause the notification unit 80 (see FIG. 2) to issue a notification. The "interval threshold" is set in advance (before the old reference position R1 is set) in the controller 30 (see FIG. 2).

[0035] [Example 2a] The above-mentioned "distance threshold" may be set to a magnitude based on the dimensions of the components of work machine 10 shown in Fig. 1. For example, the distance threshold may be a magnitude based on the dimensions of at least one of boom 15b, arm 15c, and tip attachment 15d (for example, a predetermined value multiple of the length of boom 15b).

[0036] [Example 2b] The interval threshold may be set to a magnitude based on the operating range of the work machine 10 shown in Fig. 3. For example, the interval threshold may be a magnitude based on the movement distance of the tip attachment 15d in the Y-axis direction from the state in which the attachment 15 is most extended to the state in which the attachment 15 is most retracted in the Y-axis direction (for example, a predetermined value multiple of the movement distance).

[0037] [Example 2c] The gap threshold may be defined by the swing angle of the upper swing body 13 relative to the lower running body 11. More specifically, the gap threshold may be the swing angle difference (specifically, for example, 90 degrees) between when the attachment 15 faces the first reference position Ra and when it faces the second reference position Rb.

[0038] [Example 2d] The interval threshold may be set to a magnitude based on the distance related to the target work position of the work machine 10. For example, the interval threshold may be a magnitude based on the distance from the target excavation position of the work machine 10 to the target earth removal position (such as a predetermined value multiple of this distance).

[0039] [Example 2e] If the old position information D1 was set before the old reference position R1 was set, the interval threshold may be set to a size based on the dimensions of the old position information D1. For example, the interval threshold may be a size based on the dimensions of the sides of the working range D13 (described later) (e.g., a predetermined multiple of the side dimensions). For example, the interval threshold may be a size based on the distance from the old position P1 to the forward limit D11y (described later) (e.g., a predetermined multiple of the distance).

[0040] (location information D) Position information D is position information related to the work machine 10. There is old position information D1 and new position information D2. Old position information D1 is information (e.g., coordinates) of position information D expressed in a machine coordinate system when the work machine 10 was located at old position P1. New position information D2 is information (e.g., coordinates) of position information D expressed in a machine coordinate system when the work machine 10 was located at new position P2. Specifically, for example, position information D is position information related to the operation (e.g., work, etc.) of the work machine 10.

[0041] [Example 3a] The position information D may be information on a work restriction range D11, which is a range that restricts work by the work machine 10. The work restriction range D11 may be, for example, a range that restricts the entry of a specific portion 15e, or a range that restricts the entry of an attachment 15. When the position information D is a work restriction range D11, the position information setting system 1 is a restricted position setting system.

[0042] [Example 3a1] The limited work range D11 may include a forward limit D11y. [Example 3a1-1] The forward limit D11y is a limit in the Y-axis direction when the work machine 10 is located at the previous position P1 and the work machine 10 (the upper rotating body 13) is facing in a predetermined direction. In this case, the forward limit D11y is linear when viewed from above. Work forward of this forward limit D11y (on the side farther from the upper rotating body 13) is limited (for example, prohibited). Specifically, for example, if there is an object that you do not want the work machine 10 to come into contact with, the forward limit D11y may be set closer to the upper rotating body 13 than this object. Also, for example, the forward limit D11y may be set at the boundary between the inside and outside of the work range D13 (described below). [Example 3a1-2] The forward limit D11y may be set in the shape of an arc centered on the rotation center 13a when viewed from above.

[0043] [Example 3a2] The work limit range D11 may include a swing limit D11θ. The swing limit D11θ is a limit on the swing angle of the upper rotating body 13 relative to the lower traveling body 11 when the work machine 10 is located at the previous position P1. Specifically, in the example shown in FIG. 3, if the upper rotating body 13 swings beyond the swing limit D11θ (turns right in FIG. 3), the attachment 15 may come into contact with an obstacle O. Therefore, the swing limit D11θ is set at a position that can prevent the attachment 15 from coming into contact with the obstacle O.

[0044] [Example 3b] The position information D may include information on a work range D13, which is the range within which the work machine 10 performs work. More specifically, the controller 30 (see FIG. 2) may automatically operate the work machine 10 so that the work machine 10 performs work on a work object (e.g., soil) within the work range D13. This work range D13 may be included in the position information D.

[0045] [Example 3c] The position information D may include information on a target route for the attachment 15 (specific portion 15e). More specifically, the controller 30 (see FIG. 2) may automatically operate the work machine 10 so that the attachment 15 (e.g., specific portion 15e) moves according to a target route set in the controller 30. This target route may be included in the position information D.

[0046] (Old location information D1) The old position information setting unit 53 (see FIG. 2) sets old position information D1 (steps S12 and S13 in FIG. 4). The old position information setting unit 53 sets old position information D1 expressed in the machine coordinate system. Note that either the setting of the old reference position R1 (step S11 in FIG. 4) or the setting of the old position information D1 (steps S12 and S13 in FIG. 4) may be performed first.

