Work system, work machine, and work program

Abstract

A work system (1) comprises a machine body (10a) of a work machine (10), an attachment (15), and a controller (50). The attachment (15) is operatively attached to the machine body (10a). The attachment (15) has a tip attachment (15d) that performs work. The controller (50) controls the operation of one or both of the machine body (10a) and the attachment (15) so that the tip attachment (15d) applies a load in the transverse direction to a released work object (Oa), which is a work object released from the tip attachment (15d), to thereby move the released work object (Oa).

Description

Work systems, work machines, and work programs

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

[0002] For example, Patent Document 1 describes an automatic leveling system that controls an attachment of a work machine so that the end attachment levels a work object within a set leveling range.

[0003] However, the smoothing range described in Patent Document 1 is within the movable range of the tip attachment.

[0004] Japanese Patent Application Laid-Open No. 2022-55913

[0005] Therefore, an object of the present invention is to provide a work system, work machine, and work program that are capable of placing work objects over a wider range, including areas outside the movable range of the end attachment.

[0006] The work system includes a machine body of a work machine, 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 controls the operation of one or both of the machine body and the attachment so that the end attachment applies a load in a lateral direction to a released work object, which is a work object released from the end attachment, to move the released work object.

[0007] The work machine includes a machine body, an attachment operably attached to the machine body and having an end attachment that performs work, and a controller. The attachment is operably attached to the machine body. The attachment has an end attachment that performs work. The controller controls the operation of one or both of the machine body and the attachment so that the end attachment applies a load in a lateral direction to a released work object, which is a work object released from the end attachment, thereby moving the released work object.

[0008] The work program is used for a work machine including a machine body and an attachment operably attached to the machine body and having an end attachment for performing work. The work program causes a computer to execute a control step of controlling the operation of one or both of the machine body and the attachment so that the end attachment applies a load in a lateral direction to a released work object, which is a work object released from the end attachment, thereby moving the released work object.

[0009] Each of the above-described work systems, work machines, and work programs can arrange work objects over a wider range.

[0010] 2 is a side view of the work machine 10 and other components of the work system 1. It is a block diagram of the work system 1 shown in FIG. 1. It is a flowchart including calculation processing performed by the controller 50 shown in FIG. 2. It is a diagram showing the possible placement range A1 and the placement target position P set by the work range setting unit 51 shown in FIG. 2. It is a diagram explaining an example of an operation controlled by the operation control unit 57 shown in FIG. 2 for moving the released work object Oa ...

[0011] The work system 1 will be described below with reference to the drawings.

[0012] The work system 1 is a system that controls the operation of the work machine 10 shown in Fig. 1. The work system 1 is a system for moving a released work object Oa, which is a work object O that has been released from the end attachment 15d, by having the end attachment 15d apply a lateral load to the released work object Oa. When the work object O captured by the end attachment 15d is released, for example, into a container 82 of a transport vehicle 80 (described below), the released work object Oa is the work object O that has been released from the end attachment 15d and placed in the container 82.

[0013] The work system 1 comprises a work machine 10, at least one attitude sensor 31, a position sensor 33, an input device 35 (see FIG. 2), and a controller 50 (computer).

[0014] 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 a plurality of actuators 21.

[0015] 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 so as to be able to rotate 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.

[0016] The direction in which the rotation axis of the upper rotating body 13 relative to the lower main body 11 extends is defined as the up-down direction Z. In the up-down direction Z, the direction from the lower main body 11 toward the upper rotating body 13 is defined as the upward direction Z1, and the opposite direction is defined as the downward direction Z2. The up-down direction Z may be vertical. The direction in which the rotation axis of the boom 15b (described later) relative to the upper rotating body 13 extends is defined as the left-right direction Y. The direction perpendicular to both the up-down direction Z and the left-right direction Y is defined as the front-rear direction X. When viewed from above, the front-rear direction X is the direction in which the attachment 15 extends. In the front-rear direction X, the direction in which the attachment 15 protrudes relative to the upper rotating body 13 is defined as the forward direction X1, and the opposite direction is defined as the backward direction X2. The left-right direction Y may be parallel to the container left-right direction V, which will be described later.

[0017] As shown in FIG. 1 , the attachment 15 is the part that performs work and includes, for example, a boom 15b, an arm 15c, and a tip attachment 15d. The boom 15b is attached to the upper rotating body 13 so that it can be raised and lowered (rotated up and down). The arm 15c is rotatably attached to the boom 15b. The tip attachment 15d is provided at the tip of the attachment 15 and is rotatably attached to the arm 15c. The tip attachment 15d is capable of capturing and releasing a work object O. Furthermore, the tip attachment 15d applies a load to the released work object Oa from the opposite side of the direction away from the release position, moving the released work object Oa. Hereinafter, this action may be referred to as "pushing" by the tip attachment 15d. The tip attachment 15d may be, for example, a bucket used for tasks such as scooping or digging the work object O, a device for clamping the work object O (grapple, nibbler, etc.), or a lifting magnet for attracting a metal work object O. The work object O is an object that is the target of work performed by the tip attachment 15d of the work machine 10. For example, the work object O may be soil, stone, wood, metal, waste, or a structure (such as a block).

