Work assistance system

Abstract

Provided is a work assistance system (1) capable of performing work assistance according to the degree of positional deviation of a work machine. The work assistance system (1) comprises a work machine (10) for performing work, and a controller (50). The controller (50) includes: an allowable range setting unit (57) that sets an allowable range for the positional deviation of the work machine (10); and a work assistance unit that performs work assistance on the basis of the allowable range.

Description

Work Support System

[0001] The present invention relates to a work assistance system.

[0002] Patent Document 1 describes a system that includes a work machine and a controller that controls the operation of the work machine.

[0003] In the system, deviations in the position of the work machine may occur due to the work machine performing work on a work object, etc. If the deviation becomes significant, serious problems such as work interference may occur. On the other hand, minor positional deviations that do not interfere with work occur relatively frequently, and responding to all positional deviations would unnecessarily reduce work efficiency.

[0004] JP 2023-68408 A

[0005] An object of the present invention is to provide a system that can provide work assistance suited to the degree of positional deviation of a work machine.

[0006] What is provided is a work assistance system comprising a work machine that performs work and a controller. The controller includes an allowable range setting unit that sets an allowable range for positional deviation of the work machine, and a work assistance processing unit that performs work assistance processing to assist the work machine in performing work based on the allowable range.

[0007] Fig. 1 is a side view of a work machine according to an embodiment of the present invention. Fig. 2 is a block diagram of a work assistance system including the work machine. Fig. 3 is a flowchart showing an allowable range setting process performed by a controller included in the work assistance system. Fig. 4 is a flowchart showing the work assistance process performed by the controller. Fig. 5 is a plan view showing an example in which an allowable range is set having a radius corresponding to the distance between the lower body of the work machine and the work area. Fig. 6 is a plan view showing an example in which an allowable range is set having a radius corresponding to the distance between the turning circle of the upper rotating body of the work machine and the work area. Fig. 7 is a diagram showing an example of an image that enables an input operation for specifying the allowable range. Fig. 8 is a diagram showing an image in which an image showing a machine coordinate allowable range obtained by converting the allowable range into machine coordinates is superimposed on an image showing the surrounding situation.

[0008] A preferred embodiment of the present invention will now be described with reference to the drawings.

[0009] 2 shows the work assistance system 1 according to the embodiment. The work assistance system 1 includes a work machine 10, a detection unit 31, an input unit 35, a controller 50, and an output unit 60.

[0010] The work machine 10 is capable of performing operations to carry out work. In Fig. 1, a shovel is shown as an example of the work machine 10. The work machine 10 may be a construction machine other than the shovel, such as a crane, a bulldozer, or a wheel loader. Alternatively, the work machine 10 may be a loading and unloading machine that handles loads.

[0011] The work machine 10 illustrated in Figure 1 operates in response to operations given by an operator on board the work machine 10. Alternatively, the work machine 10 may be configured to be operated by automatic control. Specifically, the work machine 10 may be operated automatically or semi-automatically. The work machine 10 may have both a mode in which it is operated by automatic control and a mode in which it is operated manually in response to operations given by an operator. Manual operations by an operator to operate the work machine 10 may be given to a remote control device located outside the work machine 10.

[0012] The work machine 10 shown in FIG. 1 includes a machine body 10a, an attachment 15, an actuator 21, an engine (not shown), and a drive control unit 17 shown in FIG.

[0013] The machine body 10a is a main body portion of the work machine 10. The machine body 10a includes a lower body 11 and an upper rotating body 13.

[0014] The lower body 11 supports the upper rotating body 13 so that the upper rotating body 13 can rotate. The lower body 11 illustrated in Fig. 1 is a lower traveling body that can travel on a traveling surface such as the ground. The lower body 11 includes a pair of left and right crawlers as a means for traveling. The means for traveling may include a plurality of wheels.

[0015] The upper rotating body 13 is rotatably mounted on the lower body 11. The attachment 15 is attached to the upper rotating body 13. The upper rotating body 13 includes a rotating frame (not shown), a cab 13a, and a counterweight (not shown). The rotating frame is a structure that is rotatably connected to the lower body 11, and the attachment 15 is connected to the rotating frame. The cab 13a is mounted on the rotating frame and enables an operator to perform operations to move the work machine 10 from within the cab 13a. Instead of or in addition to operations from within the cab 13a, operations may be given to a remote control device located outside the work machine 10. The counterweight is a weight used to balance the work machine 10 in the fore-and-aft direction.