[0047] (Specific setting method for old location information D1) The old position information D1 can be set by various methods. The old position information D1 may be set based on the position information reference position D0 (see Example 4a below) (step S12 in FIG. 4), or the old position information D1 may be set without being based on the position information reference position D0 (see Example 4b below). The old position information D1 may be set based on teaching (see Example 5a below), or may be set based on a manual input operation other than teaching (see Example 5b below). The old position information D1 may be set from the detection results of the feature detection device 25 (see Example 5c below).

[0048] [Example 4a] The old position information D1 may be set based on the position information reference position D0 (step S12 in FIG. 4). The position information reference position D0 is a reference position for identifying the position information D. The position information reference position D0 may be set to one point or multiple points. For example, the work limit range D11 may be set based on the position information reference position D0. For example, multiple types of work limit ranges D11 (specifically, for example, a forward limit D11y and a turning limit D11θ) may be set based on a single position information reference position D0. Furthermore, for example, if the work range D13 is polygonal when viewed from above, the work range D13 may be set based on information about the positions of the corners of the work range D13. Specifically, for example, if the work range D13 is quadrangular (e.g., rectangular) when viewed from above, the quadrangular work range D13 when viewed from above may be set based on information about the positions of the corners of the work range D13 (e.g., two or four points that are diagonal corners of the work range D13).

[0049] [Example 4b] The old position information D1 may be set without being based on the position information reference position D0. For example, the old position information D1 may be set based on two-dimensional information representing a shape seen from above (planar shape), three-dimensional information representing a three-dimensional shape, information on multiple points representing a target route, etc.

[0050] [Example 5a] The old position information D1 may be set based on teaching. [Example 5a1] For example, the position information reference position D0 (see Example 4a above) may be set based on teaching. In this case, the specific part position calculation unit 41 (see FIG. 2) calculates the position of the position information reference position D0 based on the detection result of the attitude sensor 21 (see FIG. 2) when the specific part 15e is placed at the position information reference position D0. Then, the old position information setting unit 53 (see FIG. 2) sets the old position information D1 based on the position of the position information reference position D0 (see Example 1a above for a specific example of teaching). [Example 5a2] Furthermore, for example, the old position information D1 may be set based on teaching, not based on the position information reference position D0. Specifically, for example, if the old position information D1 is a target route for the attachment 15 (specific part 15e), the old position information D1, which is the target route, may be set based on teaching. In this case, the worker moves the specific part 15e along a route that the worker wants to set as a target route by operating the attachment 15. Then, the previous position information setting unit 53 (see FIG. 2) sets the target route, which is the previous position information D1, based on the detection result of the attitude sensor 21 (see FIG. 2) when the specific part 15e moves.

[0051] [Example 5b] The old position information D1 may be set based on a manual input operation by an operator other than teaching (see [Example 1b] above).

[0052] [Example 5c] The previous position information D1 may be set based on the detection result of the feature detection device 25 (see [Example 1c] above).

[0053] (Movement of work machine 10) After the old position information D1 and the old reference position R1 are set, the work machine 10 moves from the old position P1 to the new position P2 (step S20 in FIG. 4). The new position P2 is a position (position at the work site) different from the old position P1. The new position P2 is the position of the work machine 10 after the undercarriage 11 has moved (e.g., traveled) from the old position P1 relative to the work site. Note that if the undercarriage 11 does not move (e.g., travel) from the old position P1 relative to the work site, the work machine 10 will remain located at the old position P1 even if at least one of the upper rotating body 13 swings and the attachment 15 is operated. Furthermore, if the work machine 10 has moved from the old position P1 multiple times to reach its current position, the current position of the work machine 10 is the new position P2.

[0054] (New reference position R2) The new reference position setting unit 61 (see FIG. 2) sets a reference position R (new reference position R2) expressed in the machine coordinate system when the work machine 10 is located at new position P2 (step S21 in FIG. 4). The new reference position setting unit 61 resets the old reference position R1, which was set when the work machine 10 was located at old position P1, as the new reference position R2 when the work machine 10 is located at new position P2.

[0055] The reason why the reference position R is reset is as follows. The old reference position R1 and old position information D1 are each expressed in a machine coordinate system based on the work machine 10. Therefore, when the work machine 10 moves from the old position P1 to the new position P2 relative to the work site, the old reference position R1 and old position information D1 also move relative to the work site. The controller 30 (see FIG. 2) (the work machine 10) will determine that the reference position R (position Qa, position Qb) and position information D are located at, for example, the position (D5) indicated by the two-dot chain line in FIG. 3. Therefore, the position information setting system 1 performs calculations so that the position of the position information D relative to the work site does not change between when the work machine 10 is located at the old position P1 and when it is located at the new position P2. For this calculation, the new reference position setting unit 61 (see FIG. 2) resets the reference position R (sets a new reference position R2), and the new position information setting unit 63 (see FIG. 2) calculates the position information D based on the new reference position R2, etc. (details will be described later). If the work machine 10 moves after the new reference position R2 is set, the new reference position R2 is set again at the position after the movement.

[0056] (Specific method for setting the new reference position R2) The new reference position R2 can be set in various ways, similar to the specific setting method of the old reference position R1. For example, the old reference position R1 and the new reference position R2 may be set by the same method or by different methods. Specifically, for example, if the old reference position R1 is set based on teaching, the new reference position R2 may also be set based on teaching, and the new reference position R2 may be detected by the feature detection device 25.

