Work assistance system, work machine, and work assistance program

Abstract

This work machine has a machine body and an attachment. A work assistance system 1 comprises a controller. The attachment is attached to the machine body so as to be operable. The attachment has a tip attachment for performing work. The controller comprises a work position setting unit, a state determination unit, and a work position correction unit. The work position setting unit sets a work position, which is a target position at which the tip attachment releases a work object. The state determination unit determines the state of the work object captured by the tip attachment. The work position correction unit corrects the work position using a correction value based on the state of the work object.

Description

Work support system, work machine, and work support program

[0001] The present invention relates to a work assistance system, a work machine, and a work assistance program.

[0002] For example, Patent Document 1 describes a shovel that autonomously loads work objects into a plurality of preset positions on the bed of a dump truck in sequence.

[0003] Patent No. 7227222

[0004] However, depending on the condition of the work object held by the end attachment, there is a risk that the work object will not be properly loaded into a container such as a loading platform even if the loading operation is performed at a preset target position. Also, even in operations other than loading work objects into a container, there is a risk that the work object will not be properly released at the preset target position depending on the condition of the work object held by the end attachment.

[0005] An object of the present invention is to provide a work assistance system, a work machine, and a work assistance program that enable an end attachment of a work machine to appropriately release a work object at a target position.

[0006] The work assistance system provided by the present invention assists a work machine having a machine body and an attachment that includes an end attachment for performing work and is operably attached to the machine body. The work assistance system includes a controller. The controller has a work position setting unit, a state determination unit, and a work position correction unit. The work position setting unit sets a work position that is a target position where the end attachment will release a work object. The state determination unit determines the state of the work object that the end attachment will capture. The work position correction unit corrects the work position with a correction value based on the state of the work object.

[0007] The work machine provided by the present invention comprises a machine body, an attachment, and a controller. The attachment is operably attached to the machine body. The attachment has an end attachment that performs work. The controller comprises a work position setting unit, a state determination unit, and a work position correction unit. The work position setting unit sets a work position that is a target position where the end attachment will release a work object. The state determination unit determines the state of the work object that the end attachment will capture. The work position correction unit corrects the work position with a correction value based on the state of the work object.

[0008] The work assistance program provided by the present invention is used in a work machine. The work machine comprises a machine body and an attachment. The attachment is operably attached to the machine body. The attachment has an end attachment that performs work. The work assistance program causes a computer to execute a work position setting step, a state determination step, and a work position correction step. The work position setting step sets a work position that is a target position where the end attachment will release a work object. The state determination step determines the state of the work object that the end attachment will capture. The work position correction step corrects the work position with a correction value based on the state of the work object.

[0009] Fig. 1 is a side view of a work machine and the like of a work support system. Fig. 2 is a block diagram of the work support system shown in Fig. 1. Fig. 3 is a flowchart of the operation of the controller and the like shown in Fig. 2. Fig. 4 is a diagram showing the placement position of a released work object when the work object captured by the end attachment shown in Fig. 1 protrudes from the opening surface. Fig. 5 is a diagram showing the release operation of the work object by the end attachment shown in Fig. 1 and the difference between before and after correction of the release position of the released work object.

[0010] The work support system 1 will be described below with reference to the drawings.

[0011] The work assistance system 1 is a system that sets an appropriate release position depending on the state of a work object O held by the end attachment 15d shown in Figure 1. The work assistance system 1 includes an attitude sensor 31, a position sensor 33, an input device 35 (see Figure 2), a controller 50 (computer), a status acquisition device 60, and a teaching device 70. The work assistance system 1 may also include a work machine 10.

[0012] The work machine 10 is a machine that performs work, such as a construction machine that performs construction work, such as a shovel. The following describes a case where the work machine 10 is a shovel. The work machine 10 is configured to be capable of automatic operation. The work machine 10 may be operated by a worker (operator) in a cab 13a (described below), or may be remotely operated. The work machine 10 comprises a machine main body 10a, an attachment 15, a drive control unit 17 (see FIG. 2 ), and an actuator 21.

[0013] The machine body 10a is the main body of the work machine 10. The machine body 10a comprises a lower body 11 and an upper rotating body 13. The lower body 11 supports the upper rotating body 13. For example, the lower body 11 is a lower traveling body that allows the work machine 10 to travel. In this case, the lower body 11 may be equipped with crawlers or wheels. The upper rotating body 13 is attached (mounted) to be rotatable relative to the lower body 11. The upper rotating body 13 comprises a cab 13a. The cab 13a is the part where a worker (operator) can operate the work machine 10.