[0016] The work machine 10 has a machine up-down direction Z, and the upper rotating body 13 has an upper rotating body fore-and-aft direction X. The machine up-down direction Z is the direction in which a rotation central axis, which is the central axis of rotation of the upper rotating body 13 relative to the lower main body 11, extends. The machine up-down direction Z includes a machine up-down direction Z1 and a machine down-down direction Z2. The machine up-down direction Z1 is the direction from the lower main body 11 toward the upper rotating body 13, and the machine down-down direction Z2 is the direction opposite to the machine up-down direction Z1. When the traveling surface is a horizontal plane, the machine up-down direction Z is a vertical direction. The upper rotating body fore-and-aft direction X is a direction perpendicular to both the machine up-down direction Z and the rotation direction, and the rotation direction is the direction in which the upper rotating body 13 rotates relative to the lower main body 11. The upper rotating body fore-and-aft direction X is parallel to the attachment fore-and-aft direction, which is the operating direction of the attachment 15, when viewed along the machine up-and-down direction Z. The upper rotating body fore-and-aft direction X includes an upper rotating body forward direction X1 and an upper rotating body rear direction X2. The upper rotating body forward direction X1 is the direction in which the tip of the attachment 15 moves away from the upper rotating body 13, and the upper rotating body rear direction X2 is the direction opposite to the upper rotating body forward direction.

[0017] The attachment 15 is a part that performs the operation for the work. The attachment 15 illustrated in FIG. 1 includes a boom 15b, an arm 15c, and a tip attachment 15d. The boom 15b has a boom base end and a boom tip end on the opposite side, and the boom base end is connected to the revolving frame so that the boom 15b can be raised and lowered relative to the upper revolving structure 13, specifically, so that the boom 15b can rotate about an axis extending in the lateral direction of the upper revolving structure that is perpendicular to the fore-aft direction X of the upper revolving structure. The arm 15c has an arm base end and an arm tip end on the opposite side, and the arm base end is connected to the boom tip so that the arm 15c can rotate about an axis extending in the lateral direction of the upper revolving structure relative to the boom 15b.

[0018] The tip attachment 15d constitutes the tip of the attachment 15. The tip attachment 15d is connected to the tip of the arm 15c so that the tip attachment 15d can rotate relative to the arm 15c around an axis extending laterally from the upper rotating body. The tip attachment 15d illustrated in FIG. 1 is a bucket, which is capable of scooping and excavating a work object. Alternatively, the tip attachment 15d may include at least one of a device for clamping a work object (such as a grapple, nibbler, or rotary fork), a device for crushing a work object, or a magnet for magnetically attracting a work object.

[0019] The work object is the target of work performed by the work machine 10. The work object may be any of soil, rock, magnetic material such as metal, resin, waste, wood such as logs, and structures such as blocks. The nature of the soil is not limited, and may be soil-like, granular, chip-like, or powder-like.

[0020] The multiple actuators 21 are arranged to move multiple movable parts included in the work machine 10. Each of the actuators 21 may be either a hydraulic actuator or an electric actuator. Each of the actuators 21 may be a motor that rotates the movable part, or a cylinder that performs an extension and retraction operation.

[0021] The multiple actuators 21 illustrated in FIG. 1 include a swing motor 21a, a boom cylinder 21b, an arm cylinder 21c, a tip attachment cylinder 21d, and a travel motor (not shown). The travel motors include a right travel motor and a left travel motor that respectively drive the right and left crawlers of the lower body 11. The swing motor 21a swings the upper swing body 13 relative to the lower body 11. Each of the travel motor and 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 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. The boom cylinder 21 b, the arm cylinder 21 c, and the tip attachment cylinder 21 d are, for example, hydraulic cylinders. When the tip attachment 15 d includes parts that move relative to each other, for example, when it includes a device for clamping an object, an actuator for moving the parts may be included in the plurality of actuators 21.

