Agricultural machinery and method for controlling the agricultural machinery

Abstract

To provide a work machine capable of improving safety when performing tasks using an attachment that grasps objects.SOLUTION: A work machine 1 is a work machine that has a chassis 2 and a working unit 20 provided to the chassis 2 in which an attachment 100 for grasping a grasping object can be attached to the working unit 20. The work machine 1 includes a control unit 51 that sets work limits to restrict a working range and / or a working speed of the work machine 1 when grasping an object using attachment 100.SELECTED DRAWING: Figure 7A

Description

Technical Field

[0001] The present invention relates to a work machine and a control method for a work machine.

Background Art

[0002] A work machine disclosed in Patent Document 1 includes a lower traveling body, an upper revolving body, and a work device provided on the upper revolving body. The work device includes a boom capable of swinging in the vertical direction, an arm provided at a distal end portion of the boom and capable of swinging in the front-rear direction or the vertical direction, and a pipe joining attachment connected to a distal end portion of the arm and configured to grip a pipe. In this work machine, an operator's operation causes the pipe to be gripped by the pipe joining attachment, and the gripped pipe is joined to a pipe to be joined arranged in a trench in the ground.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problem to be Solved by the Invention

[0004] In the work machine of Patent Document 1, in a state where the pipe joining attachment grips a pipe, stability may be lower than in a state where work is performed using an attachment such as a bucket.

[0005] The present invention has been made to solve such problems of the conventional art, and an object thereof is to improve safety when performing work using an attachment that grips an object to be gripped.

Means for Solving the Problem

[0006] A work machine according to one aspect of the present invention comprises a machine body and a work device provided on the machine body, wherein an attachment for gripping an object to be gripped can be attached to the work device, and a control device that limits one or both of the working range and / or working speed of the work machine when performing the work of gripping an object to be gripped with the attachment. The system includes a detection unit that detects the gripping of an object by the attachment, and a first sensing device that recognizes the object being gripped by the attachment. Equipped with The detection unit detects the gripping of the object to be gripped based on the recognition result of the first sensing device, and the control device performs the work restriction when the detection unit detects the gripping of the object to be gripped. The first sensing device recognizes the end portion of the object to be gripped that is being gripped by the attachment and protrudes from the attachment, and the control device restricts the working range of the work machine so that the movement range of the end portion of the object to be gripped falls within a predetermined range. . A work machine according to one aspect of the present invention comprises a machine body and a work device provided on the machine body, wherein an attachment for gripping an object to be gripped can be attached to the work device, and the work machine includes a control device that limits one or both of the working range and / or working speed of the work machine when performing work to grip an object to be gripped with the attachment, a detection unit that detects the gripping of an object to be gripped by the attachment, and a first sensing device that recognizes the object to be gripped that the attachment is gripping, wherein the detection unit detects the gripping of an object to be gripped based on the recognition result of the first sensing device, the control device performs the work limit when the gripping of an object to be gripped is detected by the detection unit, the first sensing device recognizes the end of the portion of the object to be gripped that is gripping the attachment and protruding from the attachment, and the control device limits the upper limit of the working speed of the work machine to a lower value as the length from the attachment to the end of the object to be gripped increases. [Effects of the Invention]

[0007] The above-described work machine can improve safety when performing work using an attachment for gripping an object. [Brief explanation of the drawing]

[0008] [Figure 1A] This is an overall side view of the work machine. [Figure 1B] This is a plan view with some of the working equipment of the work machine omitted. [Figure 2A] This is a schematic diagram of the hydraulic and control systems of the work machine. [Figure 2B] This is an electrical block diagram of the work machine according to the first embodiment. [Figure 2C] This figure shows an example of a display on a display device. [Figure 3A] This is a view of a pipe joint attachment from one side in the width direction. [Figure 3B] This is a plan view of a pipe joint attachment. [Figure 3C] This is a view of a pipe joint attachment from one side in the axial direction. [Figure 4A] This diagram illustrates the process of gripping and joining pipes using various coordinate systems and attachments for pipe joining. [Figure 4B] This diagram shows the state after the pipe has been joined to the pipe to be joined. [Figure 4C] This figure shows the pipe joining attachment positioned before gripping. [Figure 4D]This is a diagram showing that the orientation of the gripping portion is adjusted at the pre-gripping position. [Figure 5A] This is a flowchart showing an example of an automatic gripping and joining process for a pipe joining attachment by a work machine. [Figure 5B] This is a flowchart showing an example of pipe gripping control. [Figure 5C] This is a flowchart showing an example of movement control to a gripping position. [Figure 5D] This is a flowchart showing an example of work start position control for a gripped pipe. [Figure 5E] This is a flowchart showing an example of speed control for each member of the front section. [Figure 5F] This is a flowchart showing an example of joining start position control for a gripped pipe. [Figure 5G] This is a flowchart showing an example of speed control for each member of the front section. [Figure 6A] This is a diagram showing a state in which the pipe gripped by the pipe joining attachment is moved from the work start position to the joining start position. [Figure 6B] This is a diagram showing a state in which the pipe gripped by the pipe joining attachment is positioned at the joining start position. [Figure 6C] This is a diagram showing a state in which the pipe gripped by the pipe joining attachment is joined to the pipe to be joined. [Figure 7A] This is an electrical block diagram of the work machine according to the second embodiment. [Figure 7B] This is a flowchart showing an example of a work restriction process during pipe gripping in the second embodiment. [Figure 8A] This is a diagram showing an example of a storage table. [Figure 8B] This is a diagram showing an example of a storage table. [Figure 8C] This is a diagram showing an example of a storage table. [Figure 8D] This is a diagram showing an example of a storage table. [Figure 8E] This is a diagram showing an example of a storage table. [Figure 8F]This figure shows an example of a memory table. [Figure 9A] This is an electrical block diagram of the work machine according to the third embodiment. [Figure 9B] This flowchart shows an example of the surrounding area monitoring process while gripping a pipe in the third embodiment. [Figure 10] This flowchart shows an example of pipe position detection processing. [Figure 11] This flowchart shows an example of object detection processing around a pipe. [Figure 12] This diagram illustrates the permitted range around the work machine, based on the relative position of the pipe being gripped and the surrounding objects. [Figure 13] This figure shows an example of how relative position information is displayed on a display device. [Modes for carrying out the invention]

[0009] One embodiment of the present invention will be described below with reference to the drawings.

[0010] [First Embodiment] First, let's describe the overall configuration of the work machine 1. Figure 1A is an overall side view of the work machine. Figure 1B is a plan view with some of the work equipment of the work machine omitted.

[0011] (Regarding the overall configuration of work machine 1) The work machine 1 of the first embodiment is a backhoe, but instead of a bucket, it is fitted with a pipe joining attachment 100. The work machine 1 comprises a mobile body 30 and a work device 20 provided on the body 30. The body 30 comprises a machine body (turntable) 2 and a travel device 10 for moving the machine body (turntable) 2. On top of the machine body 2 is a driver's seat 4 where the operator sits, and a protective mechanism 6 that protects the driver's seat 4 from the front, back, left, right, and above.

[0012] The protective mechanism 6 is also called the cabin. The protective mechanism 6 consists of a frame attached to the aircraft body 2, a roof attached to the top of the frame, and the front, rear, and left and right sides of the frame. It has multiple side walls attached to each side (details not shown). Each side wall is provided with a transparent section (so-called window) that allows the driver to see the surroundings from the driver's seat 4. This protective mechanism 6 separates the space around the driver's seat 4 from the outside. In other words, the protective mechanism 6 forms the driver's cab 4R having the driver's seat 4. Note that the protective mechanism 6 may be a canopy or the like, rather than a cabin.

[0013] Inside the protective mechanism 6 (operator's cab 4R), around the driver's seat 4, there are operating devices 5 for operating the work implement 1. The operator can operate the operating devices 5 while seated in the driver's seat 4.

[0014] In this embodiment, the direction the driver (operator) seated in the driver's seat 4 faces (direction of arrow A1 in Figures 1A and 1B) is described as forward, the opposite direction (direction of arrow A2 in Figures 1A and 1B, etc.) is described as rearward, the left side of the driver (front side in Figure 1A, direction of arrow B1 in Figure 1B) is described as left, and the right side of the driver (back side in Figure 1A, direction of arrow B2 in Figure 1B) is described as right. Furthermore, the horizontal direction, which is perpendicular to the front-rear direction A3, is described as the width direction B3 (see Figure 1B). The direction from the center of the width direction B3 of the machine body 2 toward the right or left is described as the outward direction in the width direction.

[0015] The traveling device 10 is a device for moving the machine body 2, and comprises a traveling frame 11 and a traveling mechanism 12. The traveling frame (track frame) 11 is a structure to which the traveling mechanism 12 is attached around the perimeter and which supports the machine body 2 on top.

[0016] The running mechanism 12 is, for example, a crawler-type running mechanism. The running mechanism 12 is provided on the left and right sides of the running frame 11, respectively. The running mechanism 12 includes an idler 13, a drive wheel 14, a plurality of road wheels 15, an endless crawler belt 16, and a running motor (left running motor ML, right running motor MR).

[0017] The idler 13 is located at the front of the running frame 11. The drive wheel 14 is located at the rear of the running frame 11. Multiple road wheels 15 are provided between the idler 13 and the drive wheel 14. The crawler belt 16 is wrapped around the idler 13, the drive wheel 14, and the road wheels 15.

[0018] The left-hand drive motor ML is included in the drive mechanism 12 located on the left side of the drive frame 11. The right-hand drive motor MR is included in the drive mechanism 12 located on the right side of the drive frame 11. Both the left-hand drive motor ML and the right-hand drive motor MR are hydraulic motors. In each drive mechanism 12, the power from the left-hand drive motor ML and the right-hand drive motor MR drives the drive wheels 14 to rotate, causing the crawler belt 16 to circumferentially move around.

[0019] A dozer device 18 is mounted on the front of the traveling device 10. The dozer device 18 swings up and down by the extension and retraction of the dozer cylinder C3. The dozer cylinder C3 is attached to the traveling frame 11. The dozer cylinder C3 consists of a hydraulic cylinder.

[0020] The machine body 2 is supported on the travel frame 11 via a slewing bearing 3 so as to be able to slewing around axis Zm (the axis extending in the vertical direction: Z-axis). The slewing motor MT consists of a hydraulic motor (a hydraulic actuator included in hydraulic equipment). The machine body 2 slewing around axis Zm by the power of the slewing motor MT.

[0021] The working device 20 is mounted on the machine body 2. For example, the working device 20 is supported at the front of the machine body 2. The working device 20 consists of a boom 21, an arm 22, a pipe joint attachment 100 (hereinafter referred to as attachment 100 as appropriate), and hydraulic actuators (boom cylinder C1, attachment swing cylinder C2, dozer cylinder C3, swing cylinder The boom 21 is equipped with a C4 arm and a C9 arm cylinder. The base end of the boom 21 is pivotally attached to the swing bracket 24 so as to be rotatable around a first rotation axis J1 (an axis extending in the width direction of the machine body 2). As a result, the boom 21 can swing up and down (vertically). The arm 22 is pivotally attached to the tip of the boom 21 so as to be rotatable around a second rotation axis J2 (an axis extending in the width direction of the boom 21) which is parallel to the first rotation axis J1. As a result, the arm 22 can swing in the front-rear direction or up and down direction.

[0022] Attachment 100 is pivotably mounted on the tip of arm 22, replacing the bucket (work tool). As shown in Figure 1A, attachment 100 is a work tool for gripping a joining member (e.g., pipe W1), which is an example of an object to be gripped W, and joining the gripped pipe W1 to a member to be joined (e.g., pipe to be joined) placed in a target area (e.g., groove G). Groove G is a groove formed below the ground surface (a groove underground), such as a flat-bottomed groove formed by excavating the ground. Note that the target area does not have to be a groove, and may be, for example, a support base (e.g., a concrete support base exposed above ground, or a steel support base in a field setting) on ​​which the pipe to be joined W2 is placed on the upper surface and which at least a part of it is formed above the ground surface. As shown in Figure 1A, the attachment 100 comprises an arm connection part 111, a gripping part 112, an axial movement mechanism 113, a horizontal rotation mechanism 114, and a joining function part 115 (a part that contacts the pipe to be joined). Further details of the attachment 100 will be described later.

[0023] The work machine 1 can be fitted with a bucket and other work tools (hydraulic attachments) that can be driven by a hydraulic actuator, instead of attachment 100. Examples of these other work tools include hydraulic breakers, hydraulic crushers, angle brooms, earth augers, pallet forks, sweepers, mowers, snow blowers, etc.

[0024] The swing bracket 24 swings from side to side by rotating around the fourth rotation axis J4 (the axis extending in the vertical direction of the machine body 2) due to the extension and retraction of the swing cylinder C4 located inside the machine body 2. The boom 21 swings up and down (forward and backward) due to the extension and retraction of the boom cylinder C1. The arm 22 swings up and down (forward and backward) due to the extension and retraction of the arm cylinder C9. The attachment 100 swings up and down (forward and backward) due to the extension and retraction of the attachment swing cylinder C2. The attachment swing cylinder C2 is called the bucket cylinder if a bucket is attached to the tip of the arm 22. The swing cylinder C4, boom cylinder C1, arm cylinder C9, and attachment swing cylinder C2 are all composed of hydraulic cylinders.

[0025] (Regarding the configuration of the hydraulic system and control system of work machine 1) Figure 2A is a schematic diagram of the hydraulic system and control system of the work machine. The hydraulic system of work machine 1 has a first hydraulic pump P1, a second hydraulic pump P2, a third hydraulic pump P3, and a number of control valves V1 to V10. The first hydraulic pump P1 and the second hydraulic pump P2 are variable displacement hydraulic pumps. The third hydraulic pump P3 is a constant displacement hydraulic pump. The first hydraulic pump P1, the second hydraulic pump P2, and the third hydraulic pump P3 are driven by the power of the prime mover E1 to discharge hydraulic fluid stored in the hydraulic fluid tank. In this embodiment, the hydraulic system of work machine 1 is equipped with three hydraulic pumps (first hydraulic pump P1, second hydraulic pump P2, and third hydraulic pump P3), but the number is not limited.

[0026] Multiple control valves V1 to V10 are solenoid control valves that control the flow rate of hydraulic fluid supplied to the hydraulic actuators (working hydraulic actuators and travel hydraulic actuators). Multiple control valves V1 to V10 are solenoid 3-position switching valves whose spool position is switched by the hydraulic fluid (pilot oil) supplied from the third hydraulic pump P3. In other words, multiple control valves V1 to V10 have solenoid valves, and the opening degree of these solenoid valves controls the flow rate of hydraulic fluid supplied to the spool. The pressure of the pilot oil used can be changed, thereby altering the spool position. In this embodiment, an electromagnetic 3-position control valve incorporating a solenoid valve is shown, but the solenoid valve may be configured as a separate unit. Furthermore, the multiple control valves V1 to V10 are not limited to a 3-position control valve and may also be 2-position control valves, 4-position control valves, etc.

[0027] The boom control valve V1 controls the boom cylinder C1. The oscillating control valve V2 (=bucket control valve) controls the attachment oscillating cylinder C2 (=bucket cylinder). The dozer control valve V3 controls the dozer cylinder C3. The swing control valve V4 controls the swing cylinder C4. The right travel control valve V5 controls the travel system hydraulic actuator (right travel motor MR) of the first travel device 10R. The left travel control valve V6 controls the travel system travel hydraulic actuator (left travel motor ML) of the second travel device 10L. The first auxiliary control valve V7 controls the auxiliary actuator. In Figure 2A, the first auxiliary control valve V7 controls the flow rate of hydraulic fluid supplied to the attachment 100 (i.e., the hydraulic actuator for pipe joining) as an auxiliary actuator. The second auxiliary control valve V8 controls the auxiliary actuator. The arm control valve V9 controls the arm cylinder C9. The slewing control valve V10 controls the slewing motor MT.

[0028] The boom control valve V1, swing control valve V2, dozer control valve V3, swing control valve V4, and right travel control valve V5 are connected to the first discharge oil passage 41, which is connected to the first hydraulic pump P1. The left travel control valve V6, first auxiliary control valve V7, second auxiliary control valve V8, arm control valve V9, and slewing control valve V10 are connected to the second discharge oil passage 42, which is connected to the second hydraulic pump P2.

[0029] Hereafter, for the sake of explanation, the group consisting of boom control valve V1, swing control valve V2, dozer control valve V3, swing control valve V4, and right travel control valve V5 will be referred to as the first block BL1, and the group consisting of left travel control valve V6, first auxiliary control valve V7, second auxiliary control valve V8, arm control valve V9, and slewing control valve V10 will be referred to as the second block BL2.

[0030] A communication valve V11 is provided between the first block BL1 and the second block BL2. The communication valve V11 is a switching valve that switches between a first position and a second position, and connects the first discharge oil passage 41 and the second discharge oil passage 42, respectively. When the communication valve V11 is in the first position, the first discharge oil passage 41 and the second discharge oil passage 42 are connected via the communication valve V11, and when the communication valve V11 is in the second position, the communication between the first discharge oil passage 41 and the second discharge oil passage 42 is blocked by the communication valve V11. Note that the communication valve V11 is not limited to a two-position switching valve, but may also be a three-position switching valve, a four-position switching valve, etc. Note that the hydraulic system of the work machine may be configured without a communication valve V11.

[0031] The work machine 1 is equipped with a slewing device 25 (see Figure 2A). The slewing device 25 is a device that includes a slewing bearing 3, a slewing motor MT, and hydraulic pumps (first hydraulic pump P1, second hydraulic pump P2).

[0032] As shown in Figure 2A, the attachment 100 is equipped with a first control valve V71, a second control valve V72, and a third control valve V73, from which the hydraulic fluid from the first pre-control valve V7 is branched and supplied. The first control valve V71 is an electromagnetic control valve for controlling the opening and closing of the gripping portion 112. The second control valve V72 is an electromagnetic control valve for controlling the axial movement mechanism 113. The third control valve V73 is an electromagnetic control valve for controlling the horizontal rotation mechanism 114.

[0033] (Configuration of the control system for work machine 1) Next, the configuration of the control system for the work machine 1 will be explained using Figures 2A and 2B. Figure 2B is an electrical block diagram of the work machine.

[0034] As shown in Figures 2A and 2B, the control system of the work machine 1 includes a control device 51. The control device 51 includes a hydraulic control unit 53 that controls the hydraulic system. The hydraulic control unit 53 is a work control device that controls the hydraulic systems of the work machine 20 and the travel machine 10. The hydraulic control unit 53 consists of a CPU (processor), electronic and electrical circuits, a program, etc., provided in the control device 51. The hydraulic control unit 53 controls the hydraulic equipment provided in the work machine 1, such as a plurality of control valves V1 to V10, a communication valve V11, and hydraulic pumps (first hydraulic pump P1, second hydraulic pump P2). Note that the hydraulic control unit 53 can be anything that controls hydraulic equipment, and the controlled objects are not limited to this embodiment.

[0035] The control device 51 is connected to the operating device 5. The operating device 5 includes work operating members (work operating member 19L, work operating member 19R, work operating member 19D) and travel operating members (travel operating member 20L, travel operating member 20R).

[0036] The control device 51 is connected to work operation members (work operation member 19L, work operation member 19R, and work operation member 19D). Work operation member 19L is positioned so that the driver (operator) can operate it with their left hand, work operation member 19R is positioned so that the driver can operate it with their right hand, and work operation member 19D is positioned separately from work operation member 19R on the right side of the driver's seat 4 so that the driver can operate it with their right hand. Work operation members 19L and 19R are levers having a potentiometer (detection device) that detects the amount of oscillation (operation amount), and are levers that can swing forward, backward, right, and left. Work operation member 19D is a lever having a potentiometer (detection device) that detects the amount of oscillation (operation amount), and is a lever that can swing forward and backward.

[0037] When the operator operates the work operation member 19L, the amount and direction of operation of the work operation member 19L are detected by a potentiometer, and the detected amount and direction of operation are input to the control device 51. The hydraulic control unit 53 energizes the solenoid of the swivel solenoid valve of the swivel control valve V10 to control the opening degree of the swivel solenoid valve, or energizes the solenoid of the arm solenoid valve of the arm control valve V9 to control the opening degree of the arm solenoid valve, according to the amount and direction of operation of the work operation member 19L. As a result, pilot pressure acts on the pressure receiving part of the swivel control valve V10, the position of the swivel control valve V10 is switched, and the rotation direction of the swivel motor MT is switched according to the position, or pilot pressure acts on the pressure receiving part of the arm control valve V9, the position of the arm control valve V9 is switched, and the arm cylinder C9 extends or retracts according to the position.

[0038] When the operator operates the work operation member 19R, the amount and direction of operation of the work operation member 19R are detected by a potentiometer, and the detected amount and direction of operation are input to the control device 51. The hydraulic control unit 53 energizes the solenoid of the boom solenoid valve of the boom control valve V1 to control the opening degree of the boom solenoid valve, or energizes the solenoid of the solenoid valve of the oscillating control valve V2 (called the bucket solenoid valve when the bucket is attached) to control the opening degree of the solenoid valve (bucket solenoid valve), depending on the amount and direction of operation of the work operation member 19R. As a result, pilot pressure acts on the pressure receiving part of the boom control valve V1, the position of the boom control valve V1 is switched, and the boom cylinder C1 extends or retracts according to the position, or pilot pressure acts on the pressure receiving part of the oscillating control valve V2, the position of the oscillating control valve V2 is switched, and the attachment oscillating cylinder C2 extends or retracts according to the position.

[0039] When the operator operates the work control member 19D, the amount and direction of operation of the work control member 19D are detected by a potentiometer, and the detected amount and direction of operation are input to the control device 51. The hydraulic control unit 53 energizes the solenoid of the dozer solenoid valve of the dozer control valve V3 according to the amount and direction of operation of the work control member 19D, and controls the opening degree of the dozer solenoid valve. As a result, pilot pressure acts on the pressure-receiving part of the dozer control valve V3, switching the position of the dozer control valve V3, and the dozer cylinder C3 extends and retracts according to that position.