[0014] (Directions) The direction in which the rotation axis of the upper rotating body 13 extends relative to the lower body 11 is the up-down direction Z. In the up-down direction Z, the direction from the lower body 11 toward the upper rotating body 13 is the up-down direction Z1, and the opposite direction is the down-down direction Z2. The up-down direction Z may be vertical. The direction in which the upper rotating body 13 rotates relative to the lower body 11 is the rotation direction. The direction perpendicular to the up-down direction Z and the left-right direction of the upper rotating body 13 is the fore-aft direction X of the upper rotating body 13. When viewed along the up-down direction Z, the fore-aft direction X is the direction in which the central axis of the attachment 15 extends in the longitudinal direction of the attachment 15 (the fore-aft direction of the attachment 15). In the fore-aft direction X, the direction in which the attachment 15 protrudes relative to the upper rotating body 13 is the back direction X1, and the opposite direction is the front direction X2. When the rotation angle of the upper rotating body 13 relative to the lower body 11 is zero, the front-to-rear direction of the lower body 11 and the front-to-rear direction X of the upper rotating body 13 coincide (are parallel).

[0015] As shown in FIG. 1 , the attachment 15 is a part that performs work and includes, for example, a boom 15b, an arm 15c, and a tip attachment 15d. The boom 15b is attached to the upper rotating body 13 so as to be able to rise and fall (rotate in the vertical direction Z). The arm 15c is rotatably attached to the boom 15b. The tip attachment 15d is provided at the tip of the attachment 15 and is rotatably attached to the arm 15c. The tip attachment 15d is capable of capturing (holding) and releasing a work object O. For example, the tip attachment 15d may be a bucket that performs operations such as scooping or digging the work object O, a device that grips the work object O (such as a grapple or nibbler), or a lifting magnet that attracts a metal work object O. A specific portion of the tip attachment 15d is referred to as a specific portion 15d1. The specific portion 15d1 may be the connection portion (base end) of the tip attachment 15d to the arm 15c, or the tip end of the tip attachment 15d (the end opposite the base end). The work object O is an object that is the target of work by the work machine 10 (of the attachment 15, the tip attachment 15d). For example, the work object O may be soil, stone, wood, metal, waste, or a structure (such as a block).

[0016] The drive control unit 17 (see FIG. 2) controls the movement of the actuator 21. The drive control unit 17 controls a swing motor 21 a, a boom cylinder 21 b, an arm cylinder 21 c, and a tip attachment cylinder 21 d, which will be described later. The drive control unit 17 may include a hydraulic circuit that controls the hydraulic actuator 21. The drive control unit 17 may also include an electric circuit that controls the electric actuator 21.

[0017] The actuator 21 drives (operates) the work machine 10. The actuator 21 drives the attachment 15. The actuator 21 includes a swing motor 21a, a boom cylinder 21b, an arm cylinder 21c, and a tip attachment cylinder 21d. The swing motor 21a swings the upper swing body 13 relative to the lower body 11. The swing motor 21a may be a hydraulic motor or an electric motor. The boom cylinder 21b raises and lowers the boom 15b relative to the upper swing body 13. The boom cylinder 21b is, for example, a hydraulic telescopic cylinder (hydraulic cylinder) (the same applies to the arm cylinder 21c and the tip attachment cylinder 21d). The arm cylinder 21c rotates the arm 15c relative to the boom 15b. The tip attachment cylinder 21d rotates the tip attachment 15d relative to the arm 15c. If the tip attachment 15d itself is drivable, for example as a device for clamping an object, a cylinder, a motor, or the like for driving the tip attachment 15d may be provided.

[0018] The attitude sensor 31 detects the attitude of the work machine 10. The attitude sensor 31 detects the attitude of the attachment 15 (has an attachment attitude information acquisition function). The attitude sensor 31 may be mounted on the work machine 10 or may be located outside the work machine 10 (for example, at the work site). The attitude sensor 31 may be an imaging device, which will be described later. The same applies to the position sensor 33, the input device 35 (see FIG. 2), the status acquisition device 60, the controller 50, and the teaching device 70, which may be mounted on the work machine 10 or located outside the work machine 10. The attitude sensor 31 includes a swing sensor 31a, a boom sensor 31b, an arm sensor 31c, a tip attachment sensor 31d, and a reference position sensor 31e.