[0022] 2 drives and controls each of the actuators 21. If the plurality of actuators 21 include hydraulic actuators, the drive control unit 17 includes a hydraulic circuit. If the plurality of actuators 21 include electric actuators, the drive control unit 17 includes an electric circuit.

[0023] Specifically, the drive control unit 17 drives and controls the drive of the pair of travel motors that travel the lower body 11. The drive control unit 17 drives and controls the drive of the swing motor 21a that swings the upper swing body 13 relative to the lower body 11. The drive control unit 17 drives and controls the drive of the boom cylinder 21b that swings (raises and lowers) the boom 15b relative to the upper swing body 13. The drive control unit 17 drives and controls the drive of the arm cylinder 21c that swings the arm 15c relative to the boom 15b. The drive control unit 17 drives and controls the drive of the tip attachment cylinder 21d that swings the tip attachment 15d relative to the arm 15c.

[0024] The detection unit 31 detects the state of the work machine 10. The detection unit 31 includes a plurality of detection devices. Each of the detection devices may be mounted on the work machine 10 or may be arranged external to the work machine 10.

[0025] As shown in Fig. 2, the detection unit 31 includes a position detection device 311, an imaging device 312, a direction detection device 313, an attitude detection device 314, and a load detection device 315. The position detection device 311 detects the position of a measurement object. Specifically, the position detection device 311 detects the position of a position detection target portion selected from the work machine 10. The position detection target portion may be, for example, a portion included in the upper rotating body 13 or a portion included in the attachment 15.

[0026] The position detection device 311 may detect a position using electromagnetic waves such as light or radio waves, or may use a satellite positioning system, for example, a global navigation satellite system (GNSS). Alternatively, the position detection device 311 may use a system including a terrestrial transmitter and receiver (without using satellites), or may be a system (such as a total station) that uses reflection of light (e.g., laser light). Alternatively, the position detection device 311 may include multiple detectors and a calculation unit that calculates the position of the measurement object based on information detected by each of the multiple detectors.

[0027] The imaging device 312 captures an image of an object to be imaged. The object to be imaged may include the work machine 10, or may include the surroundings of the work machine 10. The imaging device 312 may generate a two-dimensional image, or may generate a three-dimensional image including depth information, i.e., a distance image. If the coordinate system of the space detected by the imaging device 312 differs from the machine coordinate system, which is the coordinate system of the work machine 10, at least one of the coordinate systems is converted so that the two coordinate systems are unified. The imaging device 312 may be of a passive type or an active type. Specifically, the imaging device 312 may include a detector that detects two-dimensional information, such as a monocular camera, or may include a detector that detects three-dimensional information, such as a stereo camera.

[0028] The imaging device 312 may include a means for irradiating an object with waves such as electromagnetic waves, a means for detecting reflected waves from the object, and a means for generating three-dimensional information about the object based on the reflected waves. The imaging device 312 may include a time-of-flight (TOF) sensor that detects the distance to the object based on the time from when a wave is reflected from the object to when the reflected wave returns, or a sensor that detects the distance based on the frequency of the reflected wave. The imaging device 312 may include a device that detects three-dimensional information using light (e.g., laser light), such as LiDAR (Light Detection and Ranging), or a device that detects three-dimensional information using radio waves, such as millimeter-wave radar.

[0029] The imaging device 312 may include only a single imager, or may include multiple imagers. The multiple imagers may all be of the same type, or may include imagers of different types. The imaging device 312 may detect three-dimensional information of the imaged object based on a three-dimensional image (distance image) and a two-dimensional image. The imaging device 312 may include an imager mounted on the work machine 10, or may include an imager disposed outside the work machine 10 (e.g., at a work site). An imager disposed outside the work machine 10 can detect information that cannot be detected by an imager mounted on the work machine 10, such as information about areas shaded by the attachment 15 (see FIG. 1 ).

[0030] The direction detection device 313 detects the direction (orientation) of the object to be measured. The direction detection device 313 detects the direction of a portion to be a direction detection target selected from the work machine 10. The portion to be a direction detection target may be a portion included in the upper rotating body 13 or a portion included in the attachment 15. The direction detection device 313 may be one that detects the orientation of the object to be measured using geomagnetism. The direction detection device 313 may be one that detects the direction of the object to be measured based on the positions of multiple portions of the object to be measured relative to the work site.