[0040] As described above, the machine body 2, boom 21, arm 22, attachment 100 (swinging only), and dozer device 18 can be operated by operating the work operation members (work operation member 19L, work operation member 19R, work operation member 19D).

[0041] The control device 51 is connected to a driving operation member (driving operation member 20L, driving operation member 20R). The driving operation member 20L and the driving operation member 20R are located in front of the driver's seat 4. The driving operation member 20L and the driving operation member 20R are levers having a potentiometer (detection device) for detecting the amount of swing (operation amount), and are levers that can swing forward and backward. Note that the driving operation member 20L and the driving operation member 20R are not limited to levers, but may be pedals, for example.

[0042] When the driver operates the travel control member 20L and the travel control member 20R, the amount and direction of operation of the travel control member 20L and the travel control member 20R are detected by the potentiometer, and the detected amount and direction of operation are input to the control device 51. The hydraulic control unit 53 energizes the solenoid of the left travel solenoid valve of the left travel control valve V6 according to the amount and direction of operation of the travel control member 20L, and energizes the solenoid of the right travel solenoid valve of the right travel control valve V5 according to the amount and direction of operation of the travel control member 20R. As a result, pilot pressure is applied to the pressure receiving parts of the right travel control valve V5 and the left travel control valve V6, causing the right travel control valve V5 and the left travel control valve V6 to switch, and the rotation direction of the right travel motor MR and the left travel motor ML is determined.

[0043] As described above, when operating the work operation members (work operation member 19L, work operation member 19R, work operation member 19D) and the travel operation members (travel operation member 20L, travel operation member 20R), the control device 51 outputs control signals for excitation and demagnetization of the solenoids, thereby enabling control of the machine body 2, boom 21, arm 22, attachment 100, dozer device 18, first travel device 10R, and second travel device 10L.

[0044] (Regarding attachment 100 for pipe joining) Attachment 100 will be explained using Figures 3A to 3C. Figure 3A is a view of the pipe joint attachment from one side in the width direction. Figure 3B is a plan view of the pipe joint attachment. Figure 3C is a view of the pipe joint attachment from one side in the axial direction.

[0045] Pipe W1 and pipe W2 to be joined are, for example, earthquake-resistant pipes having earthquake-resistant joints that can be bent at a predetermined angle. However, pipe W1 and pipe W2 may be piping other than earthquake-resistant pipes.

[0046] As shown in Figures 3A to 3C, the attachment 100 is configured to grip the pipe W1, and the gripped pipe W1 can be rotated horizontally around a rotation axis Q extending in the vertical direction and moved in the axial direction of the pipe W1. The attachment 100 includes an arm connection part 111, a gripping part 112, an axial movement mechanism 113, a horizontal rotation mechanism 114, and a joining function part 115.

[0047] The arm connection portion 111 is located at the upper end of the attachment 100 and is connected to the other end of the arm 22 of the work machine 1. The arm connection portion 111 may be connected to the other end of the arm 22 by bolts or pins, or it may be fitted by a fitting portion. The arm connection portion 111 may be connected to the other end of the arm 22 in any configuration.

[0048] The gripping portion 112 is supported so as to be movable in the axial direction by an axial movement mechanism 113. The gripping portion 112 grips the pipe W1. The gripping portion 112 has a pair of gripping claws 121 and a gripping drive portion 122.

[0049] A pair of gripping claws 121 are positioned side by side in the width direction perpendicular to the axial direction so as to be able to grip the pipe W1. The base ends of the pair of gripping claws 121 are connected to the gripping drive unit 122. The pair of gripping claws 121 are rotatable relative to the gripping drive unit 122, with their tip ends moving towards and away from each other around the base end. The pair of gripping claws 121 clamp the pipe W1 in the width direction.

[0050] In this embodiment, the gripping portion 112 has two pairs of gripping claws 121. The two pairs of gripping claws 121 are arranged in the axial direction of the pipe W1 with respect to the gripping drive portion 122.

[0051] The gripping drive unit 122 applies a driving force to the base end of a pair of gripping claws 121 such that the tip ends of the pair of gripping claws 121 rotate toward and toward each other, with the base end as the pivot point. The gripping drive unit 122 generates the driving force using, for example, hydraulic pressure output from the first pre-control valve V7 of the work machine 1 via the first control valve V71, but the driving force may also be generated by an electric motor or the like.

[0052] The axial movement mechanism 113 is supported by the horizontal rotation mechanism 114 so as to be rotatable horizontally about the rotation axis Q. The axial movement mechanism 113 moves the gripping portion 112 in the axial direction of the pipe W1 gripped by the gripping portion 112. The axial movement mechanism 113 includes a guide portion 131, a slider 132, and an axial drive portion 133.

[0053] The guide section 131 is connected to the horizontal rotation mechanism 114 so as to be rotatable horizontally about the rotation axis Q. The guide section 131 has, for example, a pair of guide rails 131a that extend along the axis L of the pipe W1. That is, the pair of guide rails 131a extend in the axial direction. Therefore, in this embodiment, the longitudinal direction of the pair of guide rails 131a coincides with the axial direction. The guide rails 131a are H-shaped steel beams that protrude vertically in the width direction when viewed in the axial direction. Note that the guide rails 131a may be made of materials other than H-shaped steel.

[0054] The slider 132 is mounted relative to the guide portion 131 so as to be movable in the longitudinal direction, i.e., the axial direction, of the guide portion 131. The slider 132 is formed in a substantially U-shape in cross-section so as to cover the lower surface and side surfaces of the pair of guide rails 131a of the guide portion 131. That is, the slider 132 has a bottom surface 132a and a pair of side surfaces 132b extending upward from the bottom surface 132a. Rollers 132c are rotatably supported on the pair of side surfaces 132b of the slider 132. The rollers 132c roll and move along the flanges of the pair of guide rails 131a.

[0055] The axial drive unit 133 allows the slider 132 to move relative to the guide unit 131 in the longitudinal direction, i.e., the axial direction, of the guide unit 131. For example, the axial drive unit 133 is a hydraulic cylinder. This hydraulic cylinder is supplied with hydraulic pressure, for example, from the first pre-control valve V7 of the work machine 1, via the second control valve V72. Although not specifically shown, the cylinder tube of the hydraulic cylinder is fixed to the guide unit 131 via a support part 116 that supports the joint function part 115. The piston rod of the hydraulic cylinder is fixed to the slider 132. The hydraulic cylinder is arranged to extend in the longitudinal direction, i.e., the axial direction, of the guide unit 131. Therefore, the movement of the piston rod of the hydraulic cylinder in the axial direction relative to the cylinder tube allows the slider 132 to move relative to the guide unit 131. can.

[0056] This allows the pipe W1, gripped by the gripping portion 112 of the attachment 100, to be moved in the axial direction. Therefore, the attachment 100 allows the insertion port W1a of the pipe W1 to be easily positioned relative to the receiving port W2a of the pipe to be joined W2 (see Figures 6A to 6C), and also allows the insertion port W1a of the pipe W1 to be easily inserted into the receiving port W2a of the pipe to be joined W2.

[0057] The horizontal rotation mechanism 114 is connected to the arm 22 of the work machine 1 via the arm connection part 111. That is, the arm connection part 111 is fixed to the upper part of the horizontal rotation mechanism 114. The axial drive unit 133 is connected to the lower part of the horizontal rotation mechanism 114 so as to be rotatable horizontally around the rotation axis Q. The horizontal rotation mechanism 114 generates a driving force to rotate the axial drive unit 133 horizontally around the rotation axis Q, for example, using hydraulic pressure output from the first pre-control valve V7 to the third control valve V73 of the work machine 1.

[0058] As a result, the horizontal rotation mechanism 114 can rotate the attachment 100 horizontally around the rotation axis Q relative to the arm 22 of the work machine 1. Therefore, the pipe W1 gripped by the gripping portion 112 of the attachment 100 can be moved into a trench G or the like underground without moving or rotating the work machine 1.

[0059] The joining function part 115 is fixed to the axial movement mechanism 113 by the support part 116 so as to be positioned in the axial direction of the insertion opening W1a of the pipe W1 relative to the gripping part 112. As shown in Figure 6B, which will be described later, the joining function part 115 contacts the receiving opening W2a side of the pipe W2 when positioning the insertion opening W1a of the pipe W1 gripped by the gripping part 112 relative to the receiving opening W2a of the pipe W2 to be joined.

[0060] The support portion 116 is fixed, for example, to the guide portion 131 of the axial movement mechanism 113. The support portion 116 has a support body 116a and a connecting support portion 116b. The support body 116a is flat and fixed to the guide portion 131 of the axial movement mechanism 113. The connecting support portion 116b extends downward from the support body 116a. The connecting support portion 116b supports the joining function portion 115.

[0061] The joining function part 115 is formed in an inverted V shape, with the spacing between the straight sections 115a increasing downwards when viewed in the axial direction. Specifically, the joining function part 115 has a pair of straight sections 115a whose upper ends are connected and whose lower ends are spaced apart in the width direction. The upper ends of the pair of straight sections 115a are fixed to the lower end of the connecting support part 116b of the support part 116. With this configuration, the joining function part 115 can be brought into contact with the outer circumferential surface of the receiving end W2a of the pipe to be joined, even if the outer diameter of the receiving end W2a of the pipe to be joined is different.

[0062] The pair of straight sections 115a of the joining functional section 115 contact the portion of the outer circumferential surface of the pipe W2 on the receiving end W2a side of the pipe W2 to be joined, when viewed axially from the receiving end W2a, that is located at an angle to the width direction (for example, at a 45-degree angle to the width direction). As a result, the attachment 100 is positioned with respect to the receiving end W2a of the pipe W2 in the width direction and in a direction perpendicular to the width direction.

[0063] The pair of straight sections 115a of the joining functional section 115 may contact the outer circumferential surface of the receiving end W2a of the pipe to be joined, either one or the other located in the width direction, or they may contact the outer circumferential surface of the receiving end W2a of the pipe to be joined, either in a direction perpendicular to the width direction. In other words, the joining function part 115 only needs to contact a portion of the outer circumferential surface of the pipe W2 on the receiving end W2a side of the pipe W2, when viewed in the axial direction (axis M) of the pipe W2 to be joined, that is located in the width direction and in a direction perpendicular to the width direction. One of the pair of straight portions 115a of the joining function part 115 may also contact the outer circumferential surface of the pipe W2 on the receiving end W2a side.

[0064] As described above, by positioning the attachment 100 with respect to the pipe W2 to be joined in the width direction and in a direction perpendicular to the width direction, the insertion opening W1a of the pipe W1 gripped by the gripping portion 112 of the attachment 100 can be positioned with respect to the receiving opening W2a of the pipe W2 to be joined in the width direction and in a direction perpendicular to the width direction.

[0065] (Regarding the gripping operation member of the operating device 5) As shown in Figure 2B, the operating device 5 is equipped with gripping operation members (gripping button 5a, operating lever 5b, automatic gripping operation button 5c, stop button 5d, and mode setting button 5e). The gripping operation members are connected to the control device 51.

[0066] The operating lever 5b is located separately from the work operating member 19L, on the left side of the driver's seat 4, in a position where the driver can operate it with their left hand. The operating lever 5b is a lever having a potentiometer (detection device) that detects the amount of swing (operation amount), and is a lever that can swing forward, backward, right, and left.

[0067] When the operating lever 5b is operated by the operator, the amount and direction of operation of the operating lever 5b are detected by the potentiometer, and the detected amount and direction of operation are input to the control device 51. The hydraulic control unit 53 energizes the solenoid of the solenoid valve of the second control valve V72 according to the amount and direction of operation of the operating lever 5b (for example, forward or backward), and controls the opening degree of the solenoid valve. As a result, pilot pressure acts on the pressure receiving part of the second control valve V72, the position of the second control valve V72 is switched, and the axial movement mechanism 113 moves forward or backward according to the position. The hydraulic control unit 53 also energizes the solenoid of the solenoid valve of the third control valve V73 according to the amount and direction of operation of the operating lever 5b (for example, left or right), and controls the opening degree of the solenoid valve. As a result, pilot pressure acts on the pressure-receiving part of the third control valve V73, switching the position of the third control valve V73, and the rotation direction of the horizontal rotation mechanism 114 is switched to left rotation or right rotation according to the position.

[0068] The gripping button 5a, the automatic gripping operation button 5c, and the stop button 5d are push buttons located above the operating lever 5b and can be pressed with the thumb of the left hand holding the operating lever 5b.

[0069] Each time the operator presses the grip button 5a, a grip ON signal or a grip OFF signal is input to the control device 51. The hydraulic control unit 53 energizes the solenoid of the solenoid valve of the first control valve V71 in response to the grip ON signal or grip OFF signal, and controls the opening degree of the solenoid valve. As a result, pilot pressure acts on the pressure receiving part of the first control valve V71, and the position of the first control valve V71 is switched, and the gripping part 112 (a pair of gripping claws 121) becomes either closed (gripping the pipe W1) or open (not gripping the pipe W1) depending on the position.

[0070] The mode setting button 5e is a dial switch located above the operating lever 5b, and according to the operator's operation, one of the following modes is selected: gripping mode, crane mode, and bucket mode. The control device 51 receives a mode signal indicating the mode selected by the mode setting button 5e. The gripping mode is for joining pipe W1 to pipe W2 using the attachment 100. The crane mode is a mode that allows lifting work using the lifting hook provided by the work device 20. The bucket mode is a mode that allows work using the bucket.

[0071] Furthermore, when the operator presses the automatic gripping button 5c in gripping operation mode, an automatic operation signal instructing automatic gripping operation is input from the automatic gripping button 5c to the control device 51. Based on the automatic operation signal, the control device 51 controls the hydraulic control unit 53 to execute the automatic gripping operation of the attachment 100. This automatic gripping operation of the attachment 100 is a series of operations that are automatically executed in the following order: gripping operation of the attachment 100 of the pipe W1 (i.e., the operation of moving the attachment 100 toward the pipe W1 to be gripped and gripping the pipe W1), moving the attachment 100 to the target position PS (i.e., the operation of moving the gripped pipe W1 to the work start position PSw), moving the attachment 100 to the target position PT (i.e., the operation of lowering the gripped pipe W1 from the work start position PSw to the joining start position PTw), and joining operation of the attachment 100 (i.e., the operation of joining the pipe W1 to the pipe to be joined W2).

[0072] When performing a gripping operation, the first pre-control valve V7 is operated to the open state. For example, the control device 51 may be configured to open the first pre-control valve V7 when the gripping operation mode is selected, or the operator may open the first pre-control valve V7 by operating a pedal or a slider (not shown) provided on the work operation member 19.

[0073] If the operator presses the stop button 5d during the automatic gripping operation of the attachment 100, a stop signal is input from the stop button 5d to the control device 51. The control device 51 stops the automatic gripping operation of the attachment 100 in response to the stop signal. The control device 51 may also restart the automatic gripping operation of the attachment 100 if the stop button 5d is pressed again (i.e., an operation to instruct the operation to be restarted). In other words, the stopped operation of the automatic gripping operation of the attachment 100 can be restarted to complete the series of operations.

[0074] As described above, when the driver manually operates the grip button 5a and the operating lever 5b, and when automatic gripping is performed in gripping mode, the control device 51 outputs control signals for the excitation and demagnetization of the solenoids of the first control valve V71, the second control valve V72, and the third control valve V73, thereby controlling the opening and closing of the gripping portion 112 of the attachment 100, the forward and backward movement of the axial movement mechanism 113, and the rotation of the horizontal rotation mechanism 114.

[0075] (Regarding the display device 70 and the notification device 75) As shown in Figures 2A and 2B, the work machine 1 is equipped with a display device 70. The display device 70 has a display unit 71 that can display information about the work machine 1 and surrounding information. The display unit 71 is made up of a panel such as an LCD. For example, as shown in Figure 2C, the display unit 71 can display an image showing the working status of the work machine 1. Also, when one of the gripping work mode, crane mode, and bucket mode is selected by the mode setting button 5e, the display unit 71 may display the selected mode. In Figure 2C, the display unit 71 displays message M2 indicating that it is in gripping work mode.

[0076] As shown in Figure 2C, the display device 70 indicates which of the control states of the automatic gripping operation of the attachment 100 is currently in progress. For example, it can display whether the attachment 100 is in gripping control, movement control to the target position PS, movement control to the target position PT, or joining control to the pipe W2. In Figure 2C, the status display unit 71a is displaceable according to the control state of the automatic gripping operation, and here it indicates that the attachment 100 is in movement control to the target position PS (movement control to the starting position PSw of the pipe W1). The display device 70 may also display on the display unit 71 if the operation is stopped or restarted by the operation of the stop button 5d.

[0077] The work machine 1 is equipped with a notification device 75. The notification device 75 is a device for notifying the operator and may include, for example, a sound output device (speaker, buzzer, etc.) or lights (warning lights, interior lights, boom lights, front and rear lights, etc.). The notification device 75 may also be a device that notifies people around the work machine 1 with sound or light, not just the operator.

[0078] (Regarding the rotational speed control unit 55 and the speed control unit 56) As shown in Figure 2A, the control device 51 is connected to a first setting member 61 and a second setting member 62. The first setting member 61 is a member that accepts selections regarding the rotational speed setting of the prime mover E1 (a member that sets the rotational speed of the prime mover E1). The second setting member 62 is a member that accepts selections regarding the speed setting of the hydraulic actuator (a member that sets the speed of the hydraulic actuator). The control device 51 includes a rotational speed control unit 55, a speed control unit 56, and a storage unit 54.

[0079] The rotational speed control unit 55 is composed of a CPU (processor), electronic and electrical circuits, a program, etc., provided in the control device 51. The rotational speed control unit 55 sets the rotational speed of the prime mover E1 based on the operation signal of the first setting member 61. That is, the rotational speed control unit 55 increases or decreases the rotational speed of the prime mover E1 based on the operation of the first setting member 61.

[0080] The speed control unit 56 consists of a CPU (processor), electronic and electrical circuits, and a program provided in the control device 51, and sets the work speed based on the operation signals input from the first setting member 61 and the second setting member 62. Based on the work speed read from the memory unit 54, the speed control unit 56 energizes the solenoid valves of the control valves V1 to V10 with control signals corresponding to the operation amounts of the work operation members 19L, 19R, and 19D, thereby controlling the control valves V1 to V10. Specifically, the speed control unit 56 controls the maximum speed of the hydraulic actuators connected to each control valve V1 to V10 by changing the opening degree of the control valves V1 to V10.

[0081] (Regarding coordinate systems) Figure 4A is a diagram illustrating pipe gripping and joining operations using various coordinate systems and attachments. With respect to the work machine 1, there are a global coordinate system, a work machine coordinate system, a coordinate system for the first sensing device 81 (described later), and a coordinate system for the attachment 100.

[0082] The global coordinate system is a three-dimensional coordinate system denoted as (Xg, Yg, Zg), with a fixed origin on Earth. The global coordinate system is, for example, the coordinate system used in GNSS or GPS.

[0083] The work machine coordinate system is a three-dimensional coordinate system represented by (Xm, Ym, Zm) with the work machine 1 as the reference. In this embodiment, the origin position PL1 of the work machine coordinate system is the intersection of axis Zm, which is the rotational axis of the machine body 2, and a plane perpendicular to axis Zm within the swing circle of the machine body 2, but is not limited to this. Axis Ym is an axis that extends in the front-rear direction of the machine body 2 and is perpendicular to axis Zm. Axis Ym is the reference axis in the front-rear direction of the machine body 2. Axis Xm is an axis that extends in the width direction of the machine body 2 and is perpendicular to axes Zm and Ym.

[0084] In this embodiment, the coordinate system (camera coordinate system) of the first sensing device 81 is a three-dimensional coordinate system represented by (Xc, Yc, Zc) with the center of the camera's imaging plane as the origin. The Zc axis of the camera coordinate system (Xc, Yc, Zc) is an axis that passes through the optical center of the first sensing device 81 (camera) and extends in a direction perpendicular to the imaging plane. The Yc axis is an axis perpendicular to the Zc axis. The Xc axis is an axis perpendicular to both the Zc axis and the Yc axis.

[0085] The coordinate system of attachment 100 is a three-dimensional coordinate system (Xa, Ya, Za) with respect to attachment 100. In the embodiment, the coordinate system of attachment 100 The origin position PL2 of the coordinate system is the intersection of axis Za, which is the rotation axis Q of the attachment 100, and the center of rotation by the horizontal rotation mechanism 114, which is perpendicular to axis Za. Axis Ya is an axis that extends in the front-rear direction of the attachment 100 and is perpendicular to axis Za. Axis Xa is an axis that extends in the width direction of the attachment 100 and is perpendicular to axes Za and Ya.

[0086] (Regarding the device for detecting the positions of pipe W1 and the pipe to be joined W2) Now, as shown in Figure 2B, the work machine 1 is equipped with a first sensing device 81, a second sensing device 82, and a position acquisition device 83, which are connected to the control device 51.

[0087] As shown in Figure 1, the first sensing device 81 is provided on the attachment 100. The first sensing device 81 recognizes the position of the joint portion (i.e., the position of one end W1b of the pipe W1) of the joining member (pipe W1) that the attachment 100 is gripping. In this embodiment, the first sensing device 81 is a camera (for example, a CCD camera), but it may also be a LiDAR (Laser Imaging Detection and Ranging), a TOF (Time Of Flight) camera, or the like.