[0018] The drive control unit 17 (see FIG. 2 ) controls the operation of the multiple actuators 21. Specifically, the drive control unit 17 controls the operation of 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. If the actuators 21 are hydraulic, the drive control unit 17 may include a hydraulic circuit that controls the hydraulic actuators 21. If the actuators 21 are electric, the drive control unit 17 may include an electric circuit that controls the electric actuators 21.

[0019] Specifically, if the actuators 21 are hydraulic, the drive control unit 17 may include a control valve. The control valve may include a plurality of directional control valves that respectively control the direction of hydraulic oil supplied to the plurality of actuators 21. Each of the plurality of directional control valves may include a spool and a pair of ports. Each directional control valve may be configured such that the spool is displaced in response to an operation command input to one of the pair of ports to adjust the direction and flow rate of hydraulic oil supplied to the actuator 21 connected to the directional control valve. This causes the actuator 21 to operate in response to the operation command. The operation command may be a command (current value) output by the controller 50. Furthermore, if a proportional valve is interposed between the controller 50 and the port of each directional control valve, the operation command may be a secondary pressure (pilot pressure) of the proportional valve. In this case, the proportional valve outputs a secondary pressure having a magnitude corresponding to the command (current value) output by the controller 50.

[0020] The multiple actuators 21 operate the work machine 10. Some of the multiple actuators 21 operate the attachment 15. The multiple actuators 21 include a swing motor 21a, a boom cylinder 21b, an arm cylinder 21c, and a tip attachment cylinder 21d. The swing motor 21a rotates the upper swing structure 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 structure 13. The boom cylinder 21b, the arm cylinder 21c, and the tip attachment cylinder 21d are, for example, hydraulic telescopic cylinders (hydraulic cylinders). 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. When the end attachment 15d is, for example, a device for clamping an object, the plurality of actuators 21 may include actuators such as cylinders and motors for driving the end attachment 15d.

[0021] The work machine 10 is a machine (e.g., ICT construction machine) that utilizes information and communication technology (ICT). For example, the work machine 10 may be operated by a machine control system (MC). Specifically, a work plan is set in the controller 50. Then, the operator, for example, operates only a lever to operate some of the elements of the attachment 15 (e.g., the boom 15b). At this time, the controller 50 automatically controls the movement of elements not operated by the operator (e.g., the arm 15c and the tip attachment 15d) so that the work machine 10 works in accordance with the work plan. In this control, the controller 50 controls the operation of the work machine 10 based on the work plan and the detection value of the at least one attitude sensor 31 (see FIG. 2). As a result, the work machine 10 performs work in accordance with the work plan. Furthermore, for example, the work machine 10 may be operated by automatic driving by the controller 50. In this case, the controller 50 controls the operation of the work machine 10 so that the work machine 10 automatically works in accordance with a work plan. In this automatic driving, the controller 50 automatically controls the operation of the work machine 10 based on the work plan and the detection value of the at least one attitude sensor 31.

[0022] In this embodiment, the at least one attitude sensor 31 includes a plurality of attitude sensors 31. The plurality of attitude sensors 31 detect the attitude of the work machine 10. Some of the plurality of attitude sensors 31 detect the attitude of the attachment 15 (these have an attachment attitude information acquisition function). The plurality of attitude sensors 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 include an imaging device, which will be described later. Similarly, the position sensor 33, the input device 35, and the controller 50 may each be mounted on the work machine 10, or may be located outside the work machine 10. In this embodiment, the plurality of attitude sensors 31 include a swing sensor 31a, a boom sensor 31b, an arm sensor 31c, a tip attachment sensor 31d, and a reference position sensor 31e. Detection values ​​detected by each of the plurality of attitude sensors 31 are input to the controller 50.

[0023] The swing sensor 31a detects the 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 angle 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 FIG. 2, the "tip attachment" is written as "tip ATT."

[0024] The reference position sensor 31e detects the position and orientation of a reference portion of the work machine 10 shown in FIG. 1 relative 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, a specific portion of the lower main body 11, 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 main body 11. The reference position sensor 31e (see FIG. 2) may perform detection using a positioning system (such as a satellite positioning system). The positioning system may be a satellite positioning system, specifically, 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. 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 reference position sensor 31e.