[0031] The attitude detection device 314 detects the attitude of the work machine 10. The attitude detection device 314 may include a detector mounted on the work machine 10, or may include a part that is arranged outside the work machine 10 (for example, at a work site, etc.).

[0032] The attitude detection device 314 may detect the position and orientation of the work machine 10 relative to the work site. Specifically, the attitude detection device 314 may detect the position and orientation of a reference position, which is a reference position for the work machine 10, relative to the work site. The reference position may be included in either the upper rotating body 13 or the lower main body 11. For example, the reference position may be a portion of the boom 15b that is connected to the upper rotating body 13, i.e., a boom foot, or a position on the rotation center axis. The attitude detection device 314 may detect the inclination of the work machine 10 with respect to a horizontal plane. The attitude detection device 314 may detect information (angle, angular velocity, angular acceleration, etc.) about the rotation of the upper rotating body 13 relative to the lower main body 11. The attitude detection device 314 may detect information (boom angle, boom angular velocity, boom angular acceleration, etc.) about the rotation of the boom 15b relative to the upper rotating body 13. The attitude detection device 314 may detect information about the rotation of the arm 15c relative to the boom 15b. The attitude detection device 314 may detect information about the rotation of the bucket relative to the arm 15c.

[0033] The attitude detection device 314 may include a single type or multiple types of detectors. The attitude detection device 314 may include an angle detector, such as a rotary encoder, that detects angle information of one element of the work machine 10 relative to another element. The attitude detection device 314 may include a stroke sensor that detects the stroke of a cylinder that moves the attachment 15. The attitude detection device 314 may include an inclination sensor that detects the inclination angle of a detection object relative to the horizontal direction. The attitude detection device 314 may include a sensor, such as a gyro sensor, that detects the angular velocity of the detection object relative to the work site, or a sensor that detects the acceleration of the detection object relative to the work site. The attitude detection device 314 may include an inertial measurement unit. The attitude detection device 314 may be configured to detect the attitude of at least one part of the work machine 10 based on position information detected by a detector included in the position detection device 311. The attitude detection device 314 may include a detector that detects the direction of a specific part of the work machine 10, such as a detector included in the direction detection device 313.

[0034] The attitude detection device 314 may include an imager included in the imaging device 312. For example, the attitude detection device 314 may detect the attitude of the work machine 10 based on image recognition of two-dimensional images, or may detect the attitude of the work machine 10 based on three-dimensional images (distance images). Alternatively, the attitude detection device 314 may detect the attitude of the work machine 10 based on both three-dimensional images (distance images) and two-dimensional images.

[0035] The attitude detection device 314 according to this embodiment includes a plurality of detectors shown in FIG. 2, namely, a reference position detector 314a, a tilt detector 314b, a rotation detector 314c, a boom detector 314d, an arm detector 314e, and a tip attachment detector 314f.

[0036] The reference position detector 314a detects the position and orientation of a reference position, which is a reference position for the work machine 10, with respect to the work site. The reference position is, for example, a specific position on the upper rotating body 13 or the lower body 11. The reference position may be the position of a portion of the boom 15b that is connected to the upper rotating body 13, i.e., the boom foot, or it may be a position on the rotation central axis. The reference position detector 314a may be configured to detect the position and orientation with respect to the work site based on information detected by at least one of the position detection device 311, the direction detection device 313, and the imaging device 312, for example.

[0037] The inclination detector 314b detects the inclination of the work machine 10 with respect to the horizontal direction. The inclination detector 314b may detect the inclination of the work machine 10 with respect to the ground. The inclination detector 314b may be configured to detect the inclination of the work machine 10 based on information detected by a detector that detects inclination with respect to the horizontal direction (such as a gyro sensor, an acceleration sensor, or an inertial measurement unit). The inclination detector 314b may be configured to detect the inclination of the work machine 10 with respect to the horizontal direction based on information detected by at least one of the position detection device 311, the direction detection device 313, and the imaging device 312, for example.