[0088] As shown in Figures 3A to 3C, the first sensing device 81 (camera) is provided, for example, on the lower surface of the support body 116a of the support part 116. The imaging range of this camera includes a baseline mark MK (a mark indicating a known length) provided outside the gripping part 112 and at a height approximately the same as that of the pipe W1, and the position of one end W1b of the pipe W1 that the gripping part 112 is gripping. That is, the captured image includes an image of the baseline mark MK and an image of one end W1b of the gripping pipe W1. Therefore, the position of one end W1b of the pipe W1 gripped by the gripping part 112 can be detected by triangulation using base points located at both ends of the baseline mark MK, the end of the gripping part 112, and one end W1b of the gripping pipe W1. Alternatively, the position of one end W1b of the gripping pipe W1 can be detected by calculating the relative distance between the image of the baseline mark MK and the image of one end W1b of the pipe W1 using image processing. Furthermore, the camera's imaging range may include the joining function part 115 and at least a portion of the gripping part 112 (the end closer to the joining function part 115), and the position of the end W1b of the pipe W1 gripped by the gripping part 112 may be detected based on the relationship between the axial length (known length) connecting the imaged joining function part 115 and the gripping part 112 and the end W1b of the pipe W1 gripped by the gripping part 112. In this case, it is not necessary to provide a baseline mark MK on the gripping part 112.

[0089] Furthermore, if the first sensing device 81 is a TOF (Time Of Flight) camera or LiDAR, the position of one end W1b of the pipe W1 being gripped by the gripping unit 112 can be detected by the distance measurement function. Although the first sensing device 81 is provided on the attachment 100, it is not limited to this and may be provided on the boom 21 or the arm 22.

[0090] As shown in Figures 1A and 4A, the position acquisition device 83 acquires the position of the joint (one end W1b of pipe W1) in the joined member (joined pipe W2) to which it is joined (i.e., one end W2b of pipe W2). The position acquisition device 83 is, for example, a LiDAR, a TOF camera, or a camera (CCD camera), and is provided on the attachment 100. For example, the position acquisition device 83 is located in the same place as the first sensing device 81 (placed side by side in close proximity). Although the position acquisition device 83 is provided on the attachment 100, it is not limited to this and may be provided on the boom 21 or the arm 22. Furthermore, the position acquisition device 83 is not limited to acquiring the position of one end W2b of pipe W2 based on the imaging results of the imaging means, but may also be, for example, a distance measuring sensor that measures distance using laser light, electromagnetic waves such as millimeter waves, or ultrasound.

[0091] The second sensing device 82 detects the posture of the main body 30 and the attachment 100. The sensing device 82 is, for example, an inertial measurement unit (IMU) and a potentiometer. Alternatively, a cylinder stroke sensor may be used instead of a potentiometer. The inertial measurement unit (IMU) is, for example, installed on the main body 30 and can determine the roll angle, pitch angle, and yaw angle of the work machine 1 (main body 30). The potentiometers are a boom angle sensor 91, an arm angle sensor 92, a work tool angle sensor 93, and a swing angle sensor 94, and are installed at various positions on the work device 20 or the machine body 2.

[0092] As shown in Figure 1A, the boom angle sensor 91 detects the swing angle θ2 (rotation position) of the boom 21. The arm angle sensor 92 detects the swing angle θ3 (rotation position) of the arm 22. The tool angle sensor 93 detects the swing angle θ4 (rotation position) of the attachment 100 (or bucket) around the third rotation axis J3 relative to the tip of the arm 22. The swing angle sensor 94 detects the swing angle θ1 (rotation position) of the swing bracket 24 (see Figure 4A for swing angle θ1). As shown in Figure 2A, the boom angle sensor 91, arm angle sensor 92, tool angle sensor 93, and swing angle sensor 94 are connected to the control device 51.

[0093] In this embodiment, potentiometers are used as the boom angle sensor 91, arm angle sensor 92, work tool angle sensor 93, and swing angle sensor 94, but the system is not limited to these, and other angle sensors may be used. Alternatively, a cylinder stroke sensor may be used to detect the stroke (extended position) of the boom cylinder C1, arm cylinder C9, attachment swing cylinder C2, and swing cylinder C4, and the swing angles of the boom 21, arm 22, attachment 100 (or bucket), and swing bracket 24 may be calculated from the detection results.

[0094] The memory unit 54 stores data related to the work implement 1 (work implement data). The work implement data includes the length L11 of the boom 21, the length L12 of the arm 22, the length L13 of the attachment 100, and the length L14 of the swing bracket 24, as shown in Figure 1A. The length L11 of the boom 21 corresponds to the length from the first rotation axis J1 to the second rotation axis J2. The length L12 of the arm 22 corresponds to the length from the second rotation axis J2 to the third rotation axis J3. The length L13 of the attachment 100 corresponds to the length from the third rotation axis J3 to the origin position PL2 of the coordinate system of the attachment 100. The length L14 of the swing bracket 24 corresponds to the length from the first rotation axis J1 to the pivot point of the swing bracket 24. Furthermore, the work machine data includes information on the position of the swing bracket 24 from the origin position PL1 (e.g., the pivot axis position) of the work machine coordinate system to its pivot center, and information on the position of the attachment 100 from the origin position PL2 to the tip position PR of the gripping part 112 in the axial direction. The tip position PR of the gripping part 112 is the tip closest to the joining function part 115. The control device 51 can determine the tip position PR of the gripping part 112 relative to the origin position PL1 using the lengths L11, L12, L13, L14, the position information, the swing angles θ1, θ2, θ3, θ4, and the origin positions PL1, PL2. In other words, it can determine the tip position PR of the gripping part 112 in the work machine coordinate system.

[0095] Furthermore, if the swing bracket 24 is fixed to axis Ym (in the front-rear direction of the machine body 2) or if the work machine 1 does not have a swing function, the control device 51 can use the lengths L11, L12, L13, position information (however, instead of information on the position of the swing bracket 24 to the rotation center relative to the origin position PL1 of the work machine coordinate system, information on the position to the first rotation axis J1 relative to the origin position PL1 of the work machine coordinate system is used), swing angles θ1, θ2, θ3, and origin positions PL1, PL2 to determine the tip position PR of the gripping part 112 relative to the origin position PL1.

[0096] More specifically, the first sensing device 81 detects the pipe W1 that the attachment 100 is gripping. The position of one end W1b, i.e., the position in the coordinate system of the first sensing device 81, is recognized. Alternatively, the position of the end W1b in the work machine coordinate system may be recognized based on the position information from the origin PL2 shown in Figure 1 to the origin of the coordinate system of the first sensing device 81 and the work machine coordinate system.

[0097] Furthermore, the position acquisition device 83 recognizes the position of one end W2b of the pipe to be joined W2, that is, its position in the coordinate system of the position acquisition device 83 (which is approximately the same as the coordinate system of the first sensing device 81). Alternatively, the position of one end W2b of the pipe to be joined W2 in the work machine coordinate system may be recognized based on the position information from the origin PL2 shown in Figure 1 to the origin of the coordinate system of the position acquisition device 83 (= coordinate system of the first sensing device 81) and the work machine coordinate system.

[0098] (Regarding the positioning configuration of work machine 1) The work machine 1 is equipped with a positioning device 85. The positioning device 85 can detect its own position (positioning information including latitude and longitude) using satellite positioning systems (positioning satellites) such as D-GPS, GPS, GLONASS, Beidou, Galileo, and Michibiki. That is, the positioning device 85 is equipped with a receiving device that receives satellite signals (position of the positioning satellite, transmission time, correction information, etc.) transmitted from the positioning satellites using an antenna, etc., and detects the position of the work machine 1 (for example, latitude and longitude), i.e., the vehicle body position, based on the satellite signals. The receiving device of the positioning device 85 is mounted on the upper surface of the protection mechanism 6 (for example, at a position on axis Zm shown in Figure 1B). Note that the mounting location of the receiving device is not limited to the embodiment. Note that if it is not necessary to acquire (detect) the position of the work machine 1 in the global coordinate system, the work machine 1 does not need to be equipped with a positioning device 85.

[0099] The control device 51 includes a setting unit 57 and a coordinate calculation unit 58. The setting unit 57 includes a relative position calculation unit 59, but the relative position calculation unit 59 may be provided separately from the setting unit 57. The setting unit 57, the coordinate calculation unit 58, and the relative position calculation unit 59 are composed of a CPU (processor), electronic and electrical circuits, a program, etc., provided in the control device 51. The setting unit 57, the coordinate calculation unit 58, and the relative position calculation unit 59 will be described below separately for gripping control of the pipe W1, movement control of the gripped pipe W1 to the work start position PSw, and descent operation of the gripped pipe W1 from the work start position PSw to the joining start position PTw.

[0100] (Configuration related to gripping control of pipe W1) Here, as shown in Figure 4A, when attempting to grip a pipe W1 placed in a location other than groove G with the attachment 100, the operator drives the work device 20 (e.g., boom 21 and arm 22) and the machine body (turntable) 2, so that the first sensing device 81 is positioned within the recognizable range of pipe W1 and pipe W1 is recognized by the first sensing device 81. If pipe W1 is recognized by the first sensing device 81, no operation by the operator is required. Furthermore, if the first sensing device 81 is a wide-angle camera, TOF (Time Of Flight) camera, LiDAR, etc., and has a wide recognition area, no operation by the operator is required to position the first sensing device 81 within the recognizable range of pipe W1.

[0101] For example, the first sensing device 81 recognizes the position PW1b of one end W1b of the pipe W1 to be gripped. Position PW1b is coordinate (Xgw1b, Ygw1b, Zgw1b) in the global coordinate system and coordinate (Xmw1b, Ymw1b, Zmw1b) in the work machine coordinate system. At this time, the position PW1c of the other end may also be recognized. When attempting to grip pipe W1', the first sensing device 81 recognizes the position PW1b' of one end of pipe W1' to be gripped. At this time, the position PW1c' of the other end may also be recognized.

[0102] The setting unit 57 sets the gripping position PG of the pipe W1 by the attachment 100 based on the recognition result from the first sensing device 81. The gripping position PG is set to a position a predetermined distance away (a predetermined distance before) from the position of one end W1b of the pipe W1 recognized by the device 81. More specifically, the setting unit 57 uses the image captured by the first sensing device 81 (camera) to set the gripping position PG to a position a predetermined distance before the position of one end W1b of the pipe W1.

[0103] The setting unit 57 may also set the gripping position PG to a position where one end W1b of the pipe W1 can be recognized by the first sensing device 81 while the pipe W1 is being gripped by the attachment 100.

[0104] Furthermore, the setting unit 57 may set the gripping position PG to a position where, when the gripping unit 112 is gripping the pipe W1, the position of one end W1b of the pipe W1 and the joining function unit 115 are at a predetermined distance apart. The distance apart is shorter than the distance the slider 132 of the axial movement mechanism 113 moves forward (i.e., the distance moved to join the pipe W1 to the pipe W2 to be joined).

[0105] The setting unit 57 may set the gripping position PG to a position where, when the pipe W1 is gripped by the gripping unit 112, the distance between the position of one end W1b of the pipe W1 and the joining function unit 115 is a predetermined separation distance.

[0106] Figure 4C shows the pipe joining attachment positioned in the pre-gripping position. Figure 4D shows the orientation of the gripping part being adjusted in the pre-gripping position. As shown in Figure 4C, the control device 51 positions the attachment 100 at the pre-gripping position PPG above the set gripping position PG of the pipe W1 to be gripped, and based on the recognition result from the first sensing device 81, acquires the pipe axis direction of the pipe W1 to be gripped. As shown in Figure 4D, the control device 51 controls the horizontal rotation mechanism 114 to rotate the gripping part 112 horizontally so that the gripping direction GD of the gripping part 112 coincides with the direction AD perpendicular to the acquired pipe axis direction. In other words, by rotating the gripping part 112 horizontally by an angle θ, the gripping part 112 reaches a state where the direction AD perpendicular to the pipe axis direction of the pipe W1 coincides with the gripping direction GD of the gripping part 112 (the state of the gripping part 112 shown by the solid line in Figure 4D).

[0107] The coordinate calculation unit 58 calculates the coordinates of the position of one end W1b of the pipe W1 to be gripped by the attachment 100 and the position of the attachment 100 in the work machine coordinate system, based on the recognition result from the first sensing device 81 and the detection result from the second sensing device 82.

[0108] The relative position calculation unit 59 calculates the relative position from the coordinates of the position of the attachment 100 to the coordinates of the position of one end W1b of the pipe W1 to be gripped.

[0109] The setting unit 57 sets the coordinates of a position opposite to the set gripping position PG of the pipe W1 to be gripped (for example, an upper position) to the pre-gripping position PPG, and sets the coordinates of a position a predetermined distance before the position of one end W1b of the pipe W1 to be gripped to the gripping position PG.

[0110] For example, the control device 51 calculates the movement control amount for each actuator, the traveling device 10, the slewing motor MT, the swing cylinder C4, the boom cylinder C1, and the arm cylinder C9, to move the attachment 100 to the gripping position PG of the pipe W1 to be gripped and the pre-gripping position PPG immediately preceding it, based on the relative position calculated by the relative position calculation unit 59 and the gripping position PG and pre-gripping position PPG set by the setting unit 57. By driving each actuator with the calculated movement control amount, the control device 51 moves the attachment 100 to the gripping position PG of the pipe W1 to be gripped, via the pre-gripping position PPG.

[0111] In the case of Figure 4A, the control device 51 calculates the extension / retraction control amount (movement control amount) of the swing cylinder C4 to change the swing angle of the swing bracket 24 from θ1 to a swing angle toward the gripping position PG, in order to move the attachment 100 shown in Figure 4A from its position to the pre-gripping position PPG above the gripping position PG of the pipe W1, and the extension / retraction control amounts (movement control amounts) of the boom cylinder C1 and arm cylinder C9 respectively to position the boom 21 and arm 22, which are in the state shown in Figure 4A, at the pre-gripping position PPG above the gripping position PG. In this case, since it is not necessary to drive the traveling device 10 and the slewing motor MT, their movement control amounts are zero. Alternatively, the swing bracket 24 may be changed to a swing angle toward the gripping position PG by driving the slewing motor MT instead of the swing cylinder C4.

[0112] The control device 51 controls the attachment 100 and the work device 20 such that it closes the gripping part 112 and moves the attachment 100 to the pre-gripping position PPG, opens the gripping part 112 when the attachment 100 is moved to the pre-gripping position PPG, moves the attachment 100 to the gripping position PG when the gripping part 112 is open, and closes the gripping part 112 when the attachment 100 is moved to the gripping position PG.

[0113] The closed state of the gripping portion 112 is a state in which the pair of gripping claws 121 are gripped between the pipe W1, with the distance between them being narrower than in the open state.

[0114] The closed state of the gripping portion 112 may be a state in which the pair of gripping claws 121 are completely closed, and the pipe W1 to be gripped can be held in this state. Alternatively, the closed state of the gripping portion 112 may be a state in which the gripping force of the pair of gripping claws 121 has reached a specified value for holding the pipe W1 to be gripped. Alternatively, the closed state of the gripping portion 112 may be a state in which the angle or position of the pair of gripping claws 121 has reached a threshold for holding the pipe W1 to be gripped.

[0115] Furthermore, when the attachment 100 is moved to the gripping position PG and the gripping portion 112 is closed, the first sensing device 81 recognizes the position of one end W1b of the pipe W1 being gripped by the gripping portion 112. If the position of one end W1b of the pipe W1 being gripped by the gripping portion 112, as recognized by the first sensing device 81 after gripping, deviates by a specified value or more from the position of one end W1b of the pipe W1 when it is gripped at the gripping position PG set by the setting unit 57, the control device 51 performs a re-gripping of the pipe W1 by the gripping portion 112.

[0116] The control device 51 opens the gripping portion 112, moves the attachment 100 in a direction that reduces the displacement, and then closes the gripping portion 112. When the gripping portion 112 is closed, the first sensing device 81 recognizes the position of one end W1b of the pipe W1 being gripped by the gripping portion 112.

[0117] (Configuration related to controlling the movement of the gripped pipe W1 to the starting position PSw) Based on the recognition results from the first sensing device 81, the setting unit 57 sets the target position PS for the attachment 100 to be above the groove G, as shown in Figures 1A and 4A. Specifically, based on the recognition results from the first sensing device 81, the setting unit 57 sets the target position PS, which is the destination of the attachment 100, to a position for moving the pipe W1 so that one end W1b of the pipe W1 being gripped by the attachment 100 is positioned at the work start position PSw, which is set to be near the pipe W2 to be joined. For example, the setting unit 57 sets the target position PS to be on the ground surface near the pipe W2 to be joined, on the ground surface near the groove G where the pipe W2 to be joined is located, or on a mounting platform located on the ground surface near the pipe W2 to be joined.

[0118] For example, based on the recognition result from the first sensing device 81, the setting unit 57 sets the starting position PSw of the pipe W1 being gripped by the attachment 100, as shown in Figures 1A and 6A. The setting is configured to correspond to the target area (e.g., groove G) where the pipe to be joined W2 is located. For example, after gripping the pipe W1 placed in the temporary storage location shown in Figure 4A, the setting and movement control are performed to move the gripped pipe W1 to the work start position PSw above groove G.

[0119] The control device 51 controls the work device 20 to move the attachment 100, which is gripping the pipe W1, to the target position PS set by the setting unit 57.

[0120] When the attachment 100 is positioned at the target position PS, one end W1b of the pipe W1 being gripped by the attachment 100 will be positioned at the work start position PSw above the groove G. The work start position PSw is above the target upper position PU, which is above the joining start position PTw, which is the position for starting the joining operation to join the pipe W1 being gripped by the attachment 100 to the pipe W2. Based on the recognition result from the first sensing device 81 and the position of one end W2b of the pipe W2 being joined acquired by the position acquisition device 83, the setting unit 57 sets the work start position PSw to a position where one end W1b of the pipe W1 is positioned near one end W2b of the pipe W2 being joined.

[0121] The position acquisition device 83 detects one end W2b of the pipe to be joined in the groove G and acquires the position of the end W2b of the pipe to be joined. For example, the position acquisition device 83 acquires the position of the pipe to be joined based on the imaging result of the pipe to be joined by the imaging means or the distance measurement result of the distance measuring sensor.

[0122] The position acquisition device 83 may acquire the position of the pipe to be joined W2 based on three-dimensional design data indicating the position of the pipe to be joined W2. For example, the position acquisition device 83 acquires the position of the end W2b of the pipe to be joined W2 by specifying the coordinates of the position of one end W2b of the pipe to be joined W2 in a global coordinate system (for example, in Figure 4A, the coordinates in the global coordinate system (Xgw2b, Ygw2b, Zgw2b)) using three-dimensional design data that defines the construction of the pipe W1 in relation to the groove G. Alternatively, the position acquisition device 83 may acquire the position of the pipe to be joined W2 based on the results of detecting the position of the pipe to be joined W2 buried underground using ground-penetrating radar.

[0123] The position acquisition device 83 may acquire the position of the joined portion (previous pipe W1) based on the position of the second joined portion, which is the part of the second joined portion (tube W2) to which the joined portion (previous pipe W1) is joined to the joined pipe W2, and the dimensional information from the second joined portion to the joined portion (previous pipe W1) to which the joined portion (previous pipe W1) is joined to the second joined portion (tube W2), and the position acquisition device 83 may acquire the position of the joined portion (previous pipe W1) based on the position of the second joined portion, which is the part of the second joined portion (tube W2) to which the joined portion (previous pipe W1) is joined to the second joined portion (tube W1).

[0124] For example, as shown in Figure 4, the position acquisition device 83 may acquire the position PB2 of the current end W2b of the pipe to be joined as the position PB2 obtained by adding the pipe axis dimension of the previously joined pipe W1 to the position W2b of the previously joined pipe W2 in the global coordinate system (i.e., the position of the second coordinate PB1). Figure 4B shows the state in which the pipe has been joined to the pipe to be joined. As shown in Figure 4B, if the effective pipe axis dimension L3 (=L1-L2), that is, the length L2 in the pipe axis direction of the portion of pipe W1 inserted into the pipe to be joined to, is used as the pipe axis dimension, the position of the current end W2b of the pipe to be joined to W2 can be calculated even more accurately.

[0125] The coordinate calculation unit 58 calculates a first coordinate PA1 (see Figure 1A) that indicates the position of one end W1b of the pipe W1 being gripped by the attachment 100 in the work machine coordinate system, based on the recognition result from the first sensing device 81 and the detection result from the second sensing device 82.

[0126] The position acquisition device 83 acquires a second coordinate PB1 indicating the coordinate of the position of one end W2b of the pipe to be joined W2 (see Figure 1A). The setting unit 57 sets the work start position PSw to a third coordinate PC1 (see Figure 6A) indicating the coordinate of a position above the second coordinate PB1 acquired by the position acquisition device 83. The position acquisition device 83 sets, for example, the second coordinate PB1 and the third coordinate PC1 in the work machine coordinate system.

[0127] The relative position calculation unit 59 calculates the relative position from the first coordinate PA1 to the third coordinate PC1. The setting unit 57 sets the target position PS based on the position of the attachment 100 detected by the second sensing device 82 and the relative position. The control device 51 controls the work device 20 to move the attachment 100 to the target position PS set by the setting unit 57.

[0128] The control device 51 calculates the amount of movement control for each actuator, the travel device 10, the slewing motor MT, the swing cylinder C4, the boom cylinder C1, and the arm cylinder C9, in order to move the pipe W1 held by the attachment 100 to the work start position PSw. By driving each actuator with the calculated amount of movement control, the control device 51 moves the pipe W1 held by the attachment 100 to the work start position PSw.

[0129] When the attachment 100 is moved from the position where it grips the pipe W1 at the temporary storage area to the target position PS, the control device 51 controls the movement speed of each of the multiple actuators that are being driven, so that they operate at the same speed or within a predetermined range from the start of movement to the end of movement.