[0057] (Calculation of new position information D2) The new position information setting unit 63 (see FIG. 2) calculates (sets) the position information D (i.e., new position information D2) when the work machine 10 is located at the new position P2 (steps S22, S31, S32 in FIG. 4). The new position information setting unit 63 calculates the new position information D2 based on the old position information D1, the old reference position R1, and the new reference position R2.

[0058] (Specific example of calculation of new position information D2) The details of the calculation of the new position information D2 are as follows. Note that the calculation of the new position information D2 can be performed in a variety of ways. As described above, when the work machine 10 is at the old position P1, the old reference position R1 and old position information D1 are set (steps S11, S12, S13 in FIG. 4) and stored in the memory unit 55 (see FIG. 2). Furthermore, when the work machine 10 is at the new position P2, a new reference position R2 is set (step S21). Here, the position of the new reference position R2 at the work site is the same as the position of the old reference position R1 at the work site. Therefore, the relative position of the old position P1 with respect to the new position P2 is determined based on the information on the old reference position R1 stored in the memory unit 55 and the new reference position R2 (step S22). In other words, the old position P1 (specifically, coordinates) expressed in the machine coordinate system when the work machine 10 was located at the new position P2 is determined. The position information D when the work machine 10 was located at the old position P1 (i.e., old position information D1) is stored in the memory unit 55 (see FIG. 2). Therefore, based on the position of the old position P1 relative to the new position P2 and the position of the old position information D1 relative to the old position P1, the position information D expressed in the machine coordinate system when the work machine 10 was located at the new position P2 (i.e., new position information D2) is determined (step S32).

[0059] When old position information D1 is set based on the position information reference position D0 (steps S12, S13), new position information D2 is calculated as follows. In this case, the position of the position information reference position D0 expressed in the machine coordinate system when the work machine 10 was located at the new position P2 is determined based on the position of the old position P1 relative to the new position P2 and the position of the position information reference position D0 relative to the old position P1 (step S31). Position information D expressed in the machine coordinate system when the work machine 10 was located at the new position P2 (i.e., new position information D2) is determined based on this position information reference position D0 (step S32).

[0060] (Further specific example of calculation of new position information D2: Part 1) A further specific example of the calculation of the new position information D2 is as follows: In this example, two reference positions R are set, the position information D is set based on the reference position D0 for position information, and the slope of the ground is not taken into consideration (the same applies to further specific examples 2 and 3 of the calculation of the new position information D2).

[0061] As described above, when the work machine 10 is located at the old position P1, the old reference position R1 and old position information D1 are set (steps S11, S12, S13). Thereafter, as shown in FIG. 5, when the work machine 10 is located at the new position P2, a new reference position R2 is set (step S21). A straight line L1 passing through the first reference position Ra and the second reference position Rb is calculated. "Calculating the straight line L1" means that the direction of the straight line L1 and the point through which the straight line L1 passes are calculated (the same applies to other straight lines). The X-axis of the machine coordinate system when the work machine 10 is located at the new position P2 is set to the straight line L2. The coordinates of the intersection β11 between the straight line L1 and the straight line L2 are calculated. A straight line L3 that is perpendicular to the straight line L1 and passes through the first reference position Ra is calculated. The coordinates of the intersection β12 between the straight line L2 and the straight line L3 are calculated. Therefore, the coordinates of the three points, i.e., the intersection point β11, the intersection point β12, and the first reference position Ra, are determined. As a result, a triangle formed by the lines L1, L2, and L3 is determined. The angle α11 between the lines L1 and L2 is calculated using the cosine theorem of this triangle.

[0062] A line that passes through the old position P1 (unknown position) and is parallel to the line L1 is defined as line L4. A line that passes through the old position P1 and is parallel to the line L2 (parallel to the X-axis) is defined as line L5. The angle α12 formed by the line L2 and the line L4, and the angle α13 formed by the line L4 and the line L5, are each equal to the calculated angle α11. Note that the angles marked with a double circle ("◎") in FIG. 5 are equal to each other.

[0063] Based on the information when the old reference position R1 was set, information (lengths and angles of each side) of the triangle formed by the lines L3, L4, and line segment L6 is calculated and stored in the memory unit 55 (see FIG. 2). Specifically, the memory unit 55 stores the length of the line segment L6, the length from the old position P1 to the intersection point β13, and the length from the first reference position Ra to the intersection point β13. The line segment L6 mentioned above is a line segment connecting the old position P1 and the first reference position Ra. The intersection point β13 mentioned above is the intersection point of the lines L3 and L4. The coordinates of the intersection point β13 are calculated based on the calculated line L3, the calculated coordinates of the intersection point β12, and the distance from the first reference position Ra to the intersection point β13 (the distance stored in the memory unit 55). Then, the coordinates of the old position P1 are calculated based on the direction of the straight line L4 (parallel to the straight line L1), the calculated coordinates of the intersection point β13, and the distance from the old position P1 to the intersection point β13 (the distance stored in the memory unit 55) (step S22).

[0064] The angle α14 formed by the line L4 and the line segment L6 may be calculated by the law of cosines of the triangle formed by the line L3, the line L4, and the line segment L6 (the triangle stored in the storage unit 55 (see FIG. 2)).