[0025] The position sensor 33 detects position information of objects present in the vicinity of the work machine 10. For example, the position sensor 33 may detect position information of the ground, may detect position information of a released work object Oa, which is the work object O released from the end attachment 15d, or may detect position information of an obstacle. The position sensor 33 may include, for example, an imaging device. The imaging device may detect two-dimensional information of the imaged object (e.g., the position and / or shape of the imaged object in an image). The imaging device may include a camera (monocular camera) that detects two-dimensional information. The imaging device may acquire a range image or may detect three-dimensional information of the imaged object (e.g., the three-dimensional coordinates and / or 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, and may include, for example, a LIDAR (Light Detection and Ranging) sensor or a TOF (Time Of Flight) sensor. The imaging device may include a device that detects three-dimensional information using radio waves (e.g., millimeter-wave radar). The imaging device may include a stereo camera. The imaging device may detect three-dimensional information of an imaging target based on a distance image and a two-dimensional image. The position sensor 33 may include only one imaging device or multiple imaging devices.

[0026] 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 include, for example, a display provided in the operator's cab 13a, or may include an operation lever. The input device 35 may be a mobile terminal (tablet, smartphone, etc.) or a personal computer. The input device 35 may also 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.

[0027] 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 main 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 commands to the drive control unit 17 to operate the work machine 10.

[0028] The controller 50 comprises a working range setting unit 51, a condition determination unit 53, and an operation control unit 57. The functions of the working range setting unit 51, the condition determination unit 53, and the operation control unit 57 are realized by the calculation unit executing a program stored in the memory unit. 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.

[0029] The work area setting unit 51 sets a placement area A1 (see FIG. 4 ), which is an area within which the work object O can be placed (placement area setting step) (see step S10 in FIG. 3 ). The placement area A1 is an area within which the work object O can be placed. The placement area A1 is specifically indicated by three-dimensional position coordinates. The work area setting unit 51 sets a placement target position P (see FIG. 4 ), within the placement area A1, inside the outer periphery of the placement area A1 (see step S20 in FIG. 3 ). The placement target position P is a position set for safety and is specifically indicated by three-dimensional position coordinates. For example, the placement area A1 and the placement target position P may be set in advance using topographical data or the like. For example, the placement area A1 and the placement target position P may be determined based on ground position information acquired by the position sensor 33. For example, the possible placement range A1 and the target placement position P may be determined based on a marker such as an AR marker (AR; Augmented Reality) placed at the work site. The data used by the work range setting unit 51 to set the possible placement range A1 and the target placement position P may be data acquired by the position sensor 33, or may be data acquired by a sensor having an imaging device or the like separate from the position sensor 33.

[0030] (Specific examples of placement range A1 and placement target position P) As shown in FIG. 1 , the placement range A1 may be set to a range corresponding to a container 82 such as a loading platform of a transport vehicle 80. The placement range A1 may be set to a range corresponding to a container 82 placed directly on the ground, or a range corresponding to a hole in the ground (such as a sand pit). The placement range A1 may be set to the ground itself, for example. Below, a case will be described in which the placement range A1 is set to a range corresponding to a container 82 such as a loading platform of a transport vehicle 80.

[0031] The transporter 80 is a vehicle for transporting the work object O loaded by the work machine 10. The transporter 80 may be a dump truck or a truck. The transporter 80 comprises a transporter main body 81 and a container 82 having an arrangement range A1. The transporter main body 81 is capable of traveling and supports the container 82. The transporter main body 81 comprises a transporter driver's cab 81a.

[0032] The container 82 contains the work object O. The container 82 is, for example, a loading platform of the transport vehicle 80. The container 82 may be movable relative to the transport vehicle main body 81, or may be fixed to the transport vehicle main body 81. The container 82 includes a container floor 82a, a container rear 82b, left and right container sides 82c, and a container front 82d.

[0033] The directions related to the container 82 will now be described. The longitudinal and horizontal direction of the container 82 when the container 82 is placed on a horizontal surface is referred to as the container front-to-rear direction U. One direction in the container front-to-rear direction U is referred to as the container front U1, and the direction opposite to the container front U1 is referred to as the container rear U2. For example, the container front U1 is the direction from the container 82 toward the transport vehicle driver's cab 81a, and the container rear U2 is the direction from the transport vehicle driver's cab 81a toward the container 82. When the container 82 is placed on a horizontal surface, the direction perpendicular to the container front-to-rear direction U and the horizontal direction is referred to as the container left-to-right direction V. As shown in FIG. 1 , the up-down direction Z (upper Z1, lower Z2) is a direction perpendicular or substantially perpendicular to each of the container front-to-rear direction U and the container left-to-right direction V.