[0019] The swing sensor 31a detects the angle (swing angle) of the upper swing structure 13 with respect to the lower main body 11 (or the work site). The boom sensor 31b detects the attitude of the boom 15b. For example, the boom sensor 31b detects the angle (tilt or rotation angle) of the boom 15b with respect to the horizontal direction or the upper swing structure 13. The arm sensor 31c detects the attitude of the arm 15c. The arm sensor 31c detects the angle of the arm 15c with respect to the horizontal direction or the boom 15b. The tip attachment sensor 31d detects the attitude of the tip attachment 15d. For example, the tip attachment sensor 31d detects the angle of the tip attachment 15d with respect to the horizontal direction or the arm 15c. In Figure 2, the "tip attachment" is written as "tip ATT." The reference position sensor 31e detects the position and orientation of a reference part of the work machine 10 shown in Figure 1 with respect to the work site. The reference portion of the work machine 10 may be, for example, a specific portion of the upper rotating body 13 or the lower body 11, for example, the mounting portion (boom foot) of the boom 15b to the upper rotating body 13, or the center of rotation of the upper rotating body 13 relative to the lower body 11. The reference position sensor 31e (see FIG. 2) may perform detection using a positioning system. The positioning system may be a satellite positioning system, for example, a global navigation satellite system (GNSS). The positioning system may use a total station. The reference position sensor 31e may be equipped with an antenna for using the satellite positioning system. Note that in FIG. 1, when the reference position sensor 31e performs detection using a positioning system using GNSS, the position of the GNSS antenna is denoted by the symbol for the reference position sensor 31e.

[0020] The position sensor 33 detects position information of objects present around the work position P. For example, the position sensor 33 may detect position information of the ground, the released work object Oa (described later), or an obstacle. The position sensor 33 may include, for example, an imaging device. The imaging device may detect two-dimensional information (e.g., the position and shape in an image) of the imaged object. The imaging device may include a camera (monocular camera) that detects two-dimensional information. The imaging device may acquire a range image or detect three-dimensional information (e.g., three-dimensional coordinates and three-dimensional shape) of the imaged object based on the range image. The imaging device may include a device that detects three-dimensional information using laser light, such as a light detection and ranging (LIDAR) sensor, or a time-of-flight (TOF) sensor. The imaging device may include a device that detects three-dimensional information using radio waves (e.g., a millimeter-wave radar). The imaging device may include a stereo camera. The imaging device may detect three-dimensional information of the imaged object based on a range image and a two-dimensional image. Only one imaging device may be provided, or multiple imaging devices may be provided.

[0021] The input device 35 (see FIG. 2 ) is a device through which the worker inputs information. The input device 35 issues instructions to the controller 50 based on operation by the worker. When the input device 35 is provided on the work machine 10, the input device 35 may be, for example, a display or an operation lever provided in the operator's cab 13a. The input device 35 may be a mobile terminal (tablet, smartphone, etc.) or a personal computer. The input device 35 may be provided on a server or the like external to the work machine 10. The input device 35 communicates with the controller 50. This communication may be wireless communication or wired communication.

[0022] The controller 50 is a computer that inputs and outputs signals, performs calculations (processing), and stores information (calculation results, etc.). For example, the functions of the controller 50 are realized when a program stored in a memory unit (not shown) of the controller 50 is executed by a calculation unit (not shown). The controller 50 may be mounted on the work machine 10, and more specifically, may be mounted on at least one of the machine body 10a and the attachment 15. The controller 50 may also be provided external to the work machine 10 (such as a server). For example, as shown in FIG. 2 , detection results from the attitude sensor 31, position sensor 33, etc. are input to the controller 50. Information input via the input device 35 is input to the controller 50. For example, the controller 50 performs automatic operation of the work machine 10. For example, the controller 50 outputs a command to the drive control unit 17 to operate the work machine 10.

[0023] The controller 50 comprises a work position setting unit 51, a state determination unit 53, a work position correction unit 55, an operation control unit 57, and a notification unit 59. Below, the components of the work machine 10 will be described mainly with reference to Figure 1, and the components of the controller 50 will be described with reference to Figure 2. Furthermore, the steps of the flowchart shown in Figure 3 will be described with reference to Figure 3.