[0065] Based on the information when the position information reference position D0 shown in FIG. 3 was set, information (lengths and angles of each side) of the triangle formed by the line L4, line segment L7, and line L8 is calculated and stored in the storage unit 55 (see FIG. 2). Specifically, the length of the line segment L7 connecting the old position P1 and the position information reference position D0 is stored in the storage unit 55. A line L8 that is perpendicular to the line L1 and passes through the position information reference position D0 is calculated and stored in the storage unit 55. The intersection of the line L4 and the line L8 is defined as an intersection β14. An angle α15 formed by the line L4 and the line segment L7 is calculated using the cosine theorem of the triangle formed by the line L4, line segment L7, and line L8 and stored in the storage unit 55. Based on the length of line segment L7 and angle α15 ("length of line segment L7" × sin(angle α15)), the distance from position information reference position D0 to intersection point β14 is calculated and stored in storage unit 55. Also, based on the angle formed by line segment L7 and straight line L8 and the length of line segment L7, the distance from old position P1 to intersection point β14 is calculated and stored in storage unit 55.

[0066] 5, the coordinates of the intersection β14 are calculated from the calculated coordinates of the old position P1, the direction of the line L4 (parallel to the line L1), and the distance from the old position P1 to the intersection β14 (the distance stored in the memory unit 55 (see FIG. 2)). The coordinates of the position information reference position D0 are calculated from the calculated coordinates of the intersection β14, the direction of the line L8 (the direction perpendicular to the line L1), and the distance from the position information reference position D0 to the intersection β14 (the distance stored in the memory unit 55) (step S31).

[0067] In the above calculation procedure, values ​​(e.g., angles α12, α13, α14) that are not used in calculating the old position P1 or the position information reference position D0 may be used in calculating the old position P1 or the position information reference position D0. Also, values ​​that are not calculated in the above calculation procedure but can be derived may be calculated and used in calculating the old position P1 or the position information reference position D0. Specifically, for example, an angle (α15-α14) obtained by subtracting the calculated angle α14 from the calculated angle α15 may be calculated and used.

[0068] (Further concrete example of calculation of new position information D2: Part 2) As described above, when the work machine 10 is located at the old position P1, the old reference position R1 and old position information D1 are set (steps S11, S12, S13). When the work machine 10 is located at the old position P1, the first reference position Ra of the old reference position R1 is set, and the length from the old position P1 to the first reference position Ra (i.e., the length of the line segment L6) is determined. In addition, the angle α21 formed between the straight line L1 and the line segment L6 is determined. The determined length of the line segment L6 and angle α21 are stored in the memory unit 55 (see FIG. 2).

[0069] Thereafter, when the work machine 10 is placed at a new position P2, a new reference position R2 is set (step S21). A straight line L1 expressed in the machine coordinate system when the work machine 10 was placed at the new position P2 is determined from the coordinates of the first reference position Ra and the second reference position Rb of the new reference position R2. Here, the length and angle α21 of the line segment L6 are stored in the memory unit 55 (see FIG. 2). Therefore, the old position P1, which is unknown information, is calculated based on this known information (the coordinates of the first reference position Ra, the coordinates of the second reference position Rb, the length and angle α21 of the line segment L6). Then, based on the information of the position information reference position D0 for the old position P1 stored in the memory unit 55, the position of the position information reference position D0 expressed in the machine coordinate system when the work machine 10 was placed at the new position P2 is calculated (step S31 in FIG. 4). Then, new position information D2 is calculated based on the position information reference position D0 (step S32 in FIG. 4).

[0070] (Further concrete example of calculation of new position information D2: Part 3) For example, new position information D2 may be calculated by subjecting old position information D1 to coordinate transformation (rotation and translation). Specifically, in the example shown in FIG. 5, angle α22 is calculated. Angle α22 is the angle formed between the direction from the first reference position Ra (position Qa) before the coordinate transformation to the second reference position Rb (position Qb) before the coordinate transformation, and the direction from the first reference position Ra that was set when the work machine 10 was located at the new position P2 to the second reference position Rb. Then, the old position information D1 stored in memory unit 55 (see FIG. 2) is rotated by angle α22 around the new position P2 (this rotation is referred to as "rotation by angle α22"). In addition, a vector is calculated with position Qa (not shown) after rotation by angle α22 as its start point and the first reference position Ra that was set when the work machine 10 was located at the new position P2 as its end point. Then, the old position information D1 (not shown) after rotation by the angle α22 is translated by the direction and distance of this vector, resulting in the calculation of new position information D2.

[0071] (When considering the slope of the ground) It is assumed that the ground on which the work machine 10 is placed may be inclined. In this case, the Z axis will be inclined relative to the vertical direction, and at least one of the X axis and Y axis will be inclined relative to the horizontal direction. Therefore, the controller 30 (see FIG. 2) (new position information setting unit 63 (see FIG. 2)) may calculate new position information D2 taking the inclination of the ground into account. In this case, for example, an inclination sensor (not shown) that detects the inclination of the work machine 10 may be provided. Based on the detected values ​​of the inclination sensor, the controller 30 (see FIG. 2) converts the values ​​of the X axis, Y axis, and Z axis into a coordinate system of axes extending horizontally and vertically. The converted coordinate system may then be the above-mentioned "machine coordinate system."