[0034] The container floor 82a is the bottom of the container 82. The container rear 82b is a rear wall located at the rear end of the container 82. The container rear 82b is a plate-like member (e.g., a rear gate plate) that protrudes upward Z1 from the rear end of the container floor 82a. The container rear 82b has a flat or approximately flat inner surface extending in the container left-right direction V (the same applies to the container front 82d). As shown in FIG. 4 , the left container side 82c is the left wall located at the left end of the container 82, and the right container side 82c is the right wall located at the right end of the container 82. The left and right container side 82c are plate-like members (e.g., side gate plates) that protrude upward Z1 from the left and right ends of the container floor 82a, respectively. Each of the left and right container side 82c has a flat or approximately flat inner surface extending in the container front-rear direction U. 1, the container front portion 82d is a front wall located at the front end of the container 82. The container front portion 82d is a plate-like member (e.g., a torii portion) that protrudes upward Z1 from the front end of the container floor portion 82a. When the container 82 is a loading platform, the upper end of the container front portion 82d may be located higher than the container side portion 82c and the container rear portion 82b.

[0035] 4 , the possible arrangement range A1 may be set to a range corresponding to the container 82, and specifically, for example, may be set to a range corresponding to the container floor 82a of the container 82. The work range setting unit 51 of the controller 50 may specify the coordinates of the possible arrangement range A1 based on, for example, markers such as AR markers attached to one or more locations on the container 82. Specifically, for example, the work range setting unit 51 may obtain image data including the markers attached to the container 82 from the imaging device, and specify the coordinates of the possible arrangement range A1 based on the obtained image data.

[0036] The placement target position P is set at a position within the placement possible range A1. For example, as shown in FIG. 4 , the placement target position P may be set at a position that is a predetermined value F (offset amount F) inward from the outer periphery of the placement possible range A1. In this case, the work range setting unit 51 may determine the coordinates of the placement target position P based on the coordinate data that specifies the placement possible range A1 and the predetermined value F.

[0037] The target placement position P may include, for example, as shown by the dashed-dotted rectangle in Figure 4, a portion extending along the front of the container 82d (front target placement position P), a portion extending along the left side of the container 82c (left target placement position P), a portion extending along the right side of the container 82c (right target placement position P), and a portion extending along the rear of the container 82b (rear target placement position P).

[0038] The front target placement position P is on a line located a predetermined value F behind the front end of the possible placement range A1 (the inner surface of the container front portion 82d). The left target placement position P is on a line located a predetermined value F to the right of the left end of the possible placement range A1 (the inner surface of the left container side portion 82c). The right target placement position P is on a line located a predetermined value F to the left of the right end of the possible placement range A1 (the inner surface of the right container side portion 82c). The rear target placement position P is on a line located a predetermined value F forward of the rear end of the possible placement range A1 (the inner surface of the container rear portion 82b).

[0039] However, the placement target position P is not limited to the specific example shown in Fig. 4. The placement target position P may include, for example, the front placement target position P, and not include the left placement target position P, the right placement target position P, and the rear placement target position P. Furthermore, the placement target position P may include, for example, the front placement target position P, the left placement target position P, and the right placement target position P, and not include the rear placement target position P.

[0040] The work area setting unit 51 may set a target placement area A2. The target placement area A2 is an area whose periphery is the target placement position P. In the specific example shown in FIG. 4 , the target placement area A2 is an area surrounded by a rectangle drawn with two-dot chain lines.

[0041] The work range setting unit 51 may set a released area A3. The released area A3 may be an area where the target placement area A2 and the movable area Ap of the end attachment 15d overlap. The released area A3 may be an area where the possible placement area A1 and the movable area Ap of the end attachment 15d overlap. The released area A3 may be an area where a work start area A4 (described below) is excluded from the area where the target placement area A2 or the possible placement area A1 and the movable area Ap of the end attachment 15d overlap.

[0042] The movable range Ap of the tip attachment 15d is the area inside the arc of the two-dot chain line in Figure 4. The movable range Ap of the tip attachment 15d is the range that the tip attachment 15d can reach when the lower body 11 is stopped. Specifically, the movable range Ap of the tip attachment 15d is the range that the tip attachment 15d can reach when at least one of the following operations is performed when the lower body 11 is stopped: raising and lowering of the boom 15b, rotating of the arm 15c, rotating of the tip attachment 15d, and rotating of the upper rotating body 13.

[0043] The work range setting unit 51 may set a release position. The release position may be a position where the work machine 10 releases the work object O from the tip attachment 15d, or may be a position where the work object O released from the tip attachment 15d falls and is placed in the container 82. The release position is any position within the range of the release area A3.

[0044] The work range setting unit 51 sets a work start area A4. The work start area A4 is an area where the tip attachment 15d starts the operation (pushing) to move the released work object Oa. Specifically, the work range setting unit 51 may set the work start position, which is the position where the tip attachment 15d starts the operation to move the released work object Oa, to any position within the work start area A4 (see FIG. 4 ) (e.g., the center position of the work start area A4). Furthermore, if the tip attachment 15d performs the operation (pushing) to move the released work object Oa multiple times, the work range setting unit 51 may shift the work start position in the left-right direction V of the container within the work start area A4 each time one push is completed.