[0024] As shown in FIG. 1 , the work position setting unit 51 sets a work position P, which is a target position where the tip attachment 15d will release (drop) the work object O (work position setting step) (see step S10 in FIG. 3 ). Specifically, the work position P is a three-dimensional position coordinate. For example, the work position P may be set in advance using topographical data or the like. For example, the work position P may be determined based on ground position information acquired by the position sensor 33. For example, the work position P may be determined based on a landmark (e.g., an AR (Augmented Reality) marker) placed at the work site.

[0025] (Relationship Between Position of Tip Attachment 15d and Work Position P Before Correction) The relationship between the position of the tip attachment 15d when the tip attachment 15d releases the work object O and the work position P before correction is as follows. Assume that the work object O held by the tip attachment 15d is in a specific state (for example, the bucket is filled to the brim with earth and sand). In this state, the work object O is released from the tip attachment 15d (for example, the bucket rotates in the soil discharge direction, or the excitation of the lifting magnet is turned off). At this time, the controller 50 controls the work machine 10 so that the released work object O (released work object Oa) is positioned with the work position P at its center.

[0026] For example, in the example shown in FIG. 1 , the work object O captured by the bucket serving as the tip attachment 15d is leveled off the bucket. In this state, the tip attachment 15d is rotated (toward the soil discharge side) so that the tip of the tip attachment 15d (the end opposite the connection of the tip attachment 15d to the arm 15c) descends. When the tip attachment 15d rotates to a certain angle, the work object O begins to be released from the tip attachment 15d. The posture of the tip attachment 15d at which the work object O captured by the tip attachment 15d in the leveled state begins to be released is referred to as posture B. When the tip attachment 15d continues to rotate toward the soil discharge side, all (or substantially all) of the work object O captured by the tip attachment 15d is released from the tip attachment 15d. When this release is performed, it is assumed that the released work object O (released work object Oa) is positioned (spread out) with its center at a position directly below the tip of the tip attachment 15d in posture B. Therefore, for example, when the work machine 10 is operated automatically, the work machine 10 is controlled so that the position of the tip of the tip attachment 15d in posture B matches the work position P in horizontal coordinates.

[0027] The state determination unit 53 determines the state of the work object O captured by the tip attachment 15d (state determination step) (see step S30 in FIG. 3). For example, the state determination unit 53 determines at least one of the shape, relative position (the position of the work object O relative to the tip attachment 15d), and mass of the work object O based on data acquired from the state acquisition device 60 (described below). For example, the state determination unit 53 determines the protrusion height H (see FIG. 4) of the work object O protruding from the opening surface 15d2 of the bucket serving as the tip attachment 15d. For example, the state determination unit 53 determines the protruding position of the work object O captured by the bucket serving as the tip attachment 15d. For example, the state determination unit 53 determines which side of the lifting magnet serving as the tip attachment 15d the work object O is attracted to is biased.

[0028] The work position correction unit 55 determines a corrected work position Pa by correcting the work position P using a correction value based on the state of the work object O (work position correction step) (see step S40 in FIG. 3). The work position correction unit 55 may correct the work position P based on various states of the work object O.

[0029] (Regarding Correction of Working Position P) For example, the working position correction unit 55 may correct the working position P based on a correction value that is based on the protruding height H (see FIG. 4) of the work object O. More specifically, the working position correction unit 55 may set the position obtained by shifting the working position P by the protruding height H toward the rear side X1 in the front-rear direction X as the corrected working position Pa.