[0130] When the control device 51 moves the attachment 100 to the target position PS, it sets the movement speed of each actuator so that the movement completion timing of some or all of the actuators being driven is approximately the same (within a predetermined completion time range). For example, when the control device 51 moves the pipe W1 being gripped by the attachment 100 to the work start position PSw, if it determines that one of the multiple actuators being driven will finish moving before the other, it reduces the movement speed of that one actuator to equalize the movement period of the multiple actuators being driven. For example, the movement control amount of each actuator includes the movement distance and the movement speed (or movement angle and angular velocity). The control device 51 calculates the movement time (= movement distance ÷ movement speed, or movement angle ÷ angular velocity) for each actuator, determines that the actuator with a shorter movement time than the other actuators will finish moving first, and adjusts the movement time of the actuator that finishes moving first to match the movement time of the other actuators, thereby equalizing the movement period of each actuator.

[0131] The control device 51 controls the work device 20 to stop the attachment 100 at the target position PS by reducing the movement speed of the attachment 100 (for example, by reducing the movement speed of the actuator to be driven by the speed control unit 56) from a position set just before the attachment 100 reaches the target position PS.

[0132] (Configuration related to controlling the movement of the gripped pipe W1 to the joining start position PTw) Figure 6A shows how the pipe being gripped by the pipe joining attachment is moved from the work start position to the joining start position. In other words, Figure 6A shows that the attachment 100 is moved from the target position PS to the target position PT.

[0133] Based on the recognition result from the first sensing device 81, the setting unit 57 sets the target position PT, which is the destination of the attachment 100, to a position that moves it to the joining start position PTw, which is the position for starting the joining operation to join one end W1b of the pipe W1 to the pipe W2 to be joined. The joining start position PTw is the position where, as the slider 132 of the axial movement mechanism 113 moves forward, one end W1b of the pipe W1 being gripped by the gripping part 112 can be joined to one end W2b of the pipe to be joined W2. In other words, the joining start position PTw is within the range of movement of the axial movement mechanism 113 from one end W2b of the pipe to be joined W2.

[0134] The coordinate calculation unit 58 calculates a first coordinate PA1, which indicates the coordinate of the position of one end W1b of the pipe W1 being gripped by the attachment 100 in the work machine coordinate system, based on the recognition result from the first sensing device 81 and the detection result from the second sensing device 82. The position acquisition device 83 acquires a second coordinate PB1, which indicates the coordinate of the position of one end W2b of the pipe to be joined in the work machine coordinate system. The setting unit 57 sets the joining start position coordinate PA2, which is the coordinate of the joining start position PTw in the work machine coordinate system, based on the second coordinate PB1. The relative position calculation unit 59 of the setting unit 57 calculates the relative position from the first coordinate PA1 to the joining start position coordinate PA2. The setting unit 57 sets the target position PT of the attachment 100 based on the position of the attachment 100 detected by the second sensing device 82 and the relative position calculated by the relative position calculation unit 59. The target position PT of attachment 100 is the position where one end W1b of the pipe W1 that attachment 100 is gripping becomes the joining start position PTw.

[0135] The control device 51 calculates the movement control amount for each actuator of the boom cylinder C1 and arm cylinder C9 in order to move the attachment 100 from the target position PS to the target position PT (that is, to move the pipe W1 that the attachment 100 is gripping from the work start position PSw to the joining start position PTw), and drives each actuator with the calculated movement control amount to move the attachment 100 from the target position PS to the target position PT. In other words, since only the pipe W1 that the attachment 100 is gripping is lowered from the work start position PSw to the joining start position PTw, the movement control amount for each actuator of the traveling device 10, the slewing motor MT, and the swing cylinder C4 is zero. That is, these actuators are not driven.

[0136] The control device 51 controls the work device 20 to move the attachment 100 from the target position PS to the target position PT.

[0137] Furthermore, when the attachment 100 is moved from target position PS to target position PT, the control device 51 controls the movement speeds of the boom 21 and arm 22 to operate at the same speed or within a predetermined range from the start to the end of the movement. Alternatively, when the attachment 100 is moved from target position PS to target position PT, the control device 51 may control the cylinder speeds of the boom cylinder C1 and arm cylinder C9 to operate at the same speed or within a predetermined range from the start to the end of the movement, instead of controlling the movement speeds of the boom 21 and arm 22.

[0138] When the control device 51 moves the attachment 100 to the target position PT, it sets the movement speeds of the boom 21 and the arm 22 so that their movement completion timings are approximately the same (within a predetermined completion time range). For example, when the control device 51 moves the attachment 100 from the target position PS to the target position PT, if it determines that one of the boom 21 or the arm 22 will finish moving before the other, it reduces the movement speed of the one to synchronize the movement periods of the boom 21 and the arm 22. Alternatively, when the control device 51 moves the attachment 100 from the target position PS to the target position PT, if it determines that one of the boom cylinder C1 or the arm cylinder C9 will finish moving before the other, it may reduce the movement speed of the one to synchronize the movement periods of the boom cylinder C1 and the arm cylinder C9.

[0139] The setting unit 57 sets the target upper position PU (see Figure 6A) approximately vertically above the target position PT. For example, the setting unit 57 sets a target upper position PU (see Figure 6A) which is above the target position PT and higher than the pipe to be joined W2, based on the relative position calculated by the relative position calculation unit 59. The control device 51 controls the work device 20 so that the attachment 100 is lowered approximately vertically from the target upper position PU to the target position PT. That is, the control device 51 controls the work device 20 so that the pipe W1 being gripped by the attachment 100 is positioned at the upper position PUw, and then lowered approximately vertically from the upper position PUw to the joining start position PTw.

[0140] The control device 51 gradually reduces the movement speed of the attachment 100 from a position set to a position just before the attachment 100 reaches the target position PT, and stops the attachment 100 at the target position PT. For example, the control device 51 controls the work device 20 to reduce the movement speed of the attachment 100 from a predetermined position before the target position PT and stop it at the target position PT. That is, the control device 51 reduces the movement speed of the pipe W1 that the attachment 100 is gripping (for example, the speed control unit 56 reduces the movement speed of the actuator to be driven) and controls the work device 20 to stop the pipe W1 at the joining start position PTw.

[0141] Furthermore, if one end W1b of the pipe W1 gripped by the attachment 100 is located at an over-position PT1w that is closer to one end W2b of the pipe W2 to be joined than the joining start position PTw, the control device 51 controls the working device 20 to move the end W1b of the pipe W1 back from the over-position PT1w to the joining start position PTw (the target position PT in the case of the attachment 100) or to stop the end W1b of the pipe W1 at the over-position PT1w.

[0142] The setting unit 57 may set a pre-target position, which is a position separated from the target position PT by a predetermined distance relative to the pipe W2 to be joined, based on the relative position calculated by the relative position calculation unit 59. In this case, the control device 51 controls the work device 20 to move the attachment 100 from the pre-target position to the target position PT after it has been positioned at the pre-target position.

[0143] The memory unit 54 stores various positions set by the setting unit 57 (such as gripping position PG, target position PS, target upper position PU, and target position PT), various positions of the pipe W1 (such as work start position PSw, joining start position PTw, over-position PT1w), and various coordinate data (such as first coordinate PA1, second coordinate PB1, third coordinate PC1, joining start position coordinate PA2).

[0144] (Configuration related to the control of joining the gripped pipe W1 to the pipe W2 to be joined) Figure 6B shows the pipe being gripped by the pipe joining attachment in the joining start position. Figure 6C shows the pipe being gripped by the pipe joining attachment joined to the pipe to be joined. As shown in Figure 6B, if the gripped pipe W1 is in the joining start position PTw, by driving only the attachment 100, the gripped pipe W1 can be joined to the pipe to be joined W2 from the joining start position PTw, as shown in Figure 6C. Specifically, as the slider 132 of the axial movement mechanism 113 moves forward, one end W1b of the pipe W1 being gripped by the gripping part 112 is inserted into one end W2b of the pipe to be joined W2, and the pipe W1 is joined to the pipe to be joined W2.

[0145] Here, the automatic gripping and joining process of the pipe joining attachment 100 by the work machine 1 will be explained using Figures 5A to 5G. Figure 5A is a flowchart showing an example of the automatic gripping and joining process of the pipe joining attachment by the work machine. When the operator presses the automatic gripping button 5c in gripping operation mode, the control device 51 performs a series of operations as shown in Figure 5A: gripping the pipe W1, moving the gripped pipe W1 from the work start position PSw to the target position PT, and joining the pipe W1 to the pipe to be joined W2.

[0146] First, the control device 51 performs gripping control of the pipe W1 (S1). The gripping control (S1) is performed according to the flowchart shown in Figure 5B. Figure 5B is a flowchart of an example of pipe gripping control.

[0147] The first sensing device 81 recognizes the position of one end W1b of the pipe W1 to be grasped (S10). The notification device 75 notifies the driver by sound, light, or display if the first sensing device 81 fails to recognize the position of one end W1b of the pipe W1. More specifically, the control device 51 notifies the driver by notification device 75 or display device 70 if the first sensing device 81 is not directed towards the temporary storage area (for example, if the camera image does not include an image showing one end W1b of the pipe W1), if the pipe W1 is included but one end W1b is hidden and not visible, or if the pipe W1b is not placed in the temporary storage area. The control device 51 may also prompt the operation to drive the work device 20 (e.g., boom 21 and arm 22, etc.) and the machine body (turntable) 2 so that the first sensing device 81 is directed toward the temporary storage area (that is, to drive the first sensing device 81 so that it detects the temporary storage area), or it may notify that there is a pipe W1 in the temporary storage area but one end W1b is hidden and not visible, or it may notify that there is no pipe W1 in the temporary storage area.

[0148] The second sensing device 82 detects the orientation of the main body 30 and the attachment 100 (S11). The coordinate calculation unit 58 calculates the coordinates of the position of the end W1b of the pipe W1 that the attachment 100 is to grip in the work machine coordinate system, based on the recognition result of the first sensing device 81 and the detection result of the second sensing device 82 (S12).

[0149] The coordinate calculation unit 58 calculates the coordinates of the attachment 100 in the work machine coordinate system based on the detection results from the second sensing device 82 (S13). The relative position calculation unit 59 calculates the relative position from the coordinates of the attachment 100 to the coordinates of the position of one end W1b of the pipe W1 to be gripped (S14).

[0150] The setting unit 57 sets the coordinates of the position above the set gripping position PG of the pipe W1 to be gripped as the pre-gripping position PPG, and sets the coordinates of the position a predetermined distance before the position of one end W1b of the pipe W1 to be gripped as the gripping position PG (S15).

[0151] Based on the relative position calculated by the relative position calculation unit 59 and the gripping position PG and pre-gripping position PPG set by the setting unit 57, the control device 51 calculates the amount of movement control for each actuator, the traveling device 10, the slewing motor MT, the swing cylinder C4, the boom cylinder C1, and the arm cylinder C9, in order to move the attachment 100 to the gripping position PG of the pipe W1 to be gripped and the pre-gripping position PPG immediately preceding it (S16).

[0152] The control device 51 controls the movement to the gripping position PG (S17). The control device 51 controls the attachment 100 and the work device 20 so that the attachment 100 moves to the gripping position PG via the pre-gripping position PPG of the pipe W1 to be gripped by the control device 51 drives each actuator with the calculated movement control amount. The movement control to the gripping position PG is performed according to the flowchart shown in Figure 5C. Figure 5C is a flowchart of an example of movement control to the gripping position.

[0153] As shown in Figure 5C, the control device 51 determines whether the gripping portion 112 is in the closed state before the attachment 100 starts moving (S171). If the gripping portion 112 is not in the closed state (S171, No), it closes the gripping portion 112 (S172). On the other hand, if the gripping portion 112 is in the closed state (S171, Yes), the control device 51 proceeds to S173.

[0154] The control device 51 closes the gripping section 112 and moves the attachment 100 to the pre-gripping position PPG (S173). The control device 51 determines whether or not the attachment 100 has moved to the pre-gripping position PPG (S174). If the attachment 100 has not moved to the pre-gripping position PPG (S174, No), the control device 51 returns to the process in S174. On the other hand, if the attachment 100 has moved to the pre-gripping position PPG (S174, Yes), the control device 51 controls the posture of the gripping section 112 (S175). The control device 51 controls the horizontal rotation mechanism 114 so that the direction AD perpendicular to the pipe axis direction of the pipe W1 to be gripped coincides with the gripping direction GD of the gripping section 112.

[0155] The control device 51 opens the gripping part 112 (S176), and when the gripping part 112 is open, it moves the attachment 100 to the gripping position PG (S177). The control device 51 determines whether or not the attachment 100 has moved to the gripping position PG (S178). If the attachment 100 has not moved to the gripping position PG (S178, No), the control device 51 returns to the process of S178. On the other hand, if the attachment 100 has moved to the gripping position PG (S178, Yes), the control device 51 closes the gripping part 112 (S179) and proceeds to S18 shown in Figure 5B.

[0156] The control device 51 checks whether the pipe W1 is being gripped at the gripping position PG (S18). When the attachment 100 is moved to the gripping position PG and the gripping part 112 is closed, the first sensing device 81 recognizes the position of one end W1b of the pipe W1 being gripped by the gripping part 112. If the amount of deviation between the position of one end W1b of the pipe W1 being gripped by the gripping part 112, as recognized by the first sensing device 81 after gripping, and the assumed position of one end W1b of the pipe W1 corresponding to the gripping position PG set by the setting unit 57 is greater than or equal to a specified value (S18, No), the control device 51 performs a re-gripping of the pipe W1 by the gripping part 112 (S19).

[0157] The control device 51 opens the gripping portion 112, moves the attachment 100 in a direction that reduces the amount of displacement, and then closes the gripping portion 112. When the gripping portion 112 is closed, the first sensing device 81 recognizes the position of one end W1b of the pipe W1 that the gripping portion 112 is gripping (S18).

[0158] If the gripping part 112 is gripping the pipe W1 at gripping position PG (S18, Yes), the control device 51 proceeds to S2 shown in Figure 5A.

[0159] Next, as shown in Figure 5A, the control device 51 controls the starting position of the gripped pipe W1 (i.e., controls the movement of the pipe W1 from the gripped position to the target position PS in the temporary storage area of ​​the attachment 100) (S2). This starting position control (S2) is performed according to the flowchart shown in Figure 5D. Figure 5D is a flowchart showing an example of the starting position control of the gripped pipe.

[0160] The first sensing device 81 recognizes the position of one end W1b of the gripped pipe W1 (S20). Alternatively, S20 may be omitted, and the position of one end W1b of the gripped pipe W1 recognized in S18 as shown in Figure 5D may be used.

[0161] The second sensing device 82 detects the orientation of the main body 30 and the attachment 100 (S21). The coordinate calculation unit 58 calculates the coordinates of the position of the end W1b of the pipe W1 that the attachment 100 is gripping in the work machine coordinate system, based on the recognition result of the first sensing device 81 and the detection result of the second sensing device 82 (S22).

[0162] The position acquisition device 83 detects one end W2b of the pipe to be joined in the groove G and acquires the position of the end W2b of the pipe to be joined (S23). The position acquisition device 83 acquires a second coordinate PB1 that indicates the coordinate of the position of the end W2b of the pipe to be joined (S24). The setting unit 57 sets the work start position PSw to a third coordinate PC1 that indicates the coordinate of a position above the second coordinate PB1 acquired by the position acquisition device 83 (S25).

[0163] The relative position calculation unit 59 calculates the relative position from the first coordinate PA1 to the third coordinate PC1 (S26).

[0164] Based on the relative position calculated by the relative position calculation unit 59 and the work start position PSw set by the setting unit 57, the control device 51 calculates the amount of movement control for each actuator, the traveling device 10, the slewing motor MT, the swing cylinder C4, the boom cylinder C1, and the arm cylinder C9, in order to move the pipe W1, which is being gripped by the attachment 100, to the work start position PSw (S27).

[0165] The control device 51 controls the movement of the attachment 100 to the target position PS (S28). The control device 51 controls the work device 20 to move the attachment 100 to the target position PS set in the setting unit 57 by driving each actuator with the calculated movement control amount. In other words, control is performed to move one end W1b of the pipe W1 that the attachment 100 is gripping to the work start position PSw. The movement control to the work start position PSw is performed according to the flowchart shown in Figure 5E. Figure 5E is a flowchart showing an example of speed control of each component of the front.

[0166] As shown in Figure 5E, when the control device 51 moves the attachment 100 to the target position PS, it controls the movement speed of each of the multiple actuators that are being driven, from the start of movement to the end of movement, at the same speed or within a predetermined range (S281).

[0167] The control device 51 determines whether one of the multiple actuators being driven will finish moving before the other (S282). For example, if the movement control amount of one actuator is smaller than the movement control amount of the other actuator, the control device 51 determines that one will finish moving before the other (S282, Yes), and reduces the movement speed of the one actuator to match the movement period of the other (S283). In other words, the control device 51 sets the movement speeds of the multiple actuators (for example, boom cylinder C1 and arm cylinder C9, etc.) so that their movement completion timings are approximately the same.

[0168] After S283, or if the answer in S282 is No, the control device 51 determines whether the position is in front of the target position PS (S284). If the control device 51 determines that the position is in front of the target position (S284, Yes), it reduces the movement speed of the attachment 100 from this position (S285). If the attachment 100 is at the target position PS (S286, Yes), the process proceeds to S3 shown in Figure 5A. As shown in Figure 6A, if the attachment 100 is at the target position PS (the tip position PR of the gripping part 112 shown in Figure 1A coincides with the target position PS), the pipe W1 being gripped by the attachment 100 is at the start position PSw.

[0169] Next, as shown in Figure 5A, the control device 51 controls the starting position of joining the gripped pipe W1 (i.e., controls the movement of the attachment 100 from the target position PS to the target position PT) (S3). This starting position control (S3) is performed according to the flowchart shown in Figure 5F. Figure 5F is a flowchart showing an example of the starting position control of joining the gripped pipe.

[0170] The first sensing device 81 recognizes the position of one end W1b of the pipe W1 that it is gripping (S30). For example, as shown in Figure 6A, the position of one end W1b of the pipe W1 is recognized when the pipe W1 is at the work start position PSw.

[0171] The second sensing device 82 detects the orientation of the main body 30 and the attachment 100 (S31). The coordinate calculation unit 58 calculates the first coordinate PA1 of the position of the end W1b of the pipe W1 being gripped by the attachment 100 in the work machine coordinate system, based on the recognition result of the first sensing device 81 and the detection result of the second sensing device 82 (S32).

[0172] The position acquisition device 83 detects one end W2b of the pipe to be joined in the groove G and acquires the position of the end W2b of the pipe to be joined (S33). The position acquisition device 83 acquires a second coordinate PB1 that indicates the coordinate of the position of the end W2b of the pipe to be joined (S34). Note that steps S33 and S34 may be omitted, and the second coordinate PB1 acquired in step S24 as shown in Figure 5D may be used. The setting unit 57 sets the joining start position coordinate PA2, which is the coordinate of the joining start position PTw in the work machine coordinate system, based on the second coordinate PB1. The relative position calculation unit 59 of the setting unit 57 calculates the relative position from the first coordinate PA1 to the joining start position coordinate PA2 (S35).

[0173] The setting unit 57 sets the target position PT of the attachment 100 (see Figure 6A) based on the position of the attachment 100 detected by the second sensing device 82 and the relative position calculated by the relative position calculation unit 59 (S36). In other words, the target position PT is the position for one end W1b of the pipe W1 that the attachment 100 is gripping to move to the joining start position PTw, as shown in Figure 6A.

[0174] The setting unit 57 sets the target upper position PU (see Figure 6A) approximately vertically above the target position PT based on the relative position calculated by the relative position calculation unit 59 (S37). Alternatively, the setting unit 57 may set a pre-target position which is a predetermined distance away from the target position PT relative to the pipe to be joined W2, based on the relative position calculated by the relative position calculation unit 59 (S37).

[0175] The control device 51 calculates the amount of movement control for each actuator of the boom cylinder C1 and the arm cylinder C9 in order to move the attachment 100 from the target position PS to the target position PT (in other words, to move the pipe W1 that the attachment 100 is gripping from the work start position PSw to the joining start position PTw) (S38).

[0176] The control device 51 controls the movement of the attachment 100 to the target position PT (S39). The control device 51 controls the work device 20 to move the attachment 100 to the target position PT set in the setting unit 57 by driving each actuator with the calculated movement control amount. The movement control to the target position PT is performed according to the flowchart shown in Figure 5G. Figure 5G is a flowchart showing an example of speed control for each component of the front.

[0177] As shown in Figure 5G, when the control device 51 moves the attachment 100 from target position PS to target position PT, it drives the boom cylinder C1 and arm cylinder C9 at the same speed or within a predetermined range from the start of movement until the end of movement or until the deceleration condition described later is met (S394, Yes) (S391).

[0178] The control device 51 determines whether one of the boom cylinder C1 and the arm cylinder C9 will finish moving before the other (S392). For example, the control device 51 determines if the movement control amount of one of the boom cylinder C1 and the arm cylinder C9 is smaller than the movement control amount of the other. The control device 51 determines that one will finish moving before the other (S392, Yes), and reduces the movement speed of the one to match the movement period of the other (S393). In other words, the control device 51 sets the movement speeds of the boom cylinder C1 and the arm cylinder C9 respectively so that their movement completion timings are approximately the same.

[0179] After S393, or if the answer in S392 is No, the control device 51 determines whether the pipe W1 being gripped by the attachment 100 is in front of the target position PT (S394). If the control device 51 determines that it is in front of the target position (S394, Yes), it reduces the movement speed of the pipe W1 being gripped by the attachment 100 from this front position (S395) and determines whether it is at the target position PT (S396).

[0180] If the control device 51 determines that the pipe W1 being gripped by the attachment 100 is not at the target position PT (S396, No), and if it has not exceeded the target position PT (S397, No), it returns to S395. If the pipe W1 has exceeded the target position PT (S397, Yes), the control device 51 returns the pipe W1 being gripped by the attachment 100 to the target position PT or stops the attachment 100 (S398), and returns to the process in S391. If the pipe stops at a position other than the target position PT, the control device 51 notifies the driver of this fact using at least one of the display device 70 and the notification device 75.