[0045] The work range setting unit 51 sets the direction of movement of the tip attachment 15d when moving the released work object Oa laterally as the work object movement direction D (see FIG. 4 ). For example, the release position where the work machine 10 releases the work object O is set to a position in the release area A3 that is away from the work start area A4 or the work start position in the work object movement direction D. In the specific example shown in FIG. 4 , the release position may be set to a position between the front end of the work start area A4 and the front end of the release area A3. For example, the work start area A4 is set to a position closer to the machine body 10a of the work machine 10 than the release position in the release area A3. Specifically, for example, the work start area A4 may be set to a position closest to the machine body 10a of the work machine 10 within the target placement area A2 or the possible placement area A1.

[0046] The work range setting unit 51 does not necessarily have to set the target placement range A2. Specifically, the work range setting unit 51 does not necessarily have to set the target placement range A2 while setting the target placement position P. The operation control unit 57 (described later) may perform control to move the released work object Oa until at least a portion of the released work object Oa reaches the target placement position P.

[0047] The work range setting unit 51 may not need to set the target placement position P in advance. Specifically, the work range setting unit 51 may set a possible placement range A1, which is a range within which the work object O can be placed, without setting the target placement position P. The work range setting unit 51 may then determine an empty area direction, which is a direction in which the end attachment 15d moves toward an area (empty area) within the possible placement range A1 where the released work object Oa is not present, each time the end attachment 15d pushes the released work object Oa. The operation control unit 57 (described below) may then move the released work object Oa within the possible placement range A1 toward the empty area by operating the end attachment 15d toward the empty area. The controller 50 may determine the empty area based on image data of the container 82 acquired from the imaging device.

[0048] The condition determination unit 53 determines whether it is time to push the released work object Oa with the tip attachment 15d (condition determination step) (see step S40 in FIG. 3). For example, the condition determination unit 53 determines whether it is time to perform the pushing operation based on whether the released work object Oa has reached a predetermined threshold height within the container 82. Furthermore, while performing the pushing operation, the condition determination unit 53 determines whether the released work object Oa being pushed has reached the target placement position P (see step S70 in FIG. 3). The data used by the condition determination unit 53 to make the above determination may be data acquired by the position sensor 33, or may be data acquired by a sensor having an imaging device or the like separate from the position sensor 33.

[0049] The operation control unit 57 controls the operation of the work machine 10. The operation control unit 57 controls the rotation of the upper rotating body 13 relative to the lower body 11. The operation control unit 57 controls the operation of the attachment 15. The operation control unit 57 controls the operation of the attachment 15 so as to release the work object O captured by the tip attachment 15d (step S30 in FIG. 3).

[0050] The operation control unit 57 controls the operation of the attachment 15 so that the tip attachment 15d applies a load laterally to the released work object Oa to move the released work object Oa. In other words, the operation control unit 57 controls the operation of the attachment 15 so that the tip attachment 15d applies a load to the released work object Oa from the opposite side of the direction away from the release position (automatic operation step) (step S60 in FIG. 3).

[0051] The operation control unit 57 may be configured to automatically operate the work machine 10 (see FIG. 1 ). The operation control unit 57 may output commands to the drive control unit 17 so that the work machine 10 operates in accordance with a preset work plan. This causes the work machine 10 to operate automatically. The operation control unit 57 may control the operation of the work machine 10 based on information input to the input device 35 by the operator. The operation control unit 57 may operate the work machine 10 using a machine control system (MC). Specifically, for example, the operator only operates levers to operate some elements of the attachment 15 (e.g., the boom 15b). At this time, the operation control unit 57 automatically controls the movement of elements not operated by the operator (e.g., the arm 15c and the tip attachment 15d) so that the work machine 10 operates in accordance with the work plan. In this control, the operation control unit 57 controls the operation of the work machine 10 based on the work plan and the detection value of the at least one attitude sensor 31 (the same applies to the case of autonomous operation). As a result, the work machine 10 works in accordance with the work plan. That is, the attachment 15 operates so that the work object O is released into the release area A3, and the tip attachment 15d moves the released work object Oa in the release area A3 laterally.

[0052] The work system 1 is configured to operate as follows: A specific example of the operation of the machine body 10a and the attachment 15 when the operation control unit 57 moves the released work object Oa will be described below.

[0053] 5, the operation control unit 57 sets a position in the work start area A4 as the work start position where the end attachment 15d will begin operation to move the released work object Oa. The operation control unit 57 controls the operation of the work machine 10 so that the end attachment 15d is positioned at the set work start position. The work start position may be a position where the end attachment 15d positioned at the work start position comes into contact with or is close to the side of the released work object Oa.

[0054] The operation control unit 57 sets the work object movement direction D, which is the direction of movement of the end attachment 15d when moving the released work object Oa, to a direction toward the outer periphery of the arrangement possible range A1. In the example shown in FIG. 5, the work object movement direction D is the container front U1. The work object movement direction D may also be the container rear U2 or the container left-right direction V. The work object movement direction D may also be a direction toward the empty space within the arrangement possible range A1 (the empty space direction). The container front U1, container rear U2, container left-right direction V, and the empty space direction are each an example of a horizontal direction.