[0030] The reason for correcting the work position P based on the protrusion height H is as follows. For example, as shown in FIG. 1 , when the work object O does not protrude beyond the opening surface 15d2 of the bucket, which is the tip attachment 15d, the released work object Oa is positioned with the work position P as its center. As shown in FIG. 4 , when the work object O captured by the tip attachment 15d protrudes beyond the opening surface 15d2 of the bucket, the work object O begins to be released at an orientation Ba, which is earlier than orientation B. As a result, the released work object Oa ends up being positioned shifted toward the front side X2 in the forward-backward direction X from the work position P. For example, as shown in FIG. 5 , when the work object O is released into a container such as a loading platform, if the work object O is positioned shifted toward the front side X2 in the forward-backward direction X from the work position P, the work object O may not fit into the container. Therefore, the work position correction unit 55 corrects the work position P at which the work object O is released (to the corrected work position Pa) to prevent such a shift. Specifically, the work position correction unit 55 shifts the work position P toward the rear side X1 in the front-to-rear direction X by a correction value (e.g., the length of the protrusion height H). More specifically, the work position correction unit 55 shifts the work position P toward the rear side X1 so that the tip of the tip attachment 15d in the posture Ba is positioned directly above the target position of the released work object Oa. By aligning the position of the tip of the tip attachment 15d in the posture B with the corrected work position Pa, the position of the tip of the tip attachment 15d in the posture Ba becomes directly above the target position of the released work object Oa. As a result, the released work object Oa is positioned at the target position.

[0031] For example, the work position correction unit 55 may correct the work position P based on the relative position of the work object O with respect to the tip attachment 15d. For example, if the work object O captured by the tip attachment 15d is positioned offset with respect to the tip attachment 15d, the work position correction unit 55 may correct the work position P (or may calculate a correction value) based on the degree of this offset.

[0032] Specifically, for example, if the tip attachment 15d is a lifting magnet, the workpiece O attracted to the lifting magnet may be biased relative to the lifting magnet. In this case, the work position correction unit 55 may correct the work position P (or calculate a correction value) according to the degree of bias. The work position correction unit 55 corrects the work position P by the correction value in the direction opposite to the side where the workpiece O is biased relative to the lifting magnet.

[0033] Furthermore, for example, if the tip attachment 15d is a bucket, the position of the work object O protruding from the bucket opening surface 15d2 may be offset in one or both of the forward / backward direction X and the lateral direction (swing direction) relative to the tip attachment 15d. In this case, when the released work object O spreads out on the ground, it may exceed the intended work range (for example, it may not fit into a container). The work position correction unit 55 may correct the work position P to prevent such problems.

[0034] The work position correction unit 55 may correct the work position P depending on the state of the work object O other than the above states (e.g., soil quality). For example, if the work object O is soil or sand, the way in which the released work object Oa spreads will change depending on the soil quality (hardness, viscosity, stickiness, etc.). For example, if the soil quality of the work object O is harder (less likely to flow) than a reference value (a reference value preset in the work position correction unit 55), the work position correction unit 55 may further correct the corrected work position Pa toward the near side X2 in the front-to-rear direction X. For example, if the soil quality of the work object O is softer (more likely to flow) than the reference value, the work position Pa may further correct the corrected work position Pa toward the far side X1 in the front-to-rear direction X.

[0035] The work position correction unit 55 may correct the work position P based on the amount (e.g., volume, mass, etc.) of the work object O captured by the tip attachment 15d. For example, the greater the amount of the work object O captured by the tip attachment 15d, the more likely the released work object Oa will spread. Therefore, the work position correction unit 55 may correct the work position P to the farther side X1 in the front-to-rear direction X as the amount of the work object O captured by the tip attachment 15d increases.

[0036] The work position correction unit 55 may correct the work position P based on the state (e.g., any one of the protrusion height H, relative position, soil quality, and quantity) of one work object O. The work position correction unit 55 may correct the work position P based on the states of multiple work objects O (e.g., two or more of the protrusion height H, relative position, soil quality, and quantity).

[0037] The corrected working position Pa may be, for example, a three-dimensional coordinate system. The corrected working position Pa may also be a relative position (for example, relative coordinate system) to the pre-correction working position P. The working position correcting unit 55 may teach the corrected working position Pa to a worker (for example, an operator) using a teaching device 70 (described later).

[0038] The operation control unit 57 controls the attachment 15 so as to release the work object O at the corrected work position Pa. The operation control unit 57 may automatically operate the work machine 10 (see FIG. 1 ). The operation control unit 57 may output commands to the drive device 23 so that the work machine 10 automatically operates according to a preset work plan. The operation control unit 57 may control the operation of the work machine 10 based on information input by the operator to the input device 35. The operation control unit 57 may operate the work machine 10 using a machine control (MC) system. Specifically, for example, the operator operates only some of the elements of the attachment 15 (for example, only the boom 15b). At this time, the operation control unit 57 automatically controls elements not operated by the operator (for example, the arm 15c, the tip attachment 15d) so that the work machine 10 operates according to the work plan. At this time, the operation control unit 57 controls the operation of the work machine 10 based on the detection value of the attitude sensor 31 (the same applies to the case of automatic operation). As a result, the work machine 10 performs work in accordance with the work plan and controls the attachment 15 so as to release the work object O at the corrected work position Pa.