[0181] On the other hand, as shown in Figure 6B, if the attachment 100 is at the target position PT (S396, Yes), the control device 51 proceeds to S4 shown in Figure 5A. As shown in Figure 6B, if the attachment 100 is at the target position PT (the tip position PR of the gripping part 112 shown in Figure 1A coincides with the target position PT), the pipe W1 being gripped by the attachment 100 is at the joining start position PTw.

[0182] Next, as shown in Figure 5A, the control device 51 controls the joining of the gripped pipe W1 to the pipe to be joined W2 (S4). Specifically, the control device 51 drives only the attachment 100. That is, as the slider 132 of the axial movement mechanism 113 moves forward, one end W1b of the pipe W1 gripped by the gripping part 112 is inserted into one end W2b of the pipe to be joined W2 from the target position PT (joining start position) shown in Figure 6B. As a result, as shown in Figure 6C, pipe W1 is joined to the pipe to be joined W2.

[0183] In the first embodiment described above, the implement 1 is a model with a swing function, but it may also be an implement 1 without a swing device (swing cylinder C4), that is, an implement 1 without a swing function (such as an ultra-short swing machine). Furthermore, regardless of whether or not it has a swing function, the implement 1 may be a two-piece boom specification.

[0184] The main characteristic features and effects of the work machine 1 in the first embodiment described above are as follows.

[0185] <Set the gripping position PG of the pipe W1 to be gripped.> (Item A1) A work machine 1 comprising a machine body 2 and a work device 20 provided on the machine body 2, and an attachment 100 provided on the work device 20 for gripping a long object W to be gripped, wherein the work machine 1 comprises a first sensing device 81 that recognizes the position of one end W1b of the object W to be gripped, a setting unit 57 that sets the gripping position PG of the object W to be gripped by the attachment 100 based on the recognition result by the first sensing device 81, and a control device 51 that controls the work device 20, wherein the control device 51 controls the work device 20 to grip the object W at the gripping position PG set by the setting unit 57 with the attachment 100.

[0186] With this work machine 1, the gripping position PG of the object to be gripped W (e.g., pipe W1) can be appropriately set, and variations in the gripping operation of the object to be gripped W (e.g., pipe W1) can be reduced. Alternatively, the control device 51 may control the attachment 100 based on the gripping position PG set by the setting unit 57, causing the attachment 100 to grip the gripping position PG. Alternatively, the display device 70 may display a screen showing the gripping position PG set by the setting unit 57, or an operation guide screen for moving the attachment 100 to the gripping position PG, allowing the operator to manually perform the operation of causing the attachment 100 to grip the gripping position PG.

[0187] (Item A2) The setting unit 57 is the work machine 1 described in Item A1, which sets the gripping position PG to a position located at a predetermined distance from the one end W1b of the object to be gripped W recognized by the first sensing device 81.

[0188] With this work machine 1, the pipe W1 can always be gripped at a gripping position PG located at a predetermined distance from one end W1b of the pipe W1. Therefore, variations in the gripping position PG of the pipe W1 can be reduced.

[0189] (Item A3) The setting unit 57 is the work machine 1 described in item A1 or A2, which sets the gripping position PG to a position where the first sensing device 81 can recognize the one end W1b of the object to be gripped W while the attachment 100 is gripping the object to be gripped W.

[0190] With this work machine 1, when attempting to grip an object W with the attachment 100, the position of one end W1b of the object W can be recognized by the first sensing device 81, and the object W can be gripped by the attachment 100. Therefore, the gripping operation of the object W can be performed more reliably.

[0191] (Item A4) The attachment 100 comprises a gripping portion 112 for gripping the object to be gripped W, and a joining function portion 115 located on the extension line of the longitudinal end W1b side of the object to be gripped W that is gripped by the gripping portion 112, and which contacts or approaches the end W1b of the object to be gripped W when joining the end W1b of the object to be gripped W to a member to be joined (for example, a pipe to be joined W2), and the setting portion 57 sets the gripping position PG to a position where the distance between the end W1b of the object to be gripped W and the joining function portion 115 is a predetermined separation distance when the object to be gripped W is gripped by the gripping portion 112.

[0192] With this work machine 1, when the gripping part 112 is gripping the pipe W1 at the gripping position PG, the position of one end W1b of the pipe W1 and the joining function part 115 are at a predetermined distance apart, so that the joining operation of the gripped pipe W1 to the pipe to be joined W2 can be performed smoothly. The joining operation is the operation of joining the pipe W1 that is in close proximity to the pipe to be joined W2 to the pipe to be joined W2, for example, by driving only the attachment 100 to join the pipe W1 that the attachment 100 is gripping to the pipe to be joined W2.

[0193] Furthermore, the setting unit 57 may set the gripping position PG to a position where, when the gripping unit 112 is gripping the pipe W1, the position of one end W1b of the pipe W1 and the joining function unit 115 are at a predetermined distance apart, and the position of the one end W1b of the pipe W1 is recognizable by the first sensing device 81.

[0194] In this case, when the gripping portion 112 is gripping the pipe W1 at gripping position PG, the position of one end W1b of the pipe W1 and the joining functional portion 115 are at a predetermined distance apart. This allows for smooth joining of the gripped pipe W1 to the pipe W2. In addition, the first sensing device 81 can recognize the position of one end W1b of the gripped pipe W1, allowing the position of the one end W1b of the gripped pipe W1 to be confirmed at any time, and the gripping state of pipe W1 can be understood.

[0195] (Item A5) The attachment 100 is the work machine 1 described in Item A4, which includes a horizontal rotation mechanism 114 that allows the gripping portion 112 to rotate horizontally, and the control device 51 controls the operation of the horizontal rotation mechanism 114 so that the gripping direction GD of the gripping portion 112 coincides with the direction AD perpendicular to the longitudinal direction of the object to be gripped W.

[0196] With this work machine 1, the gripping direction GD of the gripping part 112 can be set to the direction AD perpendicular to the pipe axis direction of the pipe W1 to be gripped, thereby reducing the displacement of the pipe W1 in the pipe axis direction when gripping it. As a result, the pipe W1 can be accurately gripped at the gripping position PG. In addition, the horizontal deviation of the orientation of the pipe W1 gripped by the gripping part 112 can be reduced, and the pipe W1 can be gripped while maintaining its orientation before gripping. For example, if the pipe W1 is gripped from an oblique direction in the horizontal direction with respect to the pipe axis direction, the orientation of the pipe W1 gripped by the gripping part 112 will be consequently deviated from horizontally and obliquely, but this can be reduced.

[0197] (Item A6) The setting unit 57 sets the position opposite to the gripping position PG as the pre-gripping position PPG, and the control device 51 controls the attachment 100 and the work device 20 to move the attachment 100 to the pre-gripping position PPG, move the attachment 100 from the pre-gripping position PPG to the gripping position PG with the gripping part 112 in the open state, and when the attachment 100 moves to the gripping position PG, close the gripping part 112 to grip the object to be gripped W, as described in any of items A1 to A5.

[0198] With this work machine 1, the gripping part 112 is opened at the pre-gripping position PPG above the set gripping position PG of the pipe W1 to be gripped, and the gripping part 112 is closed at the gripping position PG, which is lowered from the pre-gripping position PPG. As a result, the gripping part 112 can properly grip the pipe W1 at the gripping position PG. Therefore, regardless of the operator's skill level, the attachment 100 can be automatically moved to the gripping position PG of the pipe W1 to be gripped and gripped. Consequently, variations in the operation for gripping the pipe W1 can be eliminated depending on the operator, and the operator's burden can be reduced.

[0199] (Item A7) The gripping part 112 has a pair of gripping claws 121, and the closed state of the gripping part 112 is a state in which the pair of gripping claws 121 are closer together than in the open state, and the object to be gripped W is held between the pair of gripping claws 121, as described in any of Items A4 to A6.

[0200] According to this work machine 1, the closed state of the gripping part 112 is such that it is gripping the pipe W1 to be gripped, and thus the pipe W1 can be held in place.

[0201] Furthermore, the gripping portion 112 has a pair of gripping claws 121, and the closed state of the gripping portion 112 is a state in which the pair of gripping claws 121 are completely closed, and the pipe W1 to be gripped can be held in the state in which the pair of gripping claws 121 are completely closed. With this configuration, the closed state of the gripping portion 112 holds the pipe W1 to be gripped and the pair of gripping claws 121 are completely closed, so the pipe W1 can be held securely.

[0202] Furthermore, the gripping portion 112 has a pair of gripping claws 121, and the closed state of the gripping portion 112 is the state in which the gripping force of the pair of gripping claws 121 has reached a specified value for holding the pipe W1 to be gripped. With this configuration, since the closed state of the gripping portion 112 is the state in which the gripping force of the pair of gripping claws 121 has reached a specified value for holding the pipe W1 to be gripped, the pipe W1 can be held with an appropriate force.

[0203] Furthermore, the gripping portion 112 has a pair of gripping claws 121, and the closed state of the gripping portion 112 is a state in which the angle or position of the pair of gripping claws 121 has reached a threshold for holding the pipe W1 to be gripped. With this configuration, since the closed state of the gripping portion 112 is a state in which the angle or position of the pair of gripping claws 121 has reached a threshold for holding the pipe W1 to be gripped, the pipe W1 can be held with appropriate force.

[0204] (Item A8) The work device 20 is a work machine 1 according to any one of items A1 to A7, comprising a boom 21 whose base end is rotatably pivoted to the machine body 2, an arm 22 rotatably pivoted to the tip of the boom 21, and the attachment 100 provided at the tip of the arm 22.

[0205] With this work machine 1, which comprises a boom 21, an arm 22, and an attachment 100, the gripping position PG of the object to be gripped W (e.g., pipe W1) can be appropriately set, and variations in the gripping operation of the object to be gripped W (e.g., pipe W1) can be reduced.

[0206] (Item A9) The control device 51 controls the work device 20 and the attachment 100 based on the gripping position PG set in the setting unit 57 to grip the object to be gripped W, and when the amount of deviation between the position of one end W1b of the object to be gripped W recognized by the first sensing device 81 and the assumed position of the one end W1b of the object to be gripped W corresponding to the gripping position PG set in the setting unit 57 is greater than or equal to a specified value, the control device 51 controls the work device 20 to make the amount of deviation less than the specified value and performs re-gripping of the object to be gripped W as described in any of items A1 to A8.

[0207] According to this work machine 1, if the position of the pipe W1 being gripped by the gripping part 112 is different from the gripping position PG, the gripping part 112 will re-grip the pipe, thus ensuring that the pipe W1 is gripped at the gripping position PG.

[0208] (Item A10) The control device 51 is the work machine 1 described in Item A9, which opens the gripping portion 112, moves the attachment 100 in a direction that reduces the amount of displacement, and then closes the gripping portion 112 to perform the re-gripping.

[0209] According to this work machine 1, if the position of the pipe W1 being gripped by the gripping part 112 is different from the gripping position PG, the attachment 100 is moved in a direction that reduces the amount of displacement before the gripping part 112 is closed. As a result, the pipe W1 can be gripped at the gripping position PG. In addition, when the gripping part 112 is closed, the first sensing device 81 recognizes the position of one end W1b of the pipe W1 being gripped by the gripping part 112. As a result, it is possible to confirm whether or not the pipe W1 is being gripped at the gripping position PG.

[0210] (Item A11) The work machine 1 according to any one of items A1 to A10, which is equipped with a notification device 75 that notifies by sound, light, or display if the first sensing device 81 fails to recognize the position of one end W1b of the object to be grasped W.

[0211] According to this work machine 1, the position of one end W1b of the object to be gripped W cannot be recognized, or This allows the system to indicate that there is no object W to be grasped, thereby supporting the automatic grasping operation of object W.

[0212] (Item A12) A control method for a work machine 1 comprising a machine body 2, a work device 20 provided on the machine body 2, and an attachment 100 provided on the work device 20 for gripping a long object W, the control method for the work machine 1 comprising: a position recognition step (S10) for recognizing the position of one end W1b of the object W; a gripping position setting step (S15) for setting a gripping position PG of the object by the attachment based on the recognition result of the position recognition step; and a gripping step (S17) for gripping the object W based on the gripping position PG set in the gripping position setting step.

[0213] According to this control method for the work machine 1, the gripping position PG of the object to be gripped W (e.g., pipe W1) can be appropriately set, and variations in the gripping operation of the object to be gripped W (e.g., pipe W1) can be reduced.

[0214] <Set the starting position PSw of the gripped pipe W1 to the corresponding position in the target area.> (Item B1) A work machine 1 comprising a machine body 2 and a work device 20 provided on the machine body 2, the work device 20 and an attachment 100 provided on the work device 20 for gripping a joining member (e.g., pipe W1), the work machine 1 comprising: a first sensing device 81 that recognizes the position of the joint portion (e.g., one end W1b) of the joining member gripped by the attachment 100 with respect to a member to be joined (e.g., pipe W2); a setting unit 57 that, based on the recognition result by the first sensing device 81, sets the target position PS to which the attachment 100 will move to a position for moving the joining member such that the joint portion is positioned at a work start position PSw set near the member to be joined; and a control device 51 that controls the work device 20 to move the attachment 100 to the target position PS set by the setting unit 57.

[0215] With this work machine 1, the attachment 100 can recognize the position of the joint (e.g., one end W1b) of the joint member (e.g., pipe W1) it is gripping, and the control device 51 can be instructed to move the joint to the work start position PSw. This makes it easy to move the joint to the work start position PSw. Therefore, the joint member gripped by the attachment 100 can be easily moved to the work start position PSw.

[0216] Furthermore, the control device 51 controls the work device 20 to move the pipe W1 gripped by the attachment 100 to the work start position PSw. Therefore, regardless of the operator's skill level, the gripped pipe W1 can be automatically and reliably moved to the work start position PSw. Consequently, variations in the operation of moving the gripped pipe W1 to the work start position PSw depending on the operator can be eliminated, and the operator's burden can be reduced. In addition, the pipe can always be brought close to the pipe W2 to be joined in the target area from the work start position PSw, and variations in the movement route to the pipe W2 to be joined in the target area can be reduced. Therefore, the operation of moving the gripped pipe W1 to the target area can be performed efficiently.

[0217] (Item B2) The work machine 1 described in Item B1 is wherein the member to be joined is placed in a groove G formed below the ground surface, or on a support base that is at least partially formed above the ground surface, and the setting unit 57 sets the target position PS on the ground surface near the member to be joined, or on a mounting base placed on the ground surface near the member to be joined.

[0218] This work machine 1 allows the joining member being gripped by the attachment 100 to be appropriately moved onto the ground surface near the member to be joined, or onto a mounting platform placed on the ground surface near the member to be joined.

[0219] (Item B3) The member to be joined is placed in a groove G formed below the ground surface, and the setting unit 57 is the work machine 1 described in Item B1 or B2, which sets the target position PS on the ground surface near the groove G.

[0220] This work machine 1 allows the joint member being gripped by the attachment 100 to be brought appropriately closer to the ground surface near the groove G.

[0221] Furthermore, the setting unit 57 sets the target position PS to a position above the target area (groove G). In other words, the work start position PSw is set to a position above the target area. Therefore, by simply lowering the pipe W1 that the attachment 100 is gripping, it can be brought closer to the pipe W2 to be joined in the target area, and variations in the descent route to the pipe W2 in the target area can be reduced. As a result, the descent of the gripped pipe W1 into the target area can be performed efficiently.

[0222] (Item B4) The work machine 1 is as described in any of Items B1 to B3, and is equipped with a position acquisition device 83 that acquires the position of the part to be joined to which the joint portion of the member to be joined is joined, and the setting unit 57 sets the work start position PSw to a position in the vicinity of the joint portion based on the recognition result by the first sensing device 81 and the position of the part to be joined acquired by the position acquisition device 83.

[0223] With this work machine 1, the joint member being gripped by the attachment 100 can be precisely moved to the work start position PSw.

[0224] (Item B5) The position acquisition device 83 is the work machine 1 described in Item B4 which acquires the position of the part to be joined based on the imaging result of the part to be joined by the imaging means or the distance measurement result of the distance measuring sensor.

[0225] This work machine 1 allows the work start position PSw to be set appropriately.

[0226] (Item B6) The position acquisition device 83 is the work machine 1 described in Item B4 which acquires the position of the joined portion based on three-dimensional design data indicating the position of the joined member, or the result of detecting the position of the joined member buried underground by ground-penetrating radar.

[0227] With this work machine 1, when acquiring the position of one end W2b of the pipe to be joined W2 using 3D design data, it is not necessary to perform the work of measuring the one end W2b of the pipe to be joined W2 in the target area. Therefore, work efficiency can be improved. Furthermore, when acquiring the position of the joined part based on the result of detecting the position of the joined member buried underground by ground-penetrating radar, the actual one end W2b of the pipe to be joined W2 can be identified, and the excavation work to expose the actual one end W2b of the pipe to be joined W2 can be performed efficiently. Therefore, work efficiency can be improved.

[0228] (Item B7) The position acquisition device 83 is the work machine 1 described in Item B4, which acquires the position of the joined part (previous pipe W1) when joining the joined member (previous pipe W1) to the second joined member (joined pipe W2), and joining the joining member (next pipe W1) to the joined member (previous pipe W1) joined to the joined pipe W2, based on the position of the second joined part, which is the part of the second joined member (joined pipe W2) to which the joined member (previous pipe W1) is joined, and the dimensional information from the second joined part, which is the part of the joined member (previous pipe W1) to which the second joined member is joined, to the joined part.

[0229] With this work machine 1, there is no need to measure the position of the parts to be joined. Therefore, work efficiency can be improved.

[0230] For example, the position acquisition device 83 may acquire the position of the end W2b of the pipe to be joined in the current case as the position obtained by adding the pipe axis dimension of the previously joined pipe W1 to the position of the end W2b of the pipe to be joined in the previous case, which is the position of the end W2b of the pipe to be joined in the current case, in the global coordinate system.

[0231] In this case, the position acquisition device 83 acquires the position of the current end W2b of the pipe to be joined by adding the pipe axis dimension of the previously joined pipe W1 to the position of the previous end W2b of the pipe to be joined in the global coordinate system. In other words, the position of the current end W2b of the pipe to be joined can be determined simply by adding the dimension of the pipe W1 that was previously joined to the pipe to be joined W2 to the position of the previous end W2b of the pipe to be joined. Therefore, there is no need to measure the end W2b of the pipe to be joined in the target area. Thus, work efficiency can be improved.

[0232] (Item B8) The work machine 1 is as described in any of Items B4 to B7, comprising: a second sensing device 82 for detecting the attitude of the machine body 2 and the attachment 100 in a predetermined coordinate system; a coordinate calculation unit 58 for calculating a first coordinate PA1 indicating the coordinate of the position of the joint in the predetermined coordinate system based on the recognition result of the first sensing device 81 and the detection result of the second sensing device 82, wherein the position acquisition device 83 acquires a second coordinate PB1 indicating the coordinate of the position of the jointed part in the predetermined coordinate system; the setting unit 57 sets the work start position PSw to a third coordinate PC1 indicating a coordinate near the second coordinate PB1, calculates the relative position to the third coordinate PC1 with respect to the first coordinate PA1, and sets the target position PS based on the position of the attachment 100 detected by the second sensing device 82 and the relative position.

[0233] This work machine 1 calculates the relative position from the gripped pipe W1 to the work start position PSw located above the pipe to be joined W2. Therefore, it is possible to determine the amount of movement from the position of the gripped pipe W1 to the work start position PSw, and drive control can be performed to efficiently move the gripped pipe W1 to the work start position PSw.

[0234] (Item B9) The working device 20 comprises a traveling device 10 that supports the machine body 2 so that it can travel, and a slewing device 25 that rotates the machine body 2 relative to the traveling device 10, the working device 20 comprising a boom 21 whose base end is pivotally supported on the machine body 2 so as to be rotatable around a first rotation axis, a boom drive device (boom cylinder C1) that rotates the boom 21 around the first rotation axis, an arm 22 pivotally supported on the tip of the boom 21 so as to be rotatable around a second rotation axis, an arm drive device (arm cylinder C9) that rotates the arm 22 around the second rotation axis, and the tip of the arm The work machine 1 is described in any of items B1 to B8, comprising the attachment 100 provided at the end, wherein the control device 51 calculates the amount of drive for each actuator of the traveling device 10, the slewing device 25, the boom drive device (boom cylinder C1), and the arm drive device (arm cylinder C9) in order to move the attachment 100 to the target position PS, and drives each actuator based on the calculated amount of drive to move the attachment 100 to the target position PS.

[0235] With this work implement 1, the pipe W1 being gripped by the attachment 100 can be appropriately moved to the work start position PSw. For example, in a work implement 1 of a model that does not have a swing function (such as an ultra-short swing machine), the pipe W1 being gripped by the attachment 100 can be appropriately moved to the work start position PSw.

[0236] (Item B10) Swing the work device 20 to rotate it horizontally relative to the machine body 2. The work machine 1 described in item B9 further comprises a device (swing cylinder C4), and the control device 51 calculates the amount of drive for each actuator of the traveling device 10, the slewing device 25, the swing device (swing cylinder C4), the boom drive device (boom cylinder C1), and the arm drive device (arm cylinder C9) in order to move the attachment 100 to the target position PS, and drives each actuator based on the calculated amount of drive to move the attachment 100 to the target position PS.

[0237] With this work machine 1, in a work machine 1 model that has a swing function, the pipe W1 being gripped by the attachment 100 can be appropriately moved to the work start position PSw.

[0238] (Item B11) The boom 21 comprises a first boom whose base end is pivotally supported on the machine body 2 so as to be rotatable around a first rotation axis, a first boom drive device for rotating the first boom around the first rotation axis, a second boom pivotally supported on the tip of the first boom so as to be rotatable around a third rotation axis, and a second boom drive device for rotating the second boom around the third rotation axis, the arm 22 is pivotally supported on the tip of the second boom so as to be rotatable around a second rotation axis, the control device 51 calculates the amount of drive for each actuator of the traveling device 10, the slewing device 25, the first boom drive device, the second boom drive device, and the arm drive device (arm cylinder C9) for moving the attachment 100 to the target position PS, and drives each actuator based on the calculated amount of drive to move the attachment 100 to the target position PS, as described in Item B9 or B10.