[0055] The operation control unit 57 moves the tip attachment 15d from the work start position in the work object movement direction D. As a result, the tip attachment 15d applies a load in the lateral direction (work object movement direction D) to the released work object Oa in the release area A3, causing the released work object Oa to move in the lateral direction (work object movement direction D).

[0056] The portion of the tip attachment 15d that applies a load to the released work object Oa during the pushing operation is not particularly limited. For example, the operation control unit 57 may rotate the upper rotating body 13, causing the side surface of the tip attachment 15d to apply a load to the side surface of the released work object Oa. Alternatively, the operation control unit 57 may move the tip attachment 15d in the forward / backward direction X (forward direction X1 or backward direction X2), causing a portion of the tip attachment 15d to apply a load to the side surface of the released work object Oa.

[0057] The operation control unit 57 controls the operation of the work machine 10 so that pushing continues until the released work object Oa reaches the target placement position P or until the tip attachment 15d reaches its movement limit. The controller 50 may determine whether the target placement position P has been reached based on position information of the released work object Oa acquired by the position sensor 33, or based on position information of the tip attachment 15d acquired by the attitude sensor 31.

[0058] For example, as shown in Figure 6, the operation control unit 57 may move the tip attachment 15d at a height position that is a predetermined value α (offset amount α) above the placement surface (e.g., the upper surface of the container floor 82a) on which the released work object Oa is placed.

[0059] 6, the operation control unit 57 may cause the attachment 15 to perform a pushing operation while rotating the tip attachment 15d. If the tip attachment 15d is a bucket, the operation control unit 57 may cause the attachment 15 to perform a pushing operation such that the tip of the bucket rotates in a direction away from the machine body 10a. Specifically, the operation control unit 57 may rotate the bucket (tip attachment 15d) from a position in which the tip of the bucket is located behind the center of rotation X2 to a position in which the tip is located ahead of the center of rotation X1, thereby moving the released work object Oa forward X1.

[0060] For example, as shown in Figure 7, when a released work object Oa is placed in the work start area A4, the operation control unit 57 may move the tip attachment 15d to a height position that is a predetermined value β (offset amount β) below the height of the released work object Oa.

[0061] For example, as shown in Fig. 8, the operation control unit 57 may move the tip attachment 15d by adjusting the angle of the flat portion of the tip attachment 15d (for example, if the tip attachment 15d is a lifting magnet, the attraction surface of the lifting magnet) to the angle of the side surface opposite the pushing direction of the released work object Oa. If the tip attachment 15d is a bucket, the "flat portion of the tip attachment 15d" may be the bottom surface of the bucket (see Fig. 6) or the side surface of the bucket.

[0062] Next, an example of the pressing process executed by the controller 50 will be described with reference to the flowchart of FIG.

[0063] First, the controller 50 sets a possible placement range A1 (S10). Then, the controller 50 sets a target placement position P (S20). Then, the controller 50 controls the operation of the attachment 15 so that the work target O is released from the end attachment 15d into a release area A3 (S30). In the specific example shown in Fig. 4, the release area A3 is an area obtained by excluding the work start area A4 from the area where the target placement range A2, the range of which is set by the target placement position P, and the movable range Ap of the end attachment 15d overlap.

[0064] Although not shown, if the released work object Oa has been placed up to a predetermined threshold height in the target placement range A2 excluding the work start area A4, the work object O may be released in the work start area A4. Also, although not shown, the processing of step S30 includes a process of causing the tip attachment 15d to capture the work object O. Specifically, for example, in step S30, the controller 50 may control the operation of the attachment 15 to cause the machine main body 10a and the attachment 15 to perform an operation such as scooping or digging the work object O at a position other than the possible placement range A1.

[0065] Next, the controller 50 determines whether the released work object Oa in the release area A3 has reached a predetermined threshold height (S40). If the released work object Oa has not reached the predetermined threshold height (S40: NO), the controller 50 continues the process to release the work object O in step S30. If the released work object Oa has reached the predetermined threshold height (S40: YES), the controller 50 determines whether there is a space within the target placement area A2 into which the released work object Oa can be pushed (S50). If there is no space into which the released work object Oa can be pushed (S50: NO), the controller 50 ends this process.

[0066] If there is a space into which the released work object Oa can be pushed (S50: YES), the controller 50 performs a pushing operation (S60). Specifically, the controller 50 places the tip attachment 15d in the work start area A4 and controls the tip attachment 15d to move from the work start area A4 toward the space into which the released work object Oa can be pushed. The controller 50 may determine whether or not the space exists based on, for example, image data acquired from the imaging device.