[0039] The notification unit 59 notifies the work position Pa after correction determined by the work position correction unit 55 .

[0040] The status acquisition device 60 acquires the status of the work object O held by the tip attachment 15d. The status acquisition device 60 may include an imaging device. For example, the status acquisition device 60 acquires the status of the work object O held by the bucket, which is the tip attachment 15d. More specifically, the status acquisition device 60 may acquire image data to acquire the protrusion height H of the work object O protruding from the opening surface 15d2 of the tip attachment 15d. The status acquisition device 60 may also acquire image data to acquire the relative position of the protruding portion of the work object O and the tip attachment 15d. For example, if the tip attachment 15d is a lifting magnet, the status acquisition device 60 may capture an image of the work object O attracted to the lifting magnet. In this way, the status acquisition device 60 may acquire the status of the work object O attracted to the lifting magnet, such as a misalignment. If the status acquisition device 60 and the position sensor 33 include an imaging device, the imaging device of the status acquisition device 60 may also serve as the imaging device of the position sensor 33.

[0041] The state acquisition device 60 may also acquire the amount of the work object O captured by the end attachment 15d. For example, the state acquisition device 60 may include a mass sensor that measures the mass of the work object O captured by the end attachment 15d.

[0042] The status acquisition device 60 may also acquire the quality (e.g., soil quality) of the work object O captured by the tip attachment 15d. Specifically, for example, the status acquisition device 60 (image capture device) may determine the soil quality of the work object O based on the spread or color of the released work object Oa. In this case, the status acquisition device 60 acquires the status of the released work object Oa, thereby acquiring the status of the work object O captured by the tip attachment 15d.

[0043] The teaching device 70 is a device that teaches information to a worker (e.g., an operator). The teaching device 70 is controlled by the notification unit 59. The teaching device 70 receives a control signal including information generated by the notification unit 59 and outputs the information to the outside. For example, the teaching device 70 teaches a work position P to an operator who operates the work machine 10. The work position P taught to the operator may be a corrected work position Pa. The teaching device 70 may also teach the operator that the work position P has been corrected. The teaching device 70 is not particularly limited as long as it can present information to the operator, and may be, for example, a display device that displays video / images, a light-emitting device that outputs light, a speaker that outputs sound or a buzzer, or a vibration generating device that generates vibrations. Furthermore, for example, the teaching device 70 may teach by operating the work machine 10. Furthermore, the teaching device 70 may be one or more of these.

[0044] (Processing) Next, an example of the work position correction process executed by the controller 50 will be described with reference to the flowchart in Fig. 3. The work position correction process is executed when the work machine 10 releases the work object O captured by the tip attachment 15d. For example, the work position correction process may be executed when the work of releasing the work object O is performed automatically. For example, the work position correction process may be executed when a release operation of the work machine 10 operated by a worker (e.g., an operator) is detected. First, the controller 50 sets the work position P (S10). Then, the controller 50 acquires the state of the work object O (S20). Thereafter, the controller 50 determines whether the work object O protrudes beyond the opening surface 15d2 of the tip attachment 15d (S30). If the work object O protrudes beyond the opening surface 15d2 of the tip attachment 15d (S30: YES), the controller 50 determines a corrected work position Pa by correcting the work position P based on the protrusion height H of the work object O (see FIG. 4). The corrected work position Pa is shifted from the work position P toward the rear X1 in the front-rear direction X by the length of the protrusion height H (correction value). The controller 50 then determines the corrected work position Pa as the new work position P (S50) and ends this process. If the work object O does not protrude beyond the opening surface 15d2 of the tip attachment 15d (S30: NO), the work position P set in step S10 is determined as the work position P.

[0045] The effects of the work support system 1 shown in Figure 2 are as follows. The work support system 1 includes a controller 50. The work machine 10 has a machine body 10a and an attachment 15. The attachment 15 is operably attached to the machine body 10a. The attachment 15 has a tip attachment 15d that performs work. Note that the work support system 1 may also include the work machine 10.