[0072] New position information D2 that takes into account the inclination of the ground may be calculated without converting the coordinate system as described above. Specifically, for example, three or more different points may be set as reference position R. In this case, a reference plane can be set as reference position R. Therefore, when the old reference position R1 and new reference position R2 are set, the inclination of the work machine 10 relative to this reference plane can be determined. Therefore, the inclination of the work machine 10 when it was located at the old position P1 (when the old position information D1 was set) can be expressed in the machine coordinate system when the work machine 10 is located at the new position P2. As a result, new position information D2 that takes into account the inclination of the work machine 10 can be calculated.

[0073] Only one point may be set as the reference position R. For example, a sensor (e.g., one that uses geomagnetism) that detects the orientation of the upper rotating body 13 may detect the orientation from the old position P1 toward the reference position R and the orientation from the new position P2 toward the reference position R. Then, the new position information setting unit 63 (see FIG. 2) may calculate the new position information D2 based on these orientations.

[0074] (Notification) Even if the work machine 10 moves relative to the work site, the position information D for the work site does not move. As a result, when viewed from the work machine 10 as the reference point, the position information D moves as the work machine 10 moves. As a result, as shown in Figure 6, there are cases where the position information D after the work machine 10 has moved (when it is placed at new position P2) is no longer appropriate information.

[0075] [Example 6a] For example, if the position information D is a restricted work range D11 or a work range D13, it is conceivable that the range in which the work machine 10 can work after the work machine 10 has moved will be too narrow. In the example shown in FIG. 6, the range in which the work machine 10 can work is area A1, which is surrounded by the work range D13, the forward limit D11y, and the turning limit D11θ, and does not include obstacle O. In this example, the work machine 10 cannot work in the area outside area A1 and in the vicinity (front side) of the upper rotating body 13. In this example, the range in which the work machine 10 can actually work is narrower than before the work machine 10 moved (see FIG. 3). [Example 6b] Furthermore, for example, if the position information D is a target route for a specific part 15e, it is conceivable that the specific part 15e cannot be appropriately positioned on the target route after the work machine 10 has moved.

[0076] To prevent the above problems, it is preferable that the notification unit 80 (see FIG. 2) performs the notification. Each step will be described below with reference to FIG.

[0077] The notification unit 80 (first notification unit) (see Fig. 2) may issue a notification when the work machine 10 shown in Fig. 3 moves from the previous position P1 (step S120 in Fig. 7). Specifically, for example, when the travel sensor 23 shown in Fig. 2 detects that the work machine 10 located at the previous position P1 has started to travel, the notification control unit 71 may cause the notification unit 80 to issue a notification.

[0078] The notification unit 80 (second notification unit) may issue a notification (step S124 in FIG. 7) when the distance from the old position P1 to the new position P2 shown in FIG. 3 is equal to or greater than a predetermined distance threshold (when the answer to step S123 in FIG. 7 is YES). The "distance from the old position P1 to the new position P2" is, for example, the straight-line distance from the old position P1 to the new position P2. When the distance from the old position P1 to the new position P2 is equal to or greater than the distance threshold, the new position information setting unit 63 may or may not calculate new position information D2 (the process may proceed from step S124 to step S31 in FIG. 7).

[0079] The notification unit 80 (see FIG. 2) may issue a notification to prompt the worker to take action to ensure the validity of the position information D. This notification may be a visual notification or an audio notification. Specifically, for example, when the work machine 10 has moved, the notification unit 80 may issue a notification to prompt the worker to move toward the old position P1 (return to the original position). When the work machine 10 has moved, the notification unit 80 may issue a notification to prompt the worker to reset the old position information D1. Specifically, for example, when the work machine 10 has moved, the notification unit 80 may issue a notification to prompt the worker to reset the work limited range D11 (for example, to reset the position information reference position D0), or may issue a notification to prompt the worker to reset the target route for the specific portion 15e.

[0080] The notification unit 80 (see FIG. 2) may provide a notification (display) regarding the position. Specifically, for example, the notification unit 80 may provide a display showing the work site, a display of the work site as seen from above, or a display showing the work site in three dimensions. The notification unit 80 may display a graphic indicating the position information D, a graphic (e.g., a dot, etc.) indicating the reference position R, or a graphic (e.g., a dot, etc.) indicating the position of the work machine 10 (at least one of the old position P1 and the new position P2).

[0081] (Effects of the first invention) The effects of the position information setting system 1 shown in Fig. 3 are as follows: The position information setting system 1 includes a position information setting unit (old position information setting unit 53 (see Fig. 2) and new position information setting unit 63 (see Fig. 2)) that sets position information D related to the work machine 10.

[0082] [Configuration 1] The position information setting unit (53, 63) sets the position information D so that the position of the position information D relative to the work site where the work machine 10 is located does not change when the work machine 10 is located at the old position P1 and when the work machine 10 is located at a new position P2 that is different from the old position P1.

[0083] With the above [Configuration 1], even if the work machine 10 moves relative to the work site, the position of the position information D relative to the work site does not change. Therefore, the position information setting system 1 can eliminate the need to reset the position information D when the work machine 10 moves relative to the work site.