[0038] The rotation detector 314c detects information related to the rotation of the upper rotating body 13 relative to the lower body 11. Examples of the information include a rotation angle, a rotation angular velocity, and the angular acceleration. The rotation detector 314c may include an angle sensor attached to a rotation axis or a rotation support part (such as a rotation bearing) that is the center of rotation of the upper rotating body 13 relative to the lower body 11. The rotation detector 314c may be configured to detect the rotation information based on information detected by at least one of the position detection device 311, the direction detection device 313, and the imaging device 312.

[0039] The boom detector 314d detects the attitude of the boom 15b. The boom detector 314d detects the angle (tilt, rotation angle) of the boom 15b with respect to the horizontal direction or with respect to the upper rotating body 13.

[0040] Similarly, the arm detector 314e detects the posture of the arm 15c. The tip attachment detector 314f detects the posture of the tip attachment 15d. Each of the detectors 314d to 314f may detect the posture of a target portion based on information detected by at least one of the position detection device 311, the direction detection device 313, and the imaging device 312.

[0041] The load detection device 315 detects a load (load, excavation load) acting on the attachment 15. The load detection device 315 mainly detects a load acting on the tip attachment 15d. The load detection device 315 may be configured to detect a load acting on the attachment 15 based on a load acting on an actuator 21 (a cylinder in the example shown in FIG. 1 ) for moving the attachment 15 out of the multiple actuators 21. Alternatively, the load detection device 315 may detect a load acting on the attachment 15 based on distortion (deformation) of the attachment 15 or distortion of the actuator 21. The load detection device 315 may utilize a function (payload function) of detecting the mass of a work object captured by the tip attachment 15d.

[0042] The input unit 35 inputs information to the controller 50. The information is mainly information used for control. The input unit 35 allows an operator to operate the input unit 35 and inputs a signal corresponding to the operation to the controller 50. The input unit 35 may include any of a touch panel, a mouse, a keyboard, and a switch. The input unit 35 may be provided on any of a tablet, a smartphone, and a personal computer. The input unit 35 may be provided on a client device or a server device. The input unit 35 may be mounted on the work machine 10 and may be located in the cab 13a, for example. The input unit 35 may be included in a remote control device for remotely operating the work machine 10. The input unit 35 may be provided on an operating member (e.g., an operating lever) (not shown) included in the cab 13a or the remote control device, or may be provided on a display such as a cluster gauge. An operation to move the work machine 10 is given to the operating member. The operating member may be provided in the operator's cab 13 a, or may be provided on a remote control device for remotely operating the work machine 10.

[0043] The input unit 35 outputs a command corresponding to the operation applied to the operating member. The command may correspond to an operation amount, which is the magnitude of the operation. The command may be either a pilot hydraulic pressure or an electrical signal. The input unit 35 may include a hydraulic remote control valve interlocked with the operating member, or an angle sensor (e.g., a variable resistor). Examples of the operation include a travel operation for traveling the lower body 11, a rotation operation for rotating the upper rotating body 13 relative to the lower body 11, and an attachment operation for moving the attachment 15. Examples of the attachment operation include a boom operation for raising and lowering the boom 15b relative to the upper rotating body 13, an arm operation for rotating the arm 15c relative to the boom 15b, and a tip attachment operation for rotating the tip attachment 15d relative to the arm 15c.

[0044] The controller 50 includes a computer that performs signal input / output, calculations (processing), information storage, etc., and the computer includes a calculation unit that calculates (processes) information and a storage unit that stores information. The controller 50 may be connected to other devices via communication means, and the communication means may perform either wired communication or wireless communication. Examples of the communication means include a mobile phone line, an optical fiber line, a wireless LAN (Local Area Network), and a wired LAN. Information is input to the controller 50 from the detection unit 31. The controller 50 inputs commands (signals) to the drive control unit 17 of the work machine 10 to cause the work machine 10 to operate. The controller 50 outputs information via the output unit 60. The controller 50 may be mounted on the work machine 10 or may be located external to the work machine 10. The controller 50 may be divided into multiple parts that are distributed, i.e., may form a distributed system.

[0045] The calculation unit of the controller 50 executes a program stored in a storage unit to realize a plurality of functions of the controller 50 shown in Fig. 2. The plurality of functions include a work plan setting unit 51, an operation control unit 53, a surrounding situation recognition unit 55, and an allowable range setting unit 57.