[0046] The controller 50 includes a work position setting unit 51, a state determination unit 53, and a work position correction unit 55. The work position setting unit 51 sets a work position P, which is a target position at which the tip attachment 15d releases the work object O. The state determination unit 53 determines the state of the work object O that the tip attachment 15d will capture. The work position correction unit 55 corrects the work position P with a correction value based on the state of the work object O.

[0047] With the above configuration, the work position P, which is the target position for releasing the work object O, can be corrected based on the state of the work object O. Therefore, the work position P, which is the target position for the tip attachment 15d of the work machine 10 to release the work object O, can be appropriately set. As a result, the work object O can be released at an appropriate position, such as inside a container such as a loading platform.

[0048] 2, the controller 50 further includes an operation control unit 57. The operation control unit 57 controls the attachment 15 so as to release the work object O at the corrected work position Pa.

[0049] In the above configuration, the attachment 15 can be controlled to release the work object O at the corrected work position Pa.

[0050] The work position correction unit 55 further includes a notification unit 59 that notifies the corrected work position Pa.

[0051] In the above configuration, the corrected work position Pa can be notified to allow the worker or the like to recognize the corrected work position Pa.

[0052] The tip attachment 15d is a bucket having an opening surface 15d2. The state determination unit 53 determines the protrusion height H of the work object O held in the bucket from the opening surface 15d2 of the bucket. The work position correction unit 55 determines a correction value based on the protrusion height H. The work position correction unit 55 determines the position shifted based on the correction value in the direction in which the attachment 15 protrudes from the machine body 10a (toward the rear side X1) as the corrected work position Pa.

[0053] In the above configuration, the tip attachment 15d is a bucket. As the bucket rotates so that the tip of the bucket is lowered, the work object O inside the bucket loses its support, falls, and is released. When the work object O protrudes from the bucket opening surface 15d2, the work object O falls from the bucket earlier than when it does not. As a result, the released work object Oa is biased toward the front X2 of the work position P. Therefore, according to configuration 4, the work position P at which the work object O is released is corrected to a work position Pa shifted toward the rear X1 based on the protrusion height H from the bucket opening surface 15d2. This prevents the release position of the work object O from being biased toward the front X2 of the target position.

[0054] The effects of the work machine 10 are as follows. The work machine 10 comprises a machine body 10a, an attachment 15, and a controller 50. The attachment 15 is operably attached to the machine body 10a. The attachment 15 has an end attachment 15d that performs work. The controller 50 comprises a work position setting unit 51, a state determination unit 53, and a work position correction unit 55. The work position setting unit 51 sets a work position P, which is the target position at which the end attachment 15d will release the work object O. The state determination unit 53 determines the state of the work object O that the end attachment 15d will capture. The work position correction unit 55 corrects the work position P with a correction value based on the state of the work object O.

[0055] With the above configuration, the work position P at which the work object O is released can be corrected based on the state of the work object O. Therefore, the work position P, which is the target position at which the tip attachment 15d of the work machine 10 releases the work object O, can be appropriately set. As a result, the work object O can be released at an appropriate position, such as inside a container such as a loading platform.

[0056] The effects of the work assistance program are as follows. The work assistance program is used on a work machine 10. The work machine 10 comprises a machine body 10a and an attachment 15. The attachment 15 is operably attached to the machine body 10a. The attachment 15 has an end attachment 15d that performs work. The work assistance program causes a computer (controller 50) to execute a work position setting step, a state determination step, and a work position correction step. The work position setting step sets a work position P, which is the target position at which the end attachment 15d will release the work object O. The state determination step determines the state of the work object O that the end attachment 15d will grab.

[0057] The work position correction step corrects the work position P with a correction value based on the state of the work object O.

[0058] With the above configuration, the work position P at which the work object O is released can be corrected based on the state of the work object O. Therefore, the work position P, which is the target position at which the tip attachment 15d of the work machine 10 releases the work object O, can be appropriately set. As a result, the work object O can be released at an appropriate position, such as inside a container such as a loading platform.