[0084] (Effects of the second invention) [Configuration 2-1] The position information setting system 1 comprises an old reference position setting unit 51 (see Figure 2) that sets an old reference position R1, and a new reference position setting unit 61 (see Figure 2) that sets a new reference position R2. The old reference position R1 represents a reference position R outside the work machine 10 in a machine coordinate system that is based on the work machine 10 when the work machine 10 is positioned at the old position P1. The new reference position R2 represents the reference position R in a machine coordinate system when the work machine 10 is positioned at the new position P2.

[0085] [Configuration 2-2] The position information setting unit (53, 63) includes an old position information setting unit 53 (see FIG. 2) and a new position information setting unit 63 (see FIG. 2). The old position information setting unit 53 sets old position information D1. The old position information D1 represents the position information D in the machine coordinate system when the work machine 10 was located at the old position P1.

[0086] [Configuration 2-3] The new position information setting unit 63 (see FIG. 2) calculates new position information D2 based on the old position information D1, the old reference position R1, and the new reference position R2. The new position information D2 represents the position information D in the machine coordinate system when the work machine 10 is located at the new position P2.

[0087] In the above [Configuration 2-1], a reference position R (old reference position R1) when the work machine 10 was located at the old position P1, and a reference position R (new reference position R2) when the work machine 10 was located at the new position P2 are set. The old reference position R1 and the new reference position R2 are the same reference position R outside the work machine 10. Therefore, the new position information setting unit 63 (see FIG. 2) (above [Configuration 2-3]) can calculate the relative position of the old position P1 with respect to the new position P2 based on the old reference position R1 and the new reference position R2. Furthermore, in the above [Configuration 2-2], position information D (old position information D1) when the work machine 10 was located at the old position P1 is set. In other words, the relative position of the position information D with respect to the old position P1 is set. Therefore, the new position information setting unit 63 (see FIG. 2) can calculate new position information D2 based on the relative position of the old position P1 with respect to the new position P2, and the relative position of the old position information D1 with respect to the old position P1. This new position information D2 is position information D expressed in the machine coordinate system when the work machine 10 is placed at the new position P2. In the above [Configuration 2-1], [Configuration 2-2], and [Configuration 2-3], the new position information D2 can be calculated even if the position of the work machine 10 with respect to the work site is not directly detected. An example in which the position of the work machine 10 with respect to the work site is directly detected will be described later.

[0088] (Effect of the third invention) [Configuration 3] The reference positions R are a plurality of different points (first reference position Ra, second reference position Rb) at the work site.

[0089] With the above [Configuration 3], new position information D2 can be calculated without detecting the direction from the position of the work machine 10 (old position P1 or new position P2) towards the reference position R, for example.

[0090] (Effect of the fourth invention) [Configuration 4] The position information setting system 1 includes a feature detection device 25 that detects feature objects around the work machine 10. At least one of the old reference position setting unit 51 (see FIG. 2) and the new reference position setting unit 61 (see FIG. 2) sets a reference position R (old reference position R1, new reference position R2) expressed in the machine coordinate system based on the detection results of the feature detection device 25.

[0091] The above [Configuration 4] eliminates the need for the operator to manually set the reference position R (at least one of the old reference position R1 and the new reference position R2) expressed in the machine coordinate system, thereby reducing the amount of work required by the operator.

[0092] (Effect of the fifth invention) 1, the position information setting system 1 includes a lower traveling body 11, an upper rotating body 13, an attachment 15, and an attitude sensor 21. The upper rotating body 13 is rotatably attached to the lower traveling body 11. The attachment 15 is attached to the upper rotating body 13. The attitude sensor 21 detects the rotation angle of the upper rotating body 13 relative to the lower traveling body 11 and the attitude of the attachment 15.

[0093] [Configuration 5] At least one of the old reference position setting unit 51 and the new reference position setting unit 61 shown in Fig. 2 sets a reference position R (old reference position R1, new reference position R2) expressed in a machine coordinate system. This setting is performed based on the detection result of the posture sensor 21 (see Fig. 2) when the specific part 15e of the attachment 15 shown in Fig. 3 is placed at the reference position R.

[0094] In the above [Configuration 5], the worker can reliably set the reference position R (at least one of the old reference position R1 and the new reference position R2) by operating the attachment 15 and placing the specific part 15e at the position he or she wants to set as the reference position R. Therefore, for example, a problem such as an incorrect position being detected as the reference position R due to a malfunction of the feature object detection device 25 does not occur.

[0095] (Effect of the seventh invention) [Configuration 7] The position information D is information on a work restriction range D11, which is a range within which work by the work machine 10 is restricted.

[0096] The above [Configuration 7] provides the following effects. It is assumed that the position of the work limit range D11 is set based on, for example, the position of an obstacle O at the work site. In this case, it is assumed that the appropriate position for the work limit range D11 (position at the work site) will not change even if the work machine 10 moves. In the above [Configuration 1] and [Configuration 7], even if the work machine 10 moves relative to the work site, the position of the work limit range D11 relative to the work site does not change. Therefore, when the work machine 10 moves relative to the work site, the work of the work machine 10 can be limited based on the work limit range D11 without having to reset the work limit range D11.

[0097] (Effect of the eighth invention) [Configuration 8] The position information setting system 1 includes a notification unit 80 (first notification unit) (see FIG. 2) that issues a notification when the work machine 10 moves from the previous position P1 (see step S120 in FIG. 7).