[0046] The work plan setting unit 51 sets a work plan, which is a plan for work to be performed by the work machine 10. The work plan is information related to operational targets for work to be performed by the work machine 10. The work plan may include information about a target route, which is a target route for the work machine 10 to travel. The work plan may include information about a target range (e.g., a target capture range, a target release range), which is a target for the range of work to be performed by the attachment 15. The work plan may include information about a target path of a predetermined control target portion of the attachment 15. The target path includes, for example, information (coordinates) about the positions of each of a plurality of target points and information about the order of the plurality of target points. The work plan may include information about a target trajectory of the control target portion. The target trajectory is information in which time information is added to the target path. The time information may be, for example, information about the time between two points, or information about a target time. The time between two points is a target value of the time it takes for the control target part to move between two adjacent (sequential) target points among the plurality of target points. The target time is a target value of the time when the control target part will reach each of the plurality of target points. By adjusting the time information, a target movement speed, which is a target value of the movement speed of the control target part, is adjusted.

[0047] The parameters representing positions related to the work plan can be set in various ways. In the work plan, the parameters representing the positions of the control target parts of the attachment 15 are, for example, parameters that enable the attitude of the work machine 10 to be acquired. The coordinate axes of the parameters representing positions related to the work plan can be set arbitrarily. For example, the parameters may be represented by coordinates on coordinate axes based on the work site, i.e., absolute coordinates. A reference position that is the origin of the coordinate axes may be set at the work site. The parameters representing positions related to the work plan may alternatively be represented by coordinates on coordinate axes based on the work machine 10, i.e., machine coordinates. The origin of the coordinate axes may be set at a specific position on the work machine 10, and the specific position may be a portion included in the superswing body 13, for example, the position of the portion of the superswing body 13 to which the boom 15b is attached, i.e., the boom foot pin, or may be a position on the rotation central axis.

[0048] The work plan may include at least one of information regarding the fore-and-aft direction X of the upper rotating body, information regarding the machine up-and-down direction Z, information regarding the swing angle, and information regarding the angle (posture) of the tip attachment 15d. The information regarding the fore-and-aft direction X of the upper rotating body is, for example, information regarding the distance from the origin of the coordinate axes to the control target portion of the attachment 15 (e.g., the tip of the tip attachment 15d). The information regarding the machine up-and-down direction Z is, for example, information regarding the distance from the origin of the coordinate axes to the control target portion of the attachment 15, i.e., information regarding the height of the control target portion relative to the origin. The information regarding the angle of the tip attachment 15d may be, for example, information regarding the angle of the tip attachment 15d relative to the horizontal direction or information regarding the angle of the tip attachment 15d relative to the arm 15c. The parameter representing the position related to the work plan may include the position of at least one of the actuators 21 (e.g., the stroke position of a cylinder or the rotation angle of a motor).

[0049] The work plan setting unit 51 sets multiple work phases included in the work plan. The multiple work phases correspond to multiple operations of the work machine 10 related to the work plan. Specifically, in this embodiment, the multiple work phases include a capture phase, a lifting and swinging phase, a release phase, and a return swing phase. The capture phase corresponds to an operation in which the tip attachment 15d captures the work object within the target capture range (e.g., digging up earth and sand). For example, the target capture range is set to a location where work objects have been collected (e.g., a pile of earth and sand). The lifting and swinging phase corresponds to an operation in which the tip attachment 15d lifts up from the ground while capturing the work object and the controlled portion moves from the target capture range to a target release range. The release phase corresponds to an operation in which the tip attachment 15d releases the work object within the target release range (e.g., dumping earth). The target release range is set to a specific range above the bed of a transport vehicle, for example. The return rotation phase corresponds to an operation in which the controlled part moves in the rotation direction from the target release range to the target capture range. The capture phase, the lift-up rotation phase, the release phase, and the return rotation phase constitute a series of work phases that are repeated in this order.

[0050] At least a part of the work plan may be set by teaching involving manual operation of the work machine 10 by an operator, or may be set by an input operation provided by the operator to the input unit 35, such as input of numerical values, or may be set automatically by the controller 50. The work plan may be corrected. The correction may be made in response to an input operation provided by the operator to the input unit 35, or may be made automatically by the controller 50 based on information detected by the detection unit 31 (for example, information about obstacles).