[0059] (Modifications) The above embodiment may be modified in various ways. For example, various examples (including modifications) of the above embodiment may be combined in various ways. For example, the connections of the components shown in FIG. 2 and the like may be changed. For example, the number of components (including modifications) of the above embodiment may be changed, or some of the components may not be provided. For example, the arrangement of the components may be changed. For example, the inclusion relationships of the components may be changed in various ways. For example, a component described as a lower-level component included in a higher-level component may not be included in this higher-level component, but may be included in another component. For example, what is described as multiple different components or parts may be combined into a single component or part. For example, what is described as a single component or part may be provided as multiple different components or parts. For example, the order of the steps in the flowchart shown in FIG. 3 may be changed, or some of the steps may not be performed. For example, each component may have only some of its features (functions, arrangement, shape, operation, etc.).

[0060] The work assistance system provided by the present invention assists a work machine having a machine body and an attachment operably attached to the machine body, including an end attachment that performs work. The work assistance system includes a controller. The attachment is operably attached to the machine body. The attachment has an end attachment that performs work. The controller includes a work position setting unit, a state determination unit, and a work position correction unit. The work position setting unit sets a work position that is a target position where the end attachment will release a work object. The state determination unit determines the state of the work object that the end attachment will capture. The work position correction unit corrects the work position with a correction value based on the state of the work object.

[0061] In the above configuration, the controller may further include an operation control unit that controls the attachment so as to release the work object at the corrected work position.

[0062] In the above configuration, the controller may further include a notification unit that notifies the corrected work position.

[0063] In the above configuration, the tip attachment may be a bucket having an opening, the state determination unit may determine a protruding height of the work object held in the bucket from the opening surface of the bucket, the work position correction unit may determine the correction value based on the protruding height, and the position shifted from the work position in the direction in which the attachment protrudes from the machine body based on the correction value may be set as the corrected work position.

[0064] The work machine comprises a machine body, an attachment, and a controller. The attachment is operably attached to the machine body. The attachment has an end attachment that performs work. The controller comprises a work position setting unit, a state determination unit, and a work position correction unit. The work position setting unit sets a work position that is a target position where the end attachment will release a work object. The state determination unit determines the state of the work object that the end attachment will capture. The work position correction unit corrects the work position with a correction value based on the state of the work object.

[0065] The work assistance program is used in a work machine. The work machine comprises a machine body and an attachment. The attachment is operably attached to the machine body. The attachment has an end attachment that performs work. The work assistance program causes a computer to execute a work position setting step, a state determination step, and a work position correction step. The work position setting step sets a work position that is a target position where the end attachment will release a work object. The state determination step determines the state of the work object that the end attachment will capture. The work position correction step corrects the work position with a correction value based on the state of the work object.

[0066] The work support system, work machine, and work support program described above each make it possible to appropriately set a work position, which is a target position where the end attachment of the work machine will release the work object.

Claims

1. A work support system for supporting a working machine having a machine body and an attachment including an end attachment that performs work and is operably attached to the machine body, comprising a controller, the controller having: a work position setting unit that sets a work position which is a target position at which the end attachment will release a work object; a state determination unit that determines the state of the work object captured by the end attachment; and a work position correction unit that corrects the work position with a correction value based on the state of the work object.

2. A work support system according to claim 1, wherein the controller further comprises an operation control unit that controls the attachment so as to release the work object at the corrected work position.

3. A work support system according to claim 1, wherein the controller further comprises a notification unit that notifies the corrected work position.

4. A work support system as described in any one of claims 1 to 3, wherein the tip attachment is a bucket having an opening surface, the state determination unit determines a protruding height of the work object held in the bucket from the opening surface of the bucket, and the work position correction unit determines the correction value based on the protruding height, and a position shifted from the work position in the direction in which the attachment protrudes from the machine body based on the correction value is set as the corrected work position.

5. A working machine comprising: a machine body; an attachment including an end attachment for performing work and operably attached to the machine body; and a controller, wherein the controller comprises: a work position setting unit which sets a work position which is a target position at which the end attachment will release a work object; a state determination unit which determines the state of the work object captured by the end attachment; and a work position correction unit which corrects the work position with a correction value based on the state of the work object.

6. A work assistance program for use with a work machine having a machine body and an attachment including an end attachment for performing work and operably attached to the machine body, the work assistance program causing a computer to execute the following steps: a work position setting step for setting a work position which is a target position at which the end attachment will release a work object; a state determination step for determining the state of the work object captured by the end attachment; and a work position correction step for correcting the work position with a correction value based on the state of the work object.

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