[0239] With this work machine 1, in a work machine 1 with a two-piece boom specification, the pipe W1 gripped by the attachment 100 can be appropriately moved to the work start position PSw.

[0240] (Item B12) The control device 51 is a work machine 1 as described in any of Items B9 to B11, which, when moving the attachment 100 to the target position PS, operates some or all of the actuators that are to be driven from the start of movement to the end of movement at the same speed or within a predetermined range.

[0241] This work machine 1 reduces the shaking of the pipe W1 when moving the pipe W1, which is being gripped by the attachment 100, to the work start position PSw. In this way, since the shaking of the pipe W1 after it has been moved to the work start position PSw is reduced, there is no need to wait for the shaking of the pipe W1 to stop or to take measures to stop the shaking of the pipe W1. Therefore, the lowering operation toward the pipe W2 to be joined in the target area can be performed quickly.

[0242] (Item B13) The control device 51 is a work machine 1 as described in any of Items B9 to B11, which sets the movement speed of each actuator so that the movement completion timing of some or all of the actuators being driven coincides when moving the attachment 100 to the target position PS.

[0243] This work machine 1 can reduce the occurrence of vibrations caused by each actuator being driven stopping independently.

[0244] (Item B14) The control device 51 is a work machine 1 as described in any of Items B1 to B13, which controls the work device 20 to reduce the movement speed of the attachment 100 from a position set just before the attachment 100 reaches the target position PS, and to stop the attachment 100 at the target position PS.

[0245] This work machine 1 allows the pipe W1 gripped by the attachment 100 to be gently stopped at the work start position PSw. Therefore, the shaking of the pipe W1 when it is stopped at the work start position PSw can be reduced.

[0246] (Item B15) The work device 20 is the work machine 1 described in any of items B1 to B14, comprising a boom 21 whose base end is pivotally supported on the machine body 2 so as to be rotatable around a first rotation axis, an arm 22 pivotally supported on the tip of the boom 21 so as to be rotatable around a second rotation axis, and the attachment 100 provided on the tip of the arm 22, the first sensing device 81 is provided on any of the boom 21, the arm 22, and the attachment 100, and the position acquisition device 83 is provided on any of the boom 21, the arm 22, and the attachment 100.

[0247] According to this work machine 1, when the first sensing device 81 or position acquisition device 83 is positioned on the boom 21, the vibration caused by the operation of the work machine 20 is less than when it is positioned on the arm 22 and attachment 100, so the first sensing device 81 or position acquisition device 83 can perform measurements with less vibration. On the other hand, when the first sensing device 81 or position acquisition device 83 is positioned on the attachment 100, the vibration caused by the operation of the work machine 20 is more than when it is positioned on the boom 21 and arm 22, but the first sensing device 81 or position acquisition device 83 can perform measurements at a position close to the pipe W1 gripped by the attachment 100 or the pipe W2 to be joined. Furthermore, when the first sensing device 81 or the position acquisition device 83 is positioned on the arm 22, the vibration caused by the operation of the work device 20 is moderate, and the first sensing device 81 or the position acquisition device 83 can perform measurements at a position that is moderately close to the pipe W1 or the pipe W2 being joined, which is being gripped by the attachment 100.

[0248] (Item B16) A control method for a work machine 1 comprising a machine body 2, a work device 20 provided on the machine body 2, and an attachment 100 for gripping a joining member, comprising: a position recognition step (S20) of recognizing the position of the joint portion of the joining member gripped by the attachment 100 with respect to the member to be joined; and a step (S25) of setting the target position PS, which is the destination of the attachment 100, to a position for moving the joining member such that the joint portion is positioned at a work start position PSw set in the vicinity of the member to be joined, based on the recognition result of the position recognition step.

[0249] According to the control method of this work machine 1, the process of moving the joint to the work start position PSw can be easily performed. Therefore, the joint member being gripped by the attachment 100 can be easily moved to the work start position PSw.

[0250] <Automation of lowering pipe W1 held by attachment 100> (Item C1) A work machine 1 comprising a machine body 2 and a work device 20 provided on the machine body 2, wherein the work device 20 is provided with an attachment 100 for gripping a joining member (e.g., pipe W1), a first sensing device 81 for recognizing the position of the joint portion (e.g., one end W1b) of the joining member gripped by the attachment 100 with respect to a member to be joined (e.g., pipe W2), a setting unit 57 for setting the target position PT, which is the destination of the attachment 100, to a position for moving it to a joining start position PTw, which is the position for starting a joining operation to join the joint portion of the joining member to the member to be joined, based on the recognition result by the first sensing device 81, and a control device 51 for controlling the work device 20 to move the attachment 100 to the target position PT set by the setting unit 57.

[0251] According to this work machine 1, the joint member (for example, pipe W1) that the attachment 100 is gripping The control device 51 can be instructed to recognize the position of the joint (e.g., one end W1b) in the joint and move the joint to the joining start position PTw, thereby allowing the joint (e.g., one end W1b) of the joining member (e.g., pipe W1) to be brought closer to a position where it can be joined to the member to be joined (e.g., pipe W2).

[0252] (Item C2) The work machine 1 described in Item C1 is equipped with a position acquisition device 83 that acquires the position of the part to be joined (for example, one end W2b) of the member to be joined, and the setting unit 57 sets the joining start position PTw based on the position of the part to be joined acquired by the position acquisition device 83.

[0253] This work machine 1 allows for a suitable setting of the joining start position PTw. Furthermore, since one end W1b of the pipe W1 held by the attachment 100 can be positioned at the joining start position PTw, the pipe W1 held by the attachment 100 can be smoothly joined to the pipe W2 to be joined, making the joining work easy and reliable.

[0254] (Item C3) The work machine 1 according to Item C2, comprising: a second sensing device 82 for detecting the attitude of the machine body 2 and the attachment 100 in a predetermined coordinate system; a coordinate calculation unit 58 for calculating a first coordinate PA1 indicating the coordinate of the position of the joint in the predetermined coordinate system based on the recognition result of the first sensing device 81 and the detection result of the second sensing device 82, wherein the position acquisition device 83 acquires a second coordinate PB1 indicating the coordinate of the position of the jointed part in the predetermined coordinate system; the setting unit 57 sets a joint start position coordinate PA2, which is the coordinate of the joint start position PTw in the predetermined coordinate system, based on the second coordinate PB1; calculates the relative position to the joint start position coordinate PA2 with respect to the first coordinate PA1; and sets the target position PT based on the position of the attachment 100 detected by the second sensing device 82 and the relative position.

[0255] According to this work machine 1, since the relative position from the gripped pipe W1 to the joining start position PTw is calculated, the movement amount from the position of the gripped pipe W1 to the joining start position PTw can be specified, and drive control can be performed to efficiently move the gripped pipe W1 to the joining start position PTw. That is, the attachment 100 can be efficiently moved to the target position PT.

[0256] Further, the setting unit 57 may set the target position PT based on the recognition result by the first sensing device 81 and the coordinates of the position of one end W2b of the pipe to be joined W2 in, for example, a global coordinate system other than the work machine coordinate system. In this case, even if the position acquisition device 83 cannot acquire the position of the one end W2b of the pipe to be joined W2, the target position PT can be set using the coordinates of the position of the one end W2b of the pipe to be joined W2 in the global coordinate system, and the target position PT can be set accurately.

[0257] (Item C4) The work device 20 includes a boom 21 whose base end is pivotally supported on the machine body 2 so as to be rotatable, an arm 22 pivotally supported at the distal end of the boom 21 so as to be rotatable, and the attachment 100 provided at the distal end of the arm 22. The control device 51 is the work machine 1 according to any one of Items C1 to C3, wherein when moving the attachment 100 to the target position PT, the control device 51 operates the boom 21 and the arm 22 at the same speed or at a speed within a predetermined range respectively from the start of movement to the end of movement.

[0258] According to this work machine 1, when moving the attachment 100 to the target position PT, the control device 51 operates the movement speed of the boom and the movement speed of the arm respectively at the same speed or at a speed within a predetermined range from the start of movement to the end of movement. Therefore, the swing of the pipe W1 gripped by the attachment 100 when moving the pipe W1 to the joining start position PTw is reduced This is possible. In this way, since the vibration of pipe W1, which has been moved to the joining start position PTw, is reduced, there is no need to wait for the vibration of pipe W1 to stop or to take measures to stop the vibration of pipe W1. Therefore, the joining work to the pipe to be joined W2 can be carried out quickly.

[0259] Furthermore, when the control device 51 moves the pipe W1 gripped by the attachment 100 to the target position PT, it may operate the boom cylinder C1 and the arm cylinder C9 at the same speed or within a predetermined range from the start to the end of the movement. In this case as well, the same effect as described above is obtained.

[0260] (Item C5) The work device 20 comprises a boom 21 whose base end is rotatably pivoted to the machine body 2, an arm 22 rotatably pivoted to the tip of the boom 21, and the attachment 100 provided at the tip of the arm 22, and the control device 51 sets the movement speeds of the boom 21 and the arm 22, respectively, so that when the attachment 100 is moved to the target position PT, the timing of the end of movement of the boom 21 and the arm 22 are substantially the same. This is the work machine 1 described in any of Items C1 to C4.

[0261] This work machine 1 makes it possible to reduce the occurrence of swaying caused by one of the boom 21 and the arm 22 stopping before the other.

[0262] Furthermore, when the control device 51 moves the attachment 100 to the target position PT, it may set the movement speeds of the boom cylinder C1 and the arm cylinder C9 so that the timing of the end of movement of the boom cylinder C1 and the arm cylinder C9 are approximately the same. In this case as well, the same effect as described above is achieved.

[0263] (Item C6) The setting unit 57 sets the target upper position PU approximately vertically above the target position PT, and the control device 51 moves the attachment 100 to the target upper position PU, and then lowers it approximately vertically from the target upper position PU to the target position PT, as described in any of Items C1 to C5.

[0264] With this work machine 1, the pipe W1 held by the attachment 100 is lowered from the upper position PUw to the joining start position PTw, thus reducing the chance of the pipe W1 held by the attachment 100 or the attachment 100 itself coming into contact with other objects (for example, the pipe to be joined W2 or the groove G in which the pipe to be joined W2 is buried). Furthermore, when the pipe W1 held by the attachment 100 is in the upper position PUw, the operator can confirm whether the pipe W1 or the attachment 100 will come into contact with the aforementioned other objects, and whether the target position PT is set appropriately, before lowering the pipe W1.

[0265] (Item C7) The control device 51 is a work machine 1 according to any of items C1 to C6, which gradually reduces the movement speed of the attachment 100 from a position set just before the attachment 100 reaches the target position PT, and stops the attachment 100 at the target position PT.

[0266] With this work machine 1, the movement speed of the pipe W1 held by the attachment 100 is reduced from a position just before the target position PT, and the attachment 100 stops at the target position PT. Therefore, the pipe W1 held by the attachment 100 can be stopped gently at the joining start position PTw. Thus, the shaking of the pipe W1 when the attachment 100 stops at the target position PT can be reduced.

[0267] (Item C8) The control device 51 determines that the joint is more than the joint start position PTw The work device 1 is one of the items C1 to C7 that controls the work device 20 so as to move the joint from the excess position PT1w back to the joining start position PTw or to stop the joint at the excess position PT1w when the joint is located at an excess position PT1w close to the joint.

[0268] With this work machine 1, when pipe W1 is returned from the oversized position PT1w to the joining start position PTw, the joining work can be performed appropriately. In addition, when the gripped pipe W1 is stopped at the oversized position PT1w, the possibility of the pipe W1 coming into contact with the pipe to be joined W2 or the like can be reduced.

[0269] (Item C9) The setting unit 57 sets a pre-target position at a predetermined distance from the target position PT, and the control device 51 moves the attachment 100 to the pre-target position, and then moves it from the pre-target position to the target position PT. This is the work machine 1 described in any of Items C1 to C8.

[0270] With this work machine 1, the attachment 100 is positioned at a pre-target position before the target position PT, thus reducing the chance of the pipe W1 being gripped by the attachment 100 or the attachment 100 itself coming into contact with other objects (for example, the pipe to be joined W2 or the groove in which the pipe to be joined W2 is buried). Furthermore, while the attachment 100 is at the pre-target position, the operator can confirm whether the pipe W1 or the attachment 100 will come into contact with the aforementioned other objects, and whether the target position PT is set appropriately, just before moving the gripped pipe W1 to the joining start position PTw.

[0271] (Item C10) The work device 20 is the work machine 1 described in Item C2 or C3, comprising a boom 21 whose base end is rotatably pivoted to the machine body 2, an arm 22 rotatably pivoted to the tip of the boom 21, and the attachment 100 provided at the tip of the arm 22, the first sensing device 81 is provided on any of the boom 21, the arm 22, and the attachment 100, and the position acquisition device 83 is provided on any of the boom 21, the arm 22, and the attachment 100.

[0272] With this work machine 1, when the first sensing device 81 or position acquisition device 83 is positioned on the boom, the vibration caused by the drive of the work machine 20 is less than when it is positioned on the arm and attachment 100, so the first sensing device 81 or position acquisition device 83 can perform measurements with less vibration. On the other hand, when the first sensing device 81 or position acquisition device 83 is positioned on the attachment 100, the vibration caused by the drive of the work machine 20 is more than when it is positioned on the boom and arm, but the first sensing device 81 or position acquisition device 83 can perform measurements at a position close to the pipe W1 gripped by the attachment 100 or the pipe W2 to be joined. Furthermore, when the first sensing device 81 or position acquisition device 83 is positioned on the arm, the vibration caused by the drive of the work machine 20 is moderate, and the first sensing device 81 or position acquisition device 83 can perform measurements at a position close to moderately close to the pipe W1 gripped by the attachment 100 or the pipe W2 to be joined.

[0273] (Item C11) The work machine 1 described in any of Items C1 to C10 is positioned in a groove G formed below the ground surface, and the control device 51 is positioned above the ground surface, grips the joining member with the attachment 100, and moves it to the joining start position PTw set in the groove G.

[0274] According to this working machine 1, the pipe W1 gripped by the attachment 100 can be suitably brought close to the joining start position PTw set in the groove G.

[0275] (Item C12) The working machine 1 according to any one of Items C1 to C11, wherein the joining member is an elongated member, and the joining portion is one end of the joining member in the longitudinal direction, and is arranged at a position spaced apart from the attachment 100 when gripped by the attachment 100.

[0276] According to this working machine 1, the joining portion (e.g., one end W1b) of the elongated joining member (e.g., the pipe W1) can be accurately brought close to a position where joining to the member to be joined (e.g., the pipe W2 to be joined) is possible.

[0277] (Item C13) The working machine 1 according to any one of Items C1 to C12, wherein after moving the joining portion to the joining start position, the control device 51 moves the attachment 100 in a direction in which the joining portion approaches the portion to be joined, thereby fitting the joining portion to the portion to be joined.

[0278] According to this working machine 1, the pipe W1 gripped by the attachment 100 can be smoothly joined to the pipe W2 to be joined, and the joining work can be performed easily and reliably.

[0279] (Item C14) A control method for a working machine 1 comprising a machine body 2, a working device 20 provided on the machine body 2, and an attachment 100 for gripping a joining member (e.g., a pipe W1), the control method comprising: a position recognition step (S30) for recognizing the position of a joining portion (e.g., one end W1b) of the joining member gripped by the attachment 100 relative to a member to be joined (e.g., a pipe W2 to be joined); and a target position setting step (S36) for setting, based on the recognition result of the position recognition step, a target position PT which is the movement destination of the attachment 100 to a position for moving the joining portion (e.g., one end W1b) of the joining member to a joining start position PTw which is a position for starting a joining operation for joining the joining member to the member to be joined.

[0280] According to the control method of this work machine 1, the joint portion (e.g., one end W1b) of the joining member (e.g., pipe W1) can be brought precisely to a position where it can be joined to the member to be joined (e.g., pipe W2).

[0281] [Second Embodiment] The second embodiment of the work machine 1 differs from the first embodiment in that it is configured to allow work restrictions while gripping the object to be gripped W (for example, a pipe W1). Components similar to those in the first embodiment are denoted by the same reference numerals, and their descriptions are omitted. In the second embodiment, the case where the object to be gripped W is a pipe W1 is used as an example for explanation. However, the object to be gripped W may be a pipe of various shapes other than a straight pipe, such as a U-shaped, S-shaped, or L-shaped pipe, or it may include all other items that can be gripped (for example, wood, iron bars, steel materials, parts, etc.).

[0282] Figure 7A is an electrical block diagram of the work machine of the second embodiment. The control device 51 of the second embodiment performs work restrictions that limit one or both of the working range and / or working speed of the work machine 1 when performing work to grip an object W (for example, a pipe W1) with an attachment.

[0283] The work machine 1 of the second embodiment includes a detection unit 80 that detects the gripping of the pipe W1 by the attachment 100 (gripping attachment), as shown in Figure 7A. When the detection unit 80 detects that the pipe W1 is being gripped, the control device 51 restricts the operation of the work machine 1. The storage unit 54 includes six storage tables TB1 to TB6 as shown in Figures 8A to 8F, but may include at least one or more.

[0284] The detection unit 80 detects the load acting on the work device 20 (for example, the load on the attachment 100 side). The device has a load sensor 84 that detects the load, and detects whether the load detected by the load sensor 84 is heavier than a predetermined amount compared to when the object W is not being gripped. Note that the detection unit 80 is not limited to a load sensor 84 and may have the following configuration.

[0285] The work machine 1 includes an attachment detection unit 80A that detects whether an attachment 100 is attached to the work device 20, or detects a selection instruction for the gripping work mode, which is a work mode that uses the attachment 100. The control device 51 may perform work restrictions when the attachment detection unit 80A detects that an attachment is attached, or when a selection instruction for the gripping work mode is detected. For example, the attachment detection unit 80A can be used as an attachment / detachment detection sensor to detect when the attachment 100 is attached to the work device 20, thereby detecting that the attachment 100 is attached to the work device 20. Alternatively, the attachment detection unit 80A can detect that the gripping work mode is in operation when a selection instruction for the gripping work mode is detected by the mode setting button 5e.

[0286] Furthermore, the detection unit 80 may detect an instruction to execute a gripping operation to the attachment 100. Specifically, the attachment 100 is equipped with a hydraulic actuator (for example, a gripping drive unit 122) for performing the gripping operation. The detection unit 80 detects whether or not an instruction to execute a gripping operation to the attachment 100 is given based on the pressure of the hydraulic fluid supplied to the hydraulic actuator (gripping drive unit 122) of the attachment 100 (pilot pressure to the pressure receiving part of the first control valve V71) or a control signal to the control valve that supplies hydraulic fluid to the hydraulic actuator (gripping drive unit 122) of the attachment 100 (an electrical signal supplied to the solenoid of the solenoid valve of the first control valve V71). The control device 51 performs the work restriction when the detection unit 80 detects the execution instruction.

[0287] Alternatively, the detection unit 80 may be a first sensing device 81 that recognizes the pipe W1 being gripped by the attachment 100. The first sensing device 81 performs image analysis on the captured image of the camera, and if it is recognized by pattern matching that the image includes an image of the attachment 100 gripping the pipe W1, the gripping of the pipe W1 can be detected.

[0288] The work machine 1 can switch between a gripping mode, in which the attachment 100 is used to grip an object W (for example, a pipe W1), and a crane mode, in which the lifting operation is performed using a lifting hook. In crane mode, there are no work restrictions, or the degree of work restrictions in gripping mode is greater than the work restrictions in crane mode.

[0289] Furthermore, the work machine 1 may have a weight sensor 80B that detects the weight of the object to be gripped W (for example, a pipe W1), and the control device 51 may change the degree of the work restriction according to the weight of the object to be gripped W that the attachment 100 is gripping.

[0290] Furthermore, the work machine 1 may have a position detection unit 80C that detects the height position of the attachment 100, and the control device 51 may change the degree of the work restriction according to the height position of the attachment 100. For example, the position detection unit 80C may be a height detection sensor for the attachment 100, or the height of the attachment 100 may be detected based on the swing angle θ2 of the boom 21 detected by the boom angle sensor 91 and the swing angle θ3 of the arm 22 detected by the arm angle sensor 92.

[0291] The work restriction process while gripping pipe W1 is performed according to the flowchart shown in Figure 7B. Figure 7B is a flowchart showing an example of the work restriction process while gripping pipe W1 in the second embodiment.

[0292] The control device 51 determines whether or not it is in crane mode (S61). If the control device 51 determines that it is in crane mode (S61, Yes), it determines whether or not the detection unit 80 has detected gripping of the pipe W1 (S62).

[0293] If the detection unit 80 detects that the pipe W1 is being gripped (S62, Yes), the control device 51 restricts the operation of the work implement 1 (S63). Specifically, when the detection unit 80 detects that the pipe W1 is being gripped, the control device 51 restricts the work range or work speed of the work implement 1, or it may restrict both the work range and work speed of the work implement 1.

[0294] The control device 51 changes the working range of the work machine 1 based on the weight of the pipe W1 gripped by the attachment 100. For example, as shown in Figure 8A, the control device 51 does not restrict the working range if the weight of the pipe W1 gripped by the attachment 100 is less than or equal to a specified weight, and restricts the working range if it exceeds the specified weight. In other words, it reduces the working range. Alternatively, the working range of the work machine 1 (e.g., working radius, working width, etc.) may be gradually or in stages as the weight of the pipe W1 increases. In other words, the restricted range of the working range of the work machine 1 may be gradually or in stages as the weight of the pipe W1 increases.