[0067] The controller 50 then determines whether the released work object Oa has reached the placement target position P and whether the end attachment 15d has reached its movement limit (S70). The controller 50 continuously performs the determination process of step S70 while executing step S60. If the released work object Oa has not reached the placement target position P and the end attachment 15d has not reached its movement limit (S70: NO), the controller 50 continues to execute step S60. If the released work object Oa has reached the placement target position P or if the end attachment 15d has reached its movement limit (S70: YES), the controller 50 stops the process of step S70 and proceeds to step S30.

[0068] As described above, in the work system 1 according to this embodiment, when part of the container 82 is outside the movable range Ap of the tip attachment 15d, the controller 50 controls the operation of the work machine 10 (specifically, the operation of one or both of the machine body 10a and the attachment 15) so that the work object O is loaded within the range where the range of the container 82 and the movable range Ap overlap, and when a predetermined condition is met, controls the operation of the work machine 10 (specifically, the operation of one or both of the machine body 10a and the attachment 15) so that the tip attachment 15d applies a load laterally (for example, forward) to the side of the released work object Oa, thereby pushing at least part of the released work object Oa outside the movable range Ap within the container 82. As a result, even if the movable range Ap of the tip attachment 15d cannot cover the entire movable range A1, which is the range within the container 82 in which the work object O can be placed, due to the wide range A1, the controller 50 can control the operation of the work machine 10 so that the work object O is placed not only in the area where the container 82 and the movable range Ap overlap, but also in an area of ​​the container 82 outside the movable range Ap. The lateral direction may be horizontal, diagonally upward, or diagonally downward. In this embodiment, the lateral direction is the work object movement direction D. In the specific example shown in FIG. 4, the work object movement direction D is forward (the container front U1). The predetermined condition is a condition for determining whether it is time for the tip attachment 15d to apply a load laterally (pushing) to the released work object Oa (for example, the condition of step S40 in FIG. 3).

[0069] (Effects of the First Invention) The effects of the work system 1 shown in Fig. 2 are as follows. The work system 1 comprises a machine body 10a of a work machine 10, an attachment 15, and a controller 50. The attachment 15 is operably attached to the machine body 10a. The attachment 15 has a tip attachment 15d that performs work.

[0070] 5, the controller 50 controls the operation of one or both of the machine body 10a and the attachment 15 so that the tip attachment 15d applies a load in a lateral direction to the released work object Oa, which is a work object released from the tip attachment 15d, to move the released work object Oa in the lateral direction. In other words, the controller 50 controls the operation of one or both of the machine body 10a and the attachment 15 so that the tip attachment 15d applies a load to the released work object Oa, which has been released from the tip attachment 15d, from the opposite side of that direction to move it away from the release area A3 (see FIG. 4).

[0071] In the above-described [Configuration 1], the released work object Oa in the release area A3 is moved in a direction away from the release area A3 (e.g., in the work object movement direction D) by applying a load with the tip attachment 15d. As a result, the released work object Oa is pushed, for example, to a position where the tip attachment 15d cannot release the work object O, i.e., to an area outside the movable range Ap of the tip attachment 15d. As a result, the work object O can be positioned over a wider area.

[0072] (Effects of the second invention)

[0073] [Configuration 2] The controller 50 sets a target placement position and controls the operation of one or both of the machine body 10 a and the attachment 15 so that the end attachment 15 d moves the released work object Oa, which is moved by the load applied by the end attachment 15 d (the load received from the end attachment 15 d), until the released work object Oa reaches the target placement position P.

[0074] In the above [Configuration 2], the controller 50 can use the tip attachment 15d to move the released work object Oa until it reaches the set target placement position P. By setting the target placement position P within the limit range in which the work object O can be placed (e.g., the possible placement range A1), it is possible to reduce the possibility that the released work object Oa will exceed the limit range in which it can be placed, even if the released work object Oa collapses, for example.

[0075] (Effects of the third invention)

[0076] [Configuration 3] The controller 50 sets an arrangement range A1 within which the work object O can be arranged. The controller 50 controls the operation of one or both of the machine body 10a and the attachment 15 so that the end attachment 15d moves the released work object Oa within the arrangement range A1.

[0077] In the above [Configuration 3], the controller 50 can move the released work object Oa by the load applied by the tip attachment 15d within the arrangement range A1, which is the range in which the work object O can be arranged. For example, even if the arrangement range A1 is surrounded by side walls such as a loading platform, the load on the side walls can be reduced and the work object Oa can be prevented from spilling over the side walls from the container 82.

[0078] (Effects of the fourth invention)

[0079] [Configuration 4] As shown in Figure 4, the controller 50 sets a work start position, which is the position where the end attachment 15d starts moving the released work object Oa, within the work start area A4 (see Figure 4). The controller 50 sets a work object movement direction D (see Figure 4), which is the direction of movement of the end attachment 15d when moving the released work object Oa. The controller 50 controls the operation of one or both of the machine main body 10a and the attachment 15 so that the work object O captured by the end attachment 15d is released from the end attachment 15d, and the released work object Oa is positioned at a position within the work start area A4 away from the work start position in the work object movement direction D.