[0051] The teaching can be performed, for example, as follows. The work machine 10 is moved by operations provided by an operator on board the work machine 10 or by operations provided by the operator to a remote control device so that the control target part is located at a position (route, range) that the operator wants to set as information about the work plan. The designated position, which is the position where the control target part is located, is calculated based on the attitude of the work machine 10 detected by the attitude detection device 314. The work plan setting unit 51 sets a work plan based on the designated position. For example, the operator manually operates the work machine 10 to place the control target part at a specific position (e.g., a corner position of the target capture range) in a range that is wanted to be set as the target range (the target capture range or the target release range). The work plan setting unit 51 sets the target range based on the designated position thus specified. For example, the operator manually operates the work machine 10 to move the control target part so that it follows the route that is wanted to be set as the target route. For example, an operator moves the control target portion at a path and speed corresponding to the desired target trajectory by manually operating the work machine 10. The work plan setting unit 51 sets the target trajectory based on the path (trajectory) and speed along which the control target portion has moved.

[0052] The operation control unit 53 automatically controls the work machine 10 so that the work machine 10 moves in accordance with the work plan. The operation control unit 53 inputs commands to the drive control unit 17 to move the work machine 10 in accordance with the work plan. The operation control unit 53 controls the movement of the work machine 10 based on the attitude detected by the attitude detection device 314.

[0053] In this way, the operation control unit 53 controls the automatic operation of the work machine 10 based on the target route included in the work plan. Specifically, the operation control unit 53 controls the automatic operation for performing earth and sand excavation work. The multiple work phases corresponding to the excavation work include a capture phase corresponding to the operation of capturing earth and sand as a work object with the tip attachment 15d, a lifting and swinging phase corresponding to the operation of moving the tip attachment 15d holding the earth and sand in the swing direction to a release position, a release phase corresponding to the operation of releasing the earth and sand captured by the tip attachment 15d at the release position, and a return swing phase corresponding to the operation of moving the tip attachment 15d in the swing direction to return it to a position for excavating earth and sand.

[0054] As described above, the work machine 10 may be operated by operations given by an operator in the cab 13a, or by remote operations given by an operator to a remote control device external to the work machine 10, or may be automatically driven. The work machine 10 is a machine that utilizes information and communication technology (ICT) (e.g., ICT construction machinery). For example, the work machine 10 may be operated by operations given by an operator using a machine guidance (MG) function. Specifically, guidance on the position where work should be done and the like is shown to the operator so that the work machine 10 can perform operations for work in accordance with a work plan set in the controller 50. The guidance is output, for example, by an output device provided in the cab 13a of the work machine 10 or an output device provided in a remote control device. The operator can perform operations to move the work machine 10 in accordance with the guidance, and the work machine 10 is thereby moved in accordance with the work plan.

[0055] The work machine 10 may be operated semi-automatically by a machine control (MC). Specifically, an operator operates only some of the multiple elements of the attachment 15 that are to be controlled, for example, only the boom 15b, while the controller 50 automatically controls the operation of elements other than the controlled elements, for example, the arm 15c and the tip attachment 15d, so that the work machine 10 moves in accordance with the work plan set in the controller 50. Specifically, the controller 50 controls the operation of the work machine 10 based on information detected by the attitude detection device 314, as in the case of the automatic operation, thereby moving the work machine 10 in accordance with the work plan. In the case of the automatic operation, the controller 50 automatically controls the operation of the work machine 10 so that the work machine 10 moves in accordance with the work plan.

[0056] The surrounding situation recognition unit 55 recognizes the surrounding situation. The surrounding situation is the situation around the work machine 10. The surrounding situation recognition unit 55 may recognize the surrounding situation based on information detected by the detection unit 31. The surrounding situation recognition unit 55 may recognize the surrounding situation based on a construction plan including predetermined topographical data of the work site, etc.