[0295] The control device 51 changes the working speed of the work machine 1 based on the weight of the pipe W1 gripped by the attachment 100. For example, as shown in Figure 8B, the control device 51 does not limit the working speed if the weight of the pipe W1 gripped by the attachment 100 is less than or equal to a specified weight, but limits the working speed if it exceeds the specified weight. In other words, it reduces the working speed. Alternatively, the working speed of the work machine 1 may be gradually or in stages reduced as the weight of the pipe W1 increases. In other words, the limiting range of the working speed of the work machine 1 may be gradually or in stages increased as the weight of the pipe W1 increases.

[0296] The control device 51 changes the working range of the work implement 1 based on the height position of the attachment 100. For example, as shown in Figure 8C, the control device 51 restricts the working radius in the horizontal range where the height position of the attachment 100 is a predetermined distance above or below the ground, and does not restrict the working radius in the range above or below the horizontal range. Alternatively, the restricted range of the working range of the work implement 1 may gradually decrease as the height position of the attachment 100 moves upward or downward from the ground.

[0297] The control device 51 changes the working speed of the work implement 1 based on the height position of the attachment 100. For example, as shown in Figure 8D, the control device 51 limits the working speed when the height position of the attachment 100 is within the ground range, and does not limit the working speed in the upper or lower ranges. Alternatively, the limiting range of the working speed of the work implement 1 may gradually or in stages decrease as the height position of the attachment 100 moves upward or downward from the ground. In other words, the working speed may be lowest at ground level and highest at the uppermost and lowermost positions.

[0298] The control device 51 changes the working range of the work machine 1 based on the gripping position of the pipe W1 by the attachment 100. For example, as shown in Figure 8E, the control device 51 restricts the working range of the work machine 1 if the gripping position of the pipe W1 by the attachment 100 is within the end range in the pipe axis direction of the pipe W1, and does not restrict the working range of the work machine 1 if it is within the central range in the pipe axis direction of the pipe W1. Furthermore, if the gripping position of the pipe W1 by the attachment 100 is at an end, the working range may not be restricted when moving towards that end, but may be restricted when moving towards the opposite end. Also, as the gripping position of the pipe W1 by the attachment 100 approaches the end of the pipe W1, the restricted range of the working range of the work machine 1 increases. That's fine.

[0299] The control device 51 changes the working speed of the work implement 1 based on the height position of the attachment 100. For example, as shown in Figure 8F, the control device 51 limits the working speed in the horizontal range where the height position of the attachment 100 is a predetermined distance from the ground in the vertical direction, and does not limit the working speed in the range above or below the horizontal range. Alternatively, the limiting range of the working speed of the work implement 1 may gradually decrease as the height position of the attachment 100 moves upward or downward from the ground.

[0300] The control device 51 may also limit the working range of the work machine 1 so that the movement range of the end W1c of the object to be gripped W remains within a predetermined range. Furthermore, the control device 51 may also limit the upper limit of the working speed of the work machine 1 to a lower value as the length from the attachment 100 to the end W1c of the object to be gripped W increases.

[0301] The main characteristic features and effects of the work machine 1 in the second embodiment described above are as follows. (Item D1) A work machine 1 comprising a machine body 2 and a work device 20 provided on the machine body 2, wherein an attachment 100 for gripping an object to be gripped W can be attached to the work device 20, and the work machine 1 is equipped with a control device 51 that restricts work range and / or work speed of the work machine 1 when performing work to grip an object to be gripped W with the attachment 100.

[0302] This work machine 1 makes it possible to improve safety when performing work using the attachment 100 for gripping the object W to be gripped.

[0303] (Item D2) The work machine 1 described in Item D1 is equipped with a detection unit 80 that detects the gripping of the object W by the attachment 100, and the control device 51 performs the work restriction when the gripping of the object W is detected by the detection unit 80.

[0304] With this work machine 1, when the detection unit 80 detects that the attachment 100 is gripping the object W to be gripped (i.e., it is in a gripping state), the work of the work machine 1 can be automatically restricted without any special operation by the operator of the work machine 1. Therefore, the safety of the work machine 1 while it is gripping the object W can be ensured regardless of the operator of the work machine 1.

[0305] (Item D3) The detection unit 80 has a load sensor 84 that detects the load acting on the work device 20, and the work machine 1 described in Item D2 detects whether the gripping of the object W is heavier than a predetermined amount when the load is heavier than when the object W is not being gripped.

[0306] According to this work machine 1, when the load on the attachment 100 becomes heavier than a predetermined amount than the attachment 100 itself, it can be determined that the attachment 100 is gripping the object W to be gripped. Therefore, it is possible to indirectly detect whether the attachment 100 is gripping the object W to be gripped.

[0307] (Item D4) The work machine 1 is described in any of Items D1 to D3 and includes an attachment detection unit 80A that detects whether the attachment 100 is attached to the work device 20, or detects an instruction to select the gripping work mode, which is a work mode that uses the attachment, and the control device 51 performs the work restriction when the attachment detection unit 80A detects whether the attachment 100 is attached, or when an instruction to select the gripping work mode is detected.

[0308] According to this work machine 1, if the attachment detection unit 80A detects that the attachment 100 is attached, or if it detects an instruction to select a gripping work mode, it determines that there is a high probability that the attachment 100 will perform a gripping operation on the object W to be gripped, and therefore determines that the gripping of the object W has been detected. For this reason, the work of the work machine 1 can be restricted immediately before the attachment 100 actually grips the object W and while the object W is being gripped.

[0309] (Item D5) The detection unit 80 detects an instruction to perform a gripping operation on the attachment 100, and the control device 51 performs the work restriction when the detection unit 80 detects the instruction to perform the operation, as described in Item D2.

[0310] According to this work machine 1, if an instruction is given to the attachment 100 to perform a gripping operation, the attachment 100 will grip the object W to be gripped. Therefore, instead of directly detecting whether the attachment 100 is actually gripping the object W, the gripping of the object W can be detected indirectly.

[0311] (Item D6) The attachment 100 is the work machine 1 described in Item D5, which includes a hydraulic actuator (gripping drive unit 122) for performing the gripping operation, and the detection unit 80 determines whether or not the execution instruction is given based on the pressure of the hydraulic fluid supplied to the hydraulic actuator or a control signal to the control valve that supplies hydraulic fluid to the hydraulic actuator.

[0312] According to this work machine 1, the presence or absence of a gripping instruction to the attachment 100 is determined based on the pressure of the hydraulic fluid supplied to the hydraulic actuator (gripping drive unit 122) of the attachment 100 or a control signal to the control valve that supplies hydraulic fluid to the hydraulic actuator (gripping drive unit 122) of the attachment 100, thus enabling effective detection of the gripping of the object to be gripped W.

[0313] (Item D7) The work machine 1 described in Item D2 is equipped with a first sensing device 81 that recognizes the object W being gripped by the attachment 100, and the detection unit 80 detects the gripping of the object W based on the recognition result of the first sensing device 81.

[0314] With this work machine 1, the first sensing device 81 can directly detect the state in which the attachment 100 is actually gripping the object W to be gripped, and the gripping of the object W by the attachment 100 can be detected effectively.

[0315] (Item D8) The work machine 1 described in any of Items D1 to D7 is switchable between a gripping mode in which the attachment 100 is used to grip the object to be gripped W, and a crane mode in which lifting work is performed, and in the crane mode, the work restriction is not applied, or the degree of the work restriction in the gripping mode is greater than the work restriction in the crane mode.

[0316] With this work machine 1, in crane mode, where lifting operations using a lifting hook are possible, the gripping of the object to be gripped W is not detected, and the work machine 1 is not restricted based on the gripping of the object to be gripped W. Therefore, the crane mode can be separated from the gripping operation mode, and the crane mode can be performed appropriately. In addition, in gripping mode, the degree of work restriction can be increased compared to the work restriction in crane mode, thereby improving safety in gripping mode.

[0317] (Item D9) The device has a weight sensor 80B for detecting the weight of the object W being gripped, and the control device 51 controls the operation according to the weight of the object W being gripped by the attachment 100. This is work machine 1, as described in one of the items D1 to D8, which change the degree of work restrictions.

[0318] With this work machine 1, the degree of work restriction is changed according to the weight of the object W being gripped by the attachment 100, so safety can be set considering the weight of the object W being gripped by the attachment 100. For example, as the weight of the object W being gripped increases, the degree of work restriction of the work machine 1 can be increased, so that safety can be ensured even when the weight of the object W being gripped increases.

[0319] For example, the working range (e.g., working radius, working width, etc.) and / or the working speed of the work implement 1 can be changed based on the weight of the pipe W1 being gripped by the attachment 100. Therefore, the working range and / or the working speed can be appropriately set according to the weight of the pipe W1. For example, as the weight of the pipe W1 increases, the working range of the work implement 1 can be reduced or the working speed of the work implement 1 can be reduced. Therefore, the working range and / or the working speed can be appropriately set according to the weight of the pipe W1.

[0320] (Item D10) The work machine 1 is one of the items D1 to D9, which includes a position detection unit 80C for detecting the height position of the attachment 100, and the control device 51 changes the degree of the work restriction according to the height position of the attachment 100.

[0321] With this work machine 1, the degree of work restriction is changed according to the height position of the object W being gripped by the attachment 100, so that work safety can be ensured by taking into account the height of the object W being gripped.

[0322] For example, the working range of the implement 1 is changed based on the height position of the attachment 100. Therefore, the working range can be appropriately set according to the height position of the attachment 100. Furthermore, the working speed of the implement 1 is changed based on the height position of the attachment 100. Therefore, the working speed can be appropriately set according to the height position of the attachment 100.

[0323] (Item D11) The first sensing device 81 recognizes the end portion W1c of the object W being gripped by the attachment 100 that protrudes from the attachment 100, and the control device 51 limits the working range of the work machine 1 so that the movement range of the end portion W1c of the object W being gripped is within a predetermined range, as described in Item D7.

[0324] With this work machine 1, the movement of the object W being gripped by the attachment 100 is stopped within a predetermined range, so that the area outside the predetermined range can be designated as a safe zone. Therefore, the safety of the work performed by the work machine 1 while gripping the object W can be ensured.

[0325] (Item D12) The first sensing device 81 recognizes the end portion W1c of the object W being gripped by the attachment 100 that protrudes from the attachment 100, and the control device 51 limits the upper limit of the working speed of the work machine 1 to a lower value as the length from the attachment 100 to the end portion W1c of the object W being gripped increases, as the working machine 1 according to Item D7.

[0326] This work machine 1 ensures safety during work even when the length of the object to be gripped W protruding from the attachment 100 is long. In other words, safety during work can be ensured regardless of the length of the object to be gripped W protruding from the attachment 100.

[0327] (Item D13) A control method for a work machine 1 comprising a machine body 2 and a work device 20 provided on the machine body 2, wherein an attachment 100 for gripping an object to be gripped W can be attached to the work device 20, wherein when the work of gripping an object to be gripped W is performed by the attachment 100, the control method for the work machine 1 limits one or both of the working range and working speed of the work machine 1 (S63).

[0328] This control method for the work machine 1 improves safety when performing work using the attachment 100 that grips the object W to be gripped.

[0329] [Third Embodiment] The third embodiment of the work machine 1 differs from the second embodiment in that it is configured to allow monitoring of the surroundings while gripping the object to be gripped W (for example, a pipe W1). Components similar to those in the second embodiment are denoted by the same reference numerals, and their descriptions are omitted.

[0330] Figure 9A is an electrical block diagram of the work machine according to the third embodiment. The first sensing device 81 recognizes the position of the end portion (at least the end portion W1c) of the portion of the gripping object W (e.g., pipe W1) that the attachment 100 is gripping that extends from the attachment 100.

[0331] The work machine 1 of the third embodiment is equipped with a surrounding monitoring device 88 that detects the position of contact avoidance targets located around the object W (e.g., pipe W1) being gripped by the attachment 100. The "contact avoidance targets" referred to here include, as will be described later, people HM or obstacles, the work machine 1 itself, and no-work areas IA, and include objects, areas or spaces that the object W being gripped by the attachment 100 is not permitted to touch, approach, or enter. The surrounding monitoring device 88 is, for example, a camera, a TOF (Time Of Flight) camera, a LiDAR, a millimeter-wave radar sensor, etc., and is capable of detecting people HM or obstacles and the work machine 1 itself. In addition, position data indicating no-work areas IA in the global coordinate system, work machine coordinate system, etc. is pre-stored in the storage unit 54. The surrounding monitoring device 88 can acquire no-work areas IA in the global coordinate system, work machine coordinate system, etc. based on the position data indicating no-work areas IA stored in the storage unit 54.

[0332] The relative position calculation unit 59 of the third embodiment further calculates the relative position between the position of the end W1c of the pipe W1 recognized by the first sensing device 81 and the position of the contact avoidance target detected by the surrounding monitoring device 88. The relative position calculation unit 59 calculates the relative position when the detection unit 80 detects that the pipe W1 is being gripped.

[0333] Figure 12 is a diagram illustrating the permitted range set around the work machine based on the relative position of the pipe being gripped and the objects to be avoided in its vicinity. The control device 51 of the third embodiment sets a permitted range WA in which the pipe W1 being gripped by the attachment 100 will not come into contact with the objects to be avoided, based on the relative position calculated by the relative position calculation unit 59. The permitted range WA is basically a workable area that includes the land, roads and sites for performing work on the object W being gripped by the attachment 100, roads and alleys to which the work machine 1 can move while gripping the object W, and waiting areas for the work machine 1 to wait.

[0334] The control device 51 controls the operation of the work machine 1 so that the pipe W1 gripped by the attachment 100 is located within the permitted range WA.

[0335] The display device 70 displays relative position information indicating the relative position. The notification device 75 notifies the relative position information indicating the relative position. The notification device 75 issues a notification when the relative position falls below a predetermined distance.

[0336] The surrounding monitoring device 88 detects the position PH1 of a person HM or obstacle located around the pipe W1 being gripped by the attachment 100 as the position to be avoided. For example, position PH1 is coordinate (Xmh1, Ymh1, Zmh1) in the work machine coordinate system, or it may be coordinate in the global coordinate system. The relative position calculation unit 59 calculates the relative position between the position of the pipe W1 recognized by the first sensing device 81 and the position PH1 of the person HM or obstacle detected by the surrounding monitoring device 88. The prohibited area FA1 may be a circle with position PH1 as the origin and radius RK1 (where radius RK1 is, for example, 1 m).

[0337] Furthermore, the surrounding monitoring device 88 detects the position of the work machine 1 located around the pipe W1 being gripped by the attachment 100 as the position to be avoided. The relative position calculation unit 59 calculates the relative position between the position of the pipe W1 recognized by the first sensing device 81 and the position of the work machine 1 detected by the surrounding monitoring device 88.

[0338] As shown in Figure 12, the surrounding monitoring device 88 detects the positions of the boundary BD (multiple positions PBD1 to PBDn that constitute the boundary BD) of the area IA where the work machine 1 cannot be operated, located around the pipe W1 that the attachment 100 is gripping, as positions to be avoided. For example, positions PBD1 and PBDn are coordinates (Xmb1, Ymb1, Zmb1) and (Xmbn, Ymbn, Zmbn) in the work machine coordinate system, or they may be coordinates in the global coordinate system. The area IA where work cannot be operated is a prohibited area FA2 where the pipe W1 gripped by the attachment 100 and the work machine 1 are not allowed to enter. The relative position calculation unit 59 calculates the relative position between the position of the pipe W1 recognized by the first sensing device 81 and the positions of the boundary BD (positions PBD1 to PBDn) detected by the surrounding monitoring device 88.

[0339] The surrounding monitoring device 88 may also detect the position of the boundary of the work area where the work machine 1 cannot be worked, located around the pipe W1 being gripped by the attachment 100, as the position of the object to be avoided. The work area is the space in which the pipe W1 being gripped by the attachment 100 and the work machine 1 are not allowed to enter, and includes the work area IA. The permitted space (space including the permitted range WA) is a workable space that includes, for example, the land, roads, and the space extending above and below the work site for performing work on the object W being gripped by the attachment 100 (e.g., pipe W1), the space extending above and below the roads and alleys to which the work machine 1 can move while gripping the object W (e.g., pipe W1), and the space extending above and below the waiting area where the work machine 1 is kept waiting. The relative position calculation unit 59 calculates the relative position between the position of pipe W1 recognized by the first sensing device 81 and the position of the boundary of the work area where the work area cannot be worked detected by the surrounding monitoring device 88.

[0340] The first sensing device 81 recognizes the position PM12 of the end of the pipe W1 that the attachment 100 is gripping. For example, the position PM12 is a coordinate (Xmw2, Ymw2, Zmw2) in the work machine coordinate system, or it may be a coordinate in the global coordinate system. The relative position calculation unit 59 calculates the relative position between the position PM12 of the end W1c of the pipe W1 that is closest to the object to be avoided, as recognized by the first sensing device 81, and the position of the object to be avoided located around the pipe W1.

[0341] The first sensing device 81 recognizes the positions PM11 and PM12 of the longitudinal ends W1b and W1c of the elongated pipe W1 being gripped by the attachment 100. For example, position PM11 is a coordinate (Xmw1, Ymw1, Zmw1) in the work machine coordinate system, or it may be a coordinate in the global coordinate system. The relative position calculation unit 59 calculates the relative position between the positions PM11 and PM12 of the ends W1b and W1c of the pipe W1 recognized by the first sensing device 81 and the position of the contact avoidance target located around the pipe W1.

[0342] The first sensing device 81 detects both ends W1 of the pipe W1 that the attachment 100 is gripping. The system recognizes multiple positions on the outer surface including b and W1c (for example, multiple positions aligned longitudinally on the outer surface of pipe W1, multiple intermediate positions between the two ends W1b and W1c, etc.). The relative position calculation unit 59 calculates the relative position between each position recognized by the first sensing device 81 and the position of the object to be avoided. The relative position calculation unit 59 may also calculate the relative position between each position on the line segment connecting the two ends W1b and W1c of pipe W1, recognized by the first sensing device 81, and the position of the object to be avoided.

[0343] The relative position calculation unit 59 may calculate the relative positions of the positions obtained by adding a predetermined thickness of the pipe W1 to each position on the line segment connecting both ends W1b and W1c of the pipe W1 recognized by the first sensing device 81, and the positions of the contact avoidance targets located around the pipe W1.

[0344] The memory unit 54 pre-stores settings for detecting one end W1b of the gripped pipe W1, settings for detecting both ends W1b and W1c, settings for detecting the line segment between both ends W1b and W1c when both ends W1b and W1c are detected, and settings for adding thickness to the line segment when a line segment is detected. Furthermore, the operator can change these settings stored in the memory unit 54 as appropriate by operating the operating device 5 or the setting unit 57.

[0345] The surrounding area monitoring process while gripping pipe W1 is performed according to the flowchart shown in Figure 9B. Figure 9B is a flowchart showing an example of the surrounding area monitoring process while gripping the pipe.

[0346] The control device 51 determines whether or not the detection unit 80 has detected that the pipe W1 is being gripped (S71). If the gripping of the pipe W1 is detected (S71, Yes), the control device 51 uses the first sensing device 81 to recognize the position of the gripped pipe W1 (S72).

[0347] The position recognition process for pipe W1 (S72) is performed according to the flowchart shown in Figure 10. Figure 10 is a flowchart of an example of the pipe position recognition process.

[0348] If the control device 51 has a setting stored in the storage unit 54 to detect only one end W1b of the pipe W1 (S721, Yes), it detects only the position of the end W1b of the pipe W1 (S722). On the other hand, if the setting is not to detect only one end W1b of the pipe W1 (S721, No), the control device 51 detects the positions of both ends W1b and W1c of the pipe W1 (S723).

[0349] If the control device 51 has a setting stored in the storage unit 54 to detect the line segment between the ends W1b and W1c of the pipe W1 (S724, Yes), it detects the positions of each line segment between the ends W1b and W1c of the pipe W1 (S725).

[0350] After S725, if the setting to add thickness to the line segment between both ends W1b and W1c of the pipe W1 is stored in the storage unit 54 (S726, Yes), the control device 51 adds thickness to the line segment between both ends W1b and W1c of the pipe W1 (S727). After S727, after S722, if the answer is No in S724, or if the answer is No in S726, the control device 51 terminates this process and proceeds to S73 in Figure 9B.

[0351] The surrounding monitoring device 88 detects the position of the object to be avoided in the vicinity of the object W (e.g., pipe W1) being gripped by the attachment 100 (S73).

[0352] The process of detecting objects to avoid contact around pipe W1 (S73) is performed according to the flowchart shown in Figure 11. Figure 11 is a flowchart of an example of the process of detecting objects to avoid contact around pipe.

[0353] The control device 51 has objects to avoid contact with around the pipe W1 that the attachment 100 is gripping. If detected by the surrounding monitoring device 88 (S731, Yes), the control device 51 determines whether the object to be avoided is a person HM or an obstacle (S732). If the control device 51 determines that the object to be avoided is a person HM or an obstacle (S732, Yes), it stores the position PH1 of the person HM or obstacle in the storage unit 54 (S733).

[0354] The control device 51 determines whether the object to be avoided is the work machine itself (for example, the boom 21, the main body 30, the protective mechanism 6, etc.) (S734). If the control device 51 determines that the object to be avoided is the work machine itself (S734, Yes), it stores the position of the work machine 1 in the storage unit 54 (S735).

[0355] The control device 51 determines whether the object to be avoided is in a non-workable area IA or a non-workable space (S736). If the control device 51 determines that the object to be avoided is in a non-workable area IA or a non-workable space (S736, Yes), it stores the location of the non-workable area IA or non-workable space in the storage unit 54 (S737).

[0356] If the result in S731 is No, if the result in S732 is No, if the result in S736 is No, or after S737, the control device 51 terminates this process and proceeds to S74 in Figure 9B.

[0357] The relative position calculation unit 59 calculates the relative position between the position of pipe W1 recognized by the first sensing device 81 and the position of boundary BD (positions PBD1 to PBDn) detected by the surrounding monitoring device 88 (S74).