[0098] The above [Configuration 8] provides the following effects. In the above [Configuration 1], even if the work machine 10 moves relative to the work site, the position of the position information D relative to the work site does not change. On the other hand, when the work machine 10 moves relative to the work site, the position of the position information D as seen from the work machine 10 changes. As a result, position information D that was valid when the work machine 10 was located at the old position P1 (i.e., old position information D1) may no longer be valid after the work machine 10 has moved. Therefore, in the above [Configuration 8], the notification unit 80 (see Figure 2) issues a notification when the work machine 10 moves from the old position P1. Therefore, it is possible to notify the worker that the position information D may become invalid.

[0099] (Effect of the ninth invention) [Configuration 9] The position information setting system 1 includes an alarm unit 80 (second alarm unit) (see Figure 2) that issues an alarm when the distance from the old position P1 to the new position P2 is greater than or equal to a predetermined distance threshold (see step S124 in Figure 7).

[0100] In the above [Configuration 9], when the work machine 10 moves beyond a predetermined distance threshold, the notification unit 80 (see FIG. 2) issues a notification. Therefore, it is possible to notify the worker that the position information D may become invalid (for details, see the effect of [Configuration 8]).

[0101] (Second embodiment) The differences between the location information setting system 201 of the second embodiment and the first embodiment will be described mainly with reference to Figures 8 and 9. Note that, among the location information setting system 201 of the second embodiment, the description of the commonalities with the first embodiment will be omitted.

[0102] In the first embodiment, as shown in FIG. 3, position information D (old position information D1 and new position information D2) in the machine coordinate system and reference position R (old reference position R1 and new reference position R2) were set. On the other hand, in the present embodiment, as shown in FIG. 8, the position of the work machine 10 in the site coordinate system is detected and position information D in the site coordinate system is set. In the present embodiment, there is no need to set the reference position R (see FIG. 3). The position information setting system 201 comprises a position detection unit 227 and a position information setting unit 253.

[0103] As shown in FIG. 9, the position detection unit 227 detects the position of the work machine 10 expressed in a site coordinate system. The site coordinate system is a coordinate system (such as a global coordinate system) based on the work site where the work machine 10 is located. Even if the work machine 10 moves relative to the work site, the site coordinate system does not move relative to the work site. The position detection unit 227 (see FIG. 8) detects the position and orientation of a reference part of the work machine 10 relative to the work site. The reference part of the work machine 10 is, for example, a position on the center of rotation 13a, such as the position of the bottom surface of the upper rotating body 13. The reference part of the work machine 10 may also be the attachment part (boom foot) of the boom 15b to the upper rotating body 13, etc. The position detection unit 227 may perform detection using a positioning system (such as a satellite positioning system). The positioning system may be a satellite positioning system, such as a global navigation satellite system (GNSS). In this case, the position detection unit 227 includes a GNSS antenna 227a. The positioning system does not have to be a satellite positioning system, and may be one that uses, for example, a total station.

[0104] The position information setting unit 253 (see FIG. 8) sets position information D expressed in the on-site coordinate system. A specific method for setting the position information D is the same as the method for setting the old position information D1 (see FIG. 3) by the old position information setting unit 53 (see FIG. 2).

[0105] (Activated) 9 differs from the first embodiment in the operation of the position information setting system 201 shown in FIG. 9 as follows. When the work machine 10 is placed at the old position P1, the position information setting unit 253 (see FIG. 8) sets position information D in the site coordinate system. The work machine 10 then moves to the new position P2. Because the position information D is expressed in the site coordinate system, the position of the position information D relative to the work site does not change even when the work machine 10 moves from the old position P1 to the new position P2. In addition, the position of the work machine 10 in the site coordinate system is detected by the position detection unit 227. Therefore, the controller 30 (see FIG. 8) can grasp the position of the work machine 10 in the site coordinate system, and the position information D in the site coordinate system. As a result, the work machine 10 can use the position information D set at the old position P1 even after it has moved to the new position P2. Specifically, for example, if the position information D is a limited work range D11, the workable range of the work machine 10 can be limited based on the limited work range D11 even after it has moved to the new position P2.

[0106] (Effect of the sixth aspect of the invention) The advantages of the position information setting system 201 shown in FIG. 9 are as follows.

[0107] [Configuration 6] The position information setting system 201 includes a position detection unit 227. The position detection unit 227 detects the position of the work machine 10 expressed in a site coordinate system based on the work site. The position information setting unit 253 (see FIG. 8) sets position information D expressed in the site coordinate system.

[0108] In the above [Configuration 6], the effect of the above [Configuration 1] can be obtained without setting the reference position R (see FIG. 3). This eliminates the need to provide a device for setting the reference position R (e.g., feature object detection device 25) and the need for an operator to perform an operation (e.g., teaching) to set the reference position R. Furthermore, it eliminates the need for processing by the controller 30 (see FIG. 8) related to the reference position R. Note that the position information setting system 201 of this embodiment may include the feature object detection device 25, and for example, the detection value of the feature object detection device 25 may be used to set the position information D.