[0057] The allowable range setting unit 57 sets an allowable range A1, exemplified in FIG. 5 . The allowable range A1 is a range of allowable positional deviation of the work machine 10. The allowable range A1 is, for example, a range of positional deviation within which an automatic driving system can function. The ability of an automatic driving system to function means that the system can correct a target related to a task, thereby causing the work machine 10 to perform the originally intended operation. The correction of the target includes, for example, correction of a target path of the attachment 15. The allowable range setting unit 57 may set the allowable range A1 based on a signal input from the input unit 35 to the controller 50 in response to an input operation given to the input unit 35 by an operator for specifying the allowable range A1. Alternatively, the allowable range setting unit 57 may set the allowable range A1 automatically based on the surrounding conditions.

[0058] The operation control unit 53 also functions as a work assistance processing unit that performs work assistance processing based on the allowable range A1 set by the allowable range setting unit 57. The work assistance processing will be described in detail later.

[0059] The output unit 60 outputs information based on a signal output from the controller 50. The output unit 60 may output any of light (such as a display), sound, and vibration. The output unit 60 may be provided in a tablet, a smartphone, or a personal computer. The output unit 60 may be provided in the cab 13a or in a remote control device for remotely controlling the work machine 10. When outputting light, the output unit 60 may include a display device (monitor) or a projection device for projecting onto an object such as the ground. The output unit 60 may include a light emitter for emitting light. The output unit 60 may include a VR device using VR (Virtual Reality) technology or an AR device using AR (Augmented Reality) technology. The output unit 60 may be configured to change at least one of the hue, density (transparency), brightness, and saturation of the light it outputs.

[0060] The functions of the controller 50 may be realized by a client device and a server device. Each of the client device and the server device includes a computer. The input unit 35, the controller 50, and the output unit 60 may be provided in only one of the client device and the server device, or in both. For example, the memory unit and the calculation unit of the controller 50 may be provided in only one of the client device and the server device, or in both. The system may include only a single client device or multiple client devices. Similarly, the system may include only a single server device or multiple server devices. The communication means for connecting the client device and the server device to each other may be wireless or wired. Examples of the communication means include a mobile phone line, an optical fiber line, a wireless LAN (Local Area Network), and a wired LAN.

[0061] The calculation unit of the controller 50 executes a program stored in the memory unit, thereby enabling the controller 50 to perform the following processing, i.e., to execute the work assistance method described below.

[0062] First, the controller 50 executes the allowable range setting process shown in FIG.

[0063] 3 , the controller 50 acquires information about the surrounding conditions (step S10). The information is information detected by the detection unit 31, and is, for example, information about the position of a work area A2, which is the area where the work machine 10 will work. For example, the work area A2 is a place where work objects are collected, such as a soil pit. For example, the work area A2 is a place where the work machine 10 will capture work objects, such as a place where soil is excavated. For example, the work area A2 is a place where the work machine 10 will release the captured work objects, such as a place where soil is discharged. The information about the surrounding conditions is, for example, information about the position of a no-entry zone, and the no-entry zone is, for example, a stopping area where work vehicles other than the work machine 10 will stop. The information about the surrounding conditions may include information about the position of an obstacle. The work area A2 may include the no-entry zone, or may include some kind of object, including an obstacle.

[0064] The controller 50 sets an allowable range reference position P1 as shown in FIG. 5 (step S20). The allowable range reference position P1 is a position at which the initial position of the work machine virtual point P2 shown in FIG. 5 is set, and is an absolute position that does not move relative to the work site. The allowable range reference position P1 is a reference position for determining positional deviation of the work machine 10. On the other hand, the work machine virtual point P2 moves in accordance with the positional deviation of the work machine 10 in order to determine the positional deviation of the work machine 10. The relative position of the work machine virtual point P2 with respect to the work machine 10 is fixed. The initial position of the work machine virtual point P2 is the position when the work machine 10 was placed in its initial position before the start of work, and is equal to the allowable range reference position P1. The relative position of the work machine virtual point P2 with respect to the work machine reference point P3 may be changed. The work machine reference point P3 is determined on the work machine 10 as shown in FIG. 5.

[0065] The controller 50 according to this embodiment determines whether the positional deviation of the work machine 10 has deviated from the allowable range A1 based on the positional relationship between the work machine virtual point P2 and the allowable range A1, which is set based on the allowable range reference position P1. For example, in the example shown in Fig. 5, the