[0080] In the above-described [Configuration 4], the work object O is released from the tip attachment 15d directly above a position away from the work start area A4 in the work object movement direction D. This reduces the possibility that the released work object Oa will be placed in the work start area A4. As a result, the frequency with which the tip attachment 15d moving downward toward the work start area A4 collides with the released work object Oa present in the work start area A4 can be reduced. This reduces the load that the tip attachment 15d imparts to a container 82, such as a loading platform, via the released work object Oa present in the work start area A4, thereby reducing the possibility of damage to the container 82.

[0081] (Effects of the fifth invention)

[0082] [Configuration 5] The effects of the work machine 10 are as follows. The work machine 10 includes 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 controls the operation of one or both of the machine body 10a and the attachment 15 so that the end attachment 15d applies a load in a lateral direction to a released work object Oa, which is a work object O that has been released from the end attachment 15d, thereby moving the released work object Oa in the lateral direction. In other words, the controller 50 controls the operation of one or both of the machine body 10a and the attachment 15 so that the end attachment 15d applies a load to the released work object Oa, which has been released from the end attachment 15d, in a direction away from the release area A3 from the opposite side of that direction.

[0083] In the above [Configuration 5], the released work object Oa in the release area A3 is moved in a direction away from the release area A3 (e.g., in the work object movement direction D) by applying a load with the tip attachment 15d. As a result, the released work object Oa is pushed, for example, to a position where the tip attachment 15d cannot release the work object O, i.e., to an area outside the movable range Ap of the tip attachment 15d. As a result, the work object O can be positioned over a wider area.

[0084] (Effect of the sixth invention)

[0085] [Configuration 6] The effects of the work program are as follows. The work program is used in a work machine 10 that includes a machine main body 10a and an attachment 15 operably attached to the machine main body 10a, the attachment 15 having an end attachment 15d that performs work. As shown in Fig. 5 , the work program causes a computer (controller 50) to execute control steps that control the operation of one or both of the machine main body 10a and the attachment 15 so that the end attachment 15d applies a load in a lateral direction to a released work object Oa, which is a work object O that has been released from the end attachment 15d, thereby moving the released work object Oa in the lateral direction. In other words, the work program causes the computer (controller 50) to execute control steps that control the operation of one or both of the machine main body 10a and the attachment 15 so that the end attachment 15d applies a load to the released work object Oa, which has been released from the end attachment 15d, in a direction away from the release area A3 from the opposite side of that direction.

[0086] In the above [Configuration 6], the released work object Oa in the release area A3 is moved in a direction away from the release area A3 (e.g., in the work object movement direction D) by applying a load with the tip attachment 15d. As a result, the released work object Oa is pushed, for example, to a position where the tip attachment 15d cannot release the work object O, i.e., to an area outside the movable range Ap of the tip attachment 15d. As a result, the work object O can be positioned over a wider area.

[0087] (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.).

Claims

1. A work system comprising: a machine body of a work machine; an attachment operably attached to the machine body and having an end attachment that performs work; and a controller, wherein the controller controls the operation of one or both of the machine body and the attachment so that the end attachment applies a lateral load to a released work object, which is a work object that has been released from the end attachment, to move the released work object.

2. A work system as described in claim 1, wherein the controller sets a target placement position and controls the operation of the end attachment so that the end attachment moves the released work object until the released work object, which moves due to the load applied by the end attachment, reaches the target placement position.

3. A work system as described in claim 1 or 2, wherein the controller sets a possible placement range within which the work object can be placed, and controls the operation of the end attachment so as to move the released work object within the possible placement range.

4. A work system as claimed in any one of claims 1 to 3, wherein, when the position at which the end attachment starts the operation of moving the released work object is a work start position and the direction of movement of the end attachment when moving the released work object is the work object movement direction, the controller controls the operation of one or both of the machine body and the attachment so that the work object captured by the end attachment is released from the end attachment and thereby positioned at a position away from the work start position in the work object movement direction.

5. A working machine comprising: a machine body; an attachment operably attached to the machine body, the attachment having an end attachment for performing work; and a controller, wherein the controller controls the operation of one or both of the machine body and the attachment so that the end attachment applies a load laterally to a released work object, which is a work object that has been released from the end attachment, to move the released work object.

6. A work program used in a work machine having a machine body and an attachment operably attached to the machine body and having an end attachment for performing work, the work program causing a computer to execute a control step that controls the operation of one or both of the machine body and the attachment so that the end attachment applies a load in a lateral direction to a released work object, which is a work object that has been released from the end attachment, thereby moving the released work object.

Images