[0358] If the relative position calculation unit 59 is set to detect one end W1b of the gripped pipe W1, it calculates the relative position between the position PM12 of the end W1c of the pipe W1 that is furthest from the attachment 100 and the position of the contact avoidance target located around the pipe W1. If the relative position calculation unit 59 is set to detect both ends W1b and W1c, it calculates the relative positions between the respective positions PM11 and PM12 of both ends W1b and W1c of the pipe W1 and the position of the contact avoidance target located around the pipe W1. If the relative position calculation unit 59 is set to detect the line segment between both ends W1b and W1c when detecting both ends W1b and W1c, it calculates the relative position between each position of the line segment connecting both ends W1b and W1c of the pipe W1 and the position of the contact avoidance target located around the pipe W1. If the relative position calculation unit 59 is set to add thickness to a line segment when detecting a line segment, it calculates the relative position between each position of the line segment connecting both ends W1b and W1c of the pipe W1, obtained by adding a predetermined thickness of the pipe W1, and the position of the contact avoidance target located around the pipe W1.

[0359] The control device 51 sets an permitted range WA in which the pipe W1 gripped by the attachment 100 does not come into contact with the object to be avoided, based on the relative position calculated by the relative position calculation unit 59 (S75).

[0360] Figure 13 shows an example of the display of relative position information in a display device. The display device 70 displays relative position information on the display unit 71 (S75). The display unit 71 displays information indicating the relative position relationship between the pipe W1 being gripped by the attachment 100 of the work machine 1 and the prohibited areas FA1 and FA2 located around it, as well as the message M1, "Please be careful of your surroundings." The notification device 75 notifies the relative position information (S75). For example, the notification device 75 outputs a voice notification saying, "Please be careful of your surroundings."

[0361] The control device 51 controls the work machine 1 so that the pipe W1 being gripped by the attachment 100 is located within the permitted range WA (S77). For example, the control device 51 controls the gripping of the pipe W1 being gripped by the attachment 100 when the operator grips it. The button 5a and operating lever 5b are operated manually, or the attachment 100 is automatically gripped in gripping mode. The control device 51 may limit the working speed of the work machine 1 when the relative position calculated by the relative position calculation unit 59 falls below a predetermined distance. For example, the working speed of at least one of the work devices 20 (boom cylinder C1, attachment swing cylinder C2, swing cylinder C4, arm cylinder C9, etc.), the travel device 10 (left travel motor ML, right travel motor MR), the slewing device 25 (slewing motor MT), etc. may be limited. When the relative position falls below a predetermined distance, the control device 51 limits the upper limit of the working speed of the work machine 1 to a lower value the closer the relative position is.

[0362] The control device 51 determines whether the position of the object to be avoided has changed (S78). If it determines that the position has changed (S78, Yes), it proceeds to S72. On the other hand, if the control device 51 determines that the position of the object to be avoided has not changed (S78, No), it determines whether the gripping of pipe W1 has been completed (S79). If the gripping of pipe W1 has not been completed (S79, No), the control device 51 returns to S72. On the other hand, if the gripping of pipe W1 has been completed (S79, Yes), the control device 51 terminates this process.

[0363] The main characteristic features and effects of the work machine 1 in the third embodiment described above are as follows.

[0364] (Item E1) A work machine 1 comprising a machine body 2 and a work device 20 provided on the machine body 2, wherein an attachment 100 for gripping an object to be gripped W can be attached to the work device 20, the work machine 1 comprising: a first sensing device 81 that recognizes the position of the end portion of the object to be gripped W that is gripped by the attachment 100 and extends from the attachment 100; a peripheral monitoring device 88 that detects the position of a contact avoidance target located around the object to be gripped W; and a relative position calculation unit 59 that calculates the relative position between the position of the end portion of the object to be gripped W recognized by the first sensing device 81 and the position of the contact avoidance target detected by the peripheral monitoring device 88.

[0365] This work machine 1 makes it easy to grasp the relative position between the object to be gripped W and the object to avoid contact with, thereby improving safety when performing work using the attachment 100 that grips the object to be gripped W. Furthermore, the relative position calculation unit 59 calculates the relative position between the position of the object to be gripped W being gripped by the attachment 100 and the position of the object to avoid contact located around the object to be gripped W. Therefore, even if the attachment 100 is gripping different types of objects W, or if the gripping state of the object W being gripped by the attachment 100 is different from the previous gripping state or a specified state, the relative position between the position of the object W being gripped by the attachment 100 and the position of the object to avoid contact located around the object W can be accurately obtained. Thus, based on the actual gripping situation by the attachment 100, the relative positional relationship between the object W being gripped by the attachment 100 and the object to avoid contact located around the object W can be accurately grasped.

[0366] (Item E2) The work machine 1 according to Item E1, which includes a control device 51 that controls the operation of the work machine 1 so that the object to be gripped W is located within the permitted range WA in which it does not come into contact with the object to be avoided, based on the relative position.

[0367] This work device 1 prevents the object W being gripped by the attachment 100 from coming into contact with or entering any objects to be avoided in the vicinity of the object W. Therefore, the drive control of the work device 20 while gripping the object W can be performed safely.

[0368] (Item E3) The work machine 1 according to item E1 or E2, which is equipped with a display device 70 that displays relative position information indicating the relative position.

[0369] According to this work machine 1, the display device 70 displays relative position information indicating the relative position, so that the operator of the work machine 1 can be informed of the relative positional relationship between the object W being gripped by the attachment 100 and the objects to be avoided in the vicinity.

[0370] (Item E4) The work machine 1 described in any of items E1 to E3 is equipped with a notification device 75 that emits an alarm when the relative position falls below a predetermined distance.

[0371] According to this work machine 1, the notification device 75 notifies relative position information indicating the relative position, so that the operator of the work machine 1 can be notified of the relative position relationship between the object W being gripped by the attachment 100 and the objects to be avoided in the vicinity.

[0372] (Item E5) The surrounding monitoring device 88 is a work machine 1 according to any one of items E1 to E4, which detects the position PH1 of a person HM or obstacle located around the object to be grasped W as the position of the object to be avoided.

[0373] This work machine 1 makes it possible to acquire the relative positional relationship between the object W being gripped by the attachment 100 and people HM or obstacles located around the object W. Therefore, based on the actual gripping situation by the attachment 100, the relative positional relationship between the object W being gripped by the attachment 100 and people HM or obstacles located around the object W can be accurately determined.

[0374] (Item E6) The surrounding monitoring device 88 is the work machine 1 described in any of Items E1 to E5, which detects the position of the work machine 1 as the position of the object to be avoided.

[0375] This work machine 1 makes it possible to obtain the relative positional relationship between the object W being gripped by the attachment 100 and the work machine 1 located around the object W. Therefore, based on the actual gripping situation by the attachment 100, the relative positional relationship between the object W being gripped by the attachment 100 and the work machine 1 located around the object W can be accurately determined.

[0376] (Item E7) The surrounding monitoring device 88 is the work machine 1 described in any of Items E1 to E6, which detects the position (positions PBD1 to PBDn) of the boundary BD of the area IA where the work machine 1 cannot be used, which is set around the object to be gripped W, as the position of the object to be avoided.

[0377] This work machine 1 makes it possible to obtain the relative positional relationship between the object W being gripped by the attachment 100 and the boundary BD of the area IA where work cannot be performed by the work machine 1, which is located around the object W being gripped. Therefore, based on the actual gripping situation by the attachment 100, the relative positional relationship between the object W being gripped by the attachment 100 and the boundary BD of the area IA where work cannot be performed, which is located around the object W being gripped, can be accurately grasped. The workable area includes, for example, land, roads and sites for performing work on the object W being gripped by the attachment 100, roads and alleys to which the work machine 1 can move while gripping the object W, and waiting areas where the work machine 1 is kept waiting.

[0378] Furthermore, the relative positional relationship between the object W being gripped by the attachment 100 and the boundary BD of the area where work cannot be performed by the work machine 1, located around the object W, can be obtained. Therefore, based on the actual gripping situation by the attachment 100, the relative positional relationship between the object W being gripped by the attachment 100 and the boundary BD of the area where work cannot be performed, located around the object W, can be accurately grasped. The workable area includes, for example, land and roads for performing work on the object W being gripped by the attachment 100. This includes the space extending above and below the road and work site, the space extending above and below the road and alleys on which the work machine 1, while gripping the object W, can move, and the space extending above and below the waiting area where the work machine 1 is kept waiting.

[0379] (Item E8) The relative position calculation unit 59 is a work machine 1 according to any of items E1 to E7, which calculates the relative position between the position PM12 of the end W1c of the gripping object W recognized by the first sensing device 81 that is closest to the contact avoidance target, and the position of the contact avoidance target.

[0380] With this work machine 1, it is only necessary to calculate the relative position between the end W1c of the object W being gripped by the attachment 100 that is closest to the object to be avoided, and the object to be avoided. In other words, only the minimum necessary relative position needs to be calculated. Therefore, the processing burden for calculating the relative position can be reduced.

[0381] (Item E9) The first sensing device recognizes the positions of both ends W1b and W1c in the longitudinal direction of the elongated gripping object W, and the relative position calculation unit 59 calculates the relative position between the positions PM11 and PM12 of both ends W1b and W1c recognized by the first sensing device 81 and the position of the contact avoidance target, as described in any of Items E1 to E8.

[0382] This work machine 1 allows the acquisition of the relative positions PM11 and PM12 of both ends W1b and W1c of the object W being gripped by the attachment 100, and the positions of contact avoidance targets located around the object W being gripped. In other words, it is possible to acquire two relative positions and, since the calculation is limited to two relative positions, the processing burden for calculating relative positions can be kept low.

[0383] (Item E10) The first sensing device 81 recognizes the positions of multiple outer surfaces of the object to be gripped W, including both ends W1b and W1c, and the relative position calculation unit 59 calculates the relative position between each of the positions recognized by the first sensing device 81 and the position of the object to be avoided, as described in Item E9.

[0384] According to this work machine 1, the relative positions of each of the multiple outer surfaces of the object W being gripped by the attachment 100, including both ends W1b and W1c, and the position of the object to be avoided are calculated. The relative positions of each of the multiple outer surfaces of the object W being gripped, including both ends W1b and W1c, and the object to be avoided can be obtained. Therefore, the relative positions can be obtained in even greater detail.

[0385] For example, the relative position between each position on the line segment connecting both ends W1b and W1c of the object to be gripped W and the object to be avoided in contact may be obtained. In this case, the relative position can be obtained for each position on the line segment connecting both ends W1b and W1c of the object to be gripped W that the attachment 100 is gripping. Therefore, the relative position can be obtained in even greater detail.

[0386] Alternatively, the relative position calculation unit 59 may calculate the relative positions of the positions obtained by adding a predetermined thickness of the gripping object W to each position on the line segment connecting both ends W1b and W1c of the gripping object W recognized by the first sensing device 81, and the positions of the contact avoidance targets located around the gripping object W.

[0387] In this case, the relative positions of the positions obtained by adding a predetermined thickness of the object W to each position on the line segment connecting both ends W1b and W1c of the object W being gripped by the attachment 100, and the positions of the contact avoidance targets located around the object W are calculated. The relative position between the object to be avoided and the line segment connecting both ends W1b and W1c of the object to be gripped W, taking into account the thickness of the object to be gripped W, can be obtained. In other words, the relative position can be obtained for each position on the line segment connecting both ends W1b and W1c of the object to be gripped W, which is being gripped by the attachment 100, taking into account the thickness of the object to be gripped W. Therefore, the relative position can be obtained in even greater detail.

[0388] (Item E11) The work machine 1 is described in any of Items E1 to E10 and includes a detection unit 80 that detects the gripping of the object W by the attachment 100, and the relative position calculation unit 59 calculates the relative position when the gripping of the object W is detected by the detection unit 80.

[0389] According to this work machine 1, the relative position calculation unit 59 calculates the relative position when the detection unit 80 detects that the object to be gripped W is being gripped (i.e., when the attachment 100 is gripping the object to be gripped W). Therefore, during work performed by the work device 20 in which the attachment 100 is gripping the object to be gripped W, the relative position between the object to be gripped W being gripped by the attachment 100 and the objects to be avoided in the vicinity can be obtained. In other words, the relative position can be obtained at an appropriate timing.

[0390] (Item E12) The work machine 1 according to any one of items E1 to E11, which is equipped with a control device that limits the working speed of the work machine when the relative position becomes less than a predetermined distance.

[0391] This work machine 1 allows for the restriction of work performed by the attachment 100 that grips the object W to be gripped to be restricted at an appropriate time.

[0392] (Item E13) The control device is the work machine 1 described in Item E12, which limits the upper limit of the work speed of the work machine to a lower value as the relative position gets closer.

[0393] With this work machine 1, the safety of the work performed by the attachment 100 that grips the object W to be gripped can be appropriately ensured according to the distance from the relative position.

[0394] (Item E14) A control method for a work machine 1 comprising a machine body 2, a work device 20 provided on the machine body 2, and an attachment 100 for gripping an object to be gripped W on the work device 20, wherein the work machine 1 comprises a first sensing device 81 that recognizes the position of the object to be gripped W being gripped by the attachment 100, a surrounding monitoring device 88 that detects the position of a contact avoidance target located around the object to be gripped W, and a relative position calculation unit 59 that calculates the relative position between the object to be gripped W and the contact avoidance target, wherein the first sensing device 81 and the attachment The control method for the work machine 1 includes a first step (S72) of causing the attachment 100 to recognize the position of the end portion of the gripping object W that the attachment 100 is gripping, a second step (S73) of causing the surrounding monitoring device 88 to detect the position of a contact avoidance target located around the gripping object W, and a third step (S74) of causing the relative position calculation unit 59 to calculate the relative position between the position of the gripping object W recognized in the first step and the position of the contact avoidance target detected in the second step.

[0395] According to the control method of this work machine 1, the relative position between the object to be gripped W and the object to avoid contact can be easily determined, thereby improving safety when performing work using the attachment 100 that grips the object to be gripped W.

[0396] Furthermore, in each embodiment, the coordinate calculation unit 58 and the relative position calculation unit 59 may use not only the position of the work machine coordinate system, but also the position of the coordinate system of the first sensing device 81 or the position of the global coordinate system. It is possible to change the coordinate systems between them using known coordinate transformation calculations.

[0397] Furthermore, although each embodiment includes a first sensing device 81 and a position acquisition device 83, the first sensing device 81 may also serve as the position acquisition device 83. In other words, the first sensing device 81 may also detect (acquire) the position of one end W2b of the pipe W2 to be joined.

[0398] Furthermore, in each embodiment, the work machine 1 is configured to drive the first hydraulic pump P1, the second hydraulic pump P2, and the third hydraulic pump P3 with the power of the prime mover E1. However, it may also be an electric type or hybrid type work machine equipped with a drive battery and an electric motor instead of or in addition to the prime mover E1. In this case, the work machine 1 can drive an electric motor with power from the drive battery, drive the first hydraulic pump P1, the second hydraulic pump P2 and the third hydraulic pump P3 with the power of the electric motor, and drive the hydraulic actuators (boom cylinder C1, attachment swing cylinder C2, dozer cylinder C3, swing cylinder C4, arm cylinder C9), left travel motor ML, right travel motor MR and slewing motor MT with the hydraulic fluid discharged from the first hydraulic pump P1 and the second hydraulic pump P2, and drive the work device 20 and the travel device 10 with the power of the hydraulic actuators (boom cylinder C1, attachment swing cylinder C2, dozer cylinder C3, swing cylinder C4 and arm cylinder C9), left travel motor ML, right travel motor MR and slewing motor MT.

[0399] Furthermore, some or all of the actuators provided in the work device 20 and the travel device 10 may be electric actuators, and these electric actuators may be driven by battery power to drive the work device 20 and the travel device 10. For example, in addition to a configuration in which all actuators are electric actuators, there may also be a configuration that has at least one electric motor for driving the hydraulic pump and an electric motor for slewing.

[0400] Although the present invention has been described above, the embodiments disclosed herein should be considered in all respects to be illustrative and not restrictive. The scope of the present invention is indicated by the claims rather than by the foregoing description, and all modifications within the meaning and scope equivalent to the claims are intended to be included.

[0401] In the embodiments described above, examples of applying the present invention to a work machine 1 such as a backhoe were explained, but the application of the present invention is not limited to this, and it may also be applied to other construction machinery such as wheel loaders, compact track loaders, and skid steer loaders. [Explanation of Symbols]

[0402] 1. Work machine 2 units 10. Traveling device 20 Working equipment 21 Boom 22 Arms 24 Swing Bracket 25. Swivel device 30 Main Unit 51 Control device 57 Settings Section 58 Coordinate Calculation Unit 59 Relative position calculation unit 80 Detection unit 80A Attachment detection unit 80B Weight Sensor 80C Position detection unit 81 First sensing device (detection unit) 82 Second Sensing Device 83 Location acquisition device 84. Load sensor (detection unit) 100 Attachments 112 Gripping part 114 Horizontal rotation mechanism 115 Joining function section 121 Gripping claw C1 Boom Cylinder C2 Attachment Swivel Cylinder C4 Swing Cylinder C9 Arm Cylinder MT Swivel Motor W Object to be gripped (joint member) W1 pipe (joining member) W2 Pipe to be joined (part to be joined)

Claims

1. A work machine comprising a machine body and a work device provided on the machine body, wherein an attachment for gripping an object to be gripped can be attached to the work device, A control device that limits the working range and / or working speed of the work machine when performing the operation of gripping an object with the attachment, A detection unit for detecting the gripping of an object by the attachment, A first sensing device that recognizes the object being gripped by the attachment, Equipped with, The detection unit detects the gripping of the object to be gripped based on the recognition result of the first sensing device, The control device performs the work restriction when the gripping of the object to be gripped is detected by the detection unit. The first sensing device recognizes the end portion of the object being gripped by the attachment that protrudes from the attachment, The control device is a work machine that restricts the working range of the work machine so that the range of movement of the end of the object to be gripped falls within a predetermined range.

2. A work machine comprising a machine body and a work device provided on the machine body, wherein an attachment for gripping an object to be gripped can be attached to the work device, A control device that limits the working range and / or working speed of the work machine when performing the operation of gripping an object with the attachment, A detection unit for detecting the gripping of an object by the attachment, A first sensing device that recognizes the object being gripped by the attachment, Equipped with, The detection unit detects the gripping of the object to be gripped based on the recognition result of the first sensing device, The control device performs the work restriction when the gripping of the object to be gripped is detected by the detection unit. The first sensing device recognizes the end portion of the object being gripped by the attachment that protrudes from the attachment, The control device is a work machine that limits the upper limit of the work machine's working speed to a lower value as the length from the attachment to the end of the object to be gripped increases.

3. The work machine according to claim 1 or 2, wherein the detection unit has a load sensor that detects the load acting on the work device, and the gripping of the object to be gripped is detected based on whether the load has become heavier than a predetermined amount compared to the state when the object to be gripped is not being gripped.

4. The device includes an attachment detection unit that detects whether the attachment is attached to the work device, or detects an instruction to select the gripping work mode, which is a work mode that uses the attachment. The work machine according to claim 1 or 2, wherein the control device performs the work restriction when the attachment detection unit detects that the attachment is attached, or when an instruction to select a gripping work mode is detected.

5. The detection unit detects an instruction to perform a gripping operation on the attachment, The work machine according to claim 1 or 2, wherein the control device performs the work restriction when the detection unit detects the execution instruction.

6. The attachment is equipped with a hydraulic actuator for performing the gripping operation. The work machine according to claim 5, wherein the detection unit determines whether or not the execution instruction is given based on the pressure of the hydraulic fluid supplied to the hydraulic actuator or a control signal to the control valve that supplies hydraulic fluid to the hydraulic actuator.

7. The attachment allows switching between a gripping mode for gripping the object to be gripped and a crane mode for lifting. The work machine according to claim 1 or 2, wherein the work restriction is not performed in the crane mode, or the degree of the work restriction in the gripping mode is greater than the work restriction in the crane mode.

8. It has a weight sensor that detects the weight of the object to be grasped, The work machine according to claim 1 or 2, wherein the control device changes the degree of work restriction according to the weight of the object being gripped by the attachment.

9. The attachment is equipped with a position detection unit that detects the height position of the attachment, The work machine according to claim 1 or 2, wherein the control device changes the degree of work restriction according to the height position of the attachment.

10. A control method for a work machine having a machine body and a work device provided on the machine body, wherein an attachment for gripping an object to be gripped can be attached to the work device, When the control device performs the operation of gripping an object with the attachment, it imposes work restrictions that limit either or both of the working range and / or working speed of the work machine. A detection unit for detecting the gripping of an object by the attachment, A first sensing device that recognizes the object being gripped by the attachment, Equipped with, The detection unit detects the gripping of the object to be gripped based on the recognition result of the first sensing device, The control device performs the work restriction when the gripping of the object to be gripped is detected by the detection unit. The first sensing device recognizes the end portion of the object being gripped by the attachment that protrudes from the attachment, The control device is a method for controlling a work machine that limits the working range of the work machine so that the range of movement of the end portion of the object to be gripped falls within a predetermined range.

11. A control method for a work machine having a machine body and a work device provided on the machine body, wherein an attachment for gripping an object to be gripped can be attached to the work device, When the control device performs the operation of gripping an object with the attachment, it imposes work restrictions that limit either or both of the working range and / or working speed of the work machine. A detection unit for detecting the gripping of an object by the attachment, A first sensing device that recognizes the object being gripped by the attachment, Equipped with, The detection unit detects the gripping of the object to be gripped based on the recognition result of the first sensing device, The control device performs the work restriction when the gripping of the object to be gripped is detected by the detection unit. The first sensing device recognizes the end portion of the object being gripped by the attachment that protrudes from the attachment, The control device is a method for controlling a work machine that limits the upper limit of the work machine's working speed to a lower value as the length from the attachment to the end of the object to be gripped increases.

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