[0109] (Variation) The above-described embodiment may be modified in various ways. For example, components of different embodiments may be combined. Specifically, for example, when new position information D2 is set based on the old reference position R1, the new reference position R2, and the old position information D1 (see the first embodiment), the work machine 10 may be equipped with a position detection unit 227 (see FIG. 9). For example, the connections between the components shown in FIGS. 3 and 8 may be changed. For example, the order of the steps in the flowcharts shown in FIGS. 4 and 7 may be changed, or some of the steps may not be performed. For example, values ​​of thresholds (e.g., interval thresholds, distance thresholds) may be constant, may be changed by manual operation, or may be changed automatically in response to certain conditions. For example, the number of components may be changed, or some of the components may not be provided. For example, components may be fixed or connected to each other directly or indirectly. For example, what has been described as multiple different members or parts may be combined into a single member or part. For example, what has been described as a single member or part may be provided as multiple different members or parts. For example, each component may have only a part of each characteristic (function, arrangement, shape, operation, etc.). [Explanation of symbols]

[0110] 1, 201 Location information setting system 10. Work Machinery 11 Undercarriage 13 Upper rotating body 15 Attachments 15e Specific parts 21 Attitude sensor 25 Feature detection device 51 Old reference position setting section 53 Old location information setting section 61 New reference position setting section 63 New location information setting section 80 Alarm unit (first alarm unit, second alarm unit , 3rd notification unit, 4th notification unit ) 227 Position detection unit 253 Location information setting section D Location Intelligence D1 Old Location Intelligence D2 New Location Intelligence D11 Operating Procedures P1 Old location P2 New Location R Reference Position R1 Old reference position R2 New reference position

Claims

1. a position information setting unit that sets position information that is information about a position outside the work machine; an attitude sensor that detects the swing angle of an upper swing body of the work machine relative to a lower traveling body of the work machine and the attitude of an attachment of the work machine; A previous reference position setting unit; a new reference position setting unit; Equipped with the position information setting unit sets the position information so that the position of the position information relative to the work site where the work machine is located does not change between when the work machine is located at an old position and when the work machine is located at a new position different from the old position, When the coordinate system based on the work machine is defined as a machine coordinate system, the old reference position setting unit sets an old reference position that represents a reference position outside the work machine in the machine coordinate system when the work machine was placed at the old position, the new reference position setting unit sets a new reference position that represents the reference position in the machine coordinate system when the work machine is placed at the new position, The position information setting unit an old position information setting unit that sets old position information that represents the position information in the machine coordinate system when the work machine was located at the old position; a new position information setting unit that calculates new position information that represents the position information in the machine coordinate system when the work machine is placed at the new position, based on the old position information, the old reference position, and the new reference position; Equipped with at least one of the old reference position setting unit and the new reference position setting unit sets the reference position expressed in the machine coordinate system based on a detection result of the attitude sensor when the specific part of the attachment is placed at the reference position; Location setting system.

2. a position information setting unit that sets position information that is information about a position outside the work machine; A previous reference position setting unit; a new reference position setting unit; Equipped with the position information setting unit sets the position information so that the position of the position information relative to the work site where the work machine is located does not change between when the work machine is located at an old position and when the work machine is located at a new position different from the old position, When the coordinate system based on the work machine is defined as a machine coordinate system, the old reference position setting unit is capable of setting an old reference position that represents a reference position outside the work machine in the machine coordinate system when the work machine was disposed at the old position, the new reference position setting unit sets a new reference position that represents the reference position in the machine coordinate system when the work machine is placed at the new position, The position information setting unit an old position information setting unit that sets old position information that represents the position information in the machine coordinate system when the work machine was located at the old position; a new position information setting unit that calculates new position information that represents the position information in the machine coordinate system when the work machine is placed at the new position, based on the old position information, the old reference position, and the new reference position; Equipped with the reference positions are a plurality of different points in the work site, When an interval between the plurality of reference positions is narrower than a predetermined interval threshold, the old reference position setting unit does not set the plurality of reference positions as the old reference positions or causes a first notification unit to issue a notification. Location setting system.

3. 3. The position information setting system according to claim 2, a feature detection device for detecting a feature around the work machine, at least one of the old reference position setting unit and the new reference position setting unit sets the reference position expressed in the machine coordinate system based on a detection result of the feature detection device; Location setting system.

4. A location information setting system according to any one of claims 1 to 3, a second notification unit that issues a notification; The second notification unit is If the range in which the work machine is capable of working becomes narrower than a predetermined value after the work machine has moved from the previous position, When the position information is a target path for a specific part of an attachment of the work machine, and the specific part cannot be located on the target path after the work machine moves from the previous position, and When the work machine located at the old position starts traveling, In at least one of the cases, a notification is made. Location setting system.

5. A location information setting system according to any one of claims 1 to 4, a third notification unit that issues a notification; when the work machine has moved from the old position, the third notification unit issues at least one of a notification urging the work machine to move toward the old position and a notification urging the work machine to reset the position information. Location setting system.

6. The position information setting system according to any one of claims 1 to 5, The position information is information about a work restriction range, which is a range in which work by the work machine is restricted. Location setting system.

7. The position information setting system according to any one of claims 1 to 6, a fourth notification unit that issues a notification when the distance from the old position to the new position is equal to or greater than a predetermined distance threshold; Location setting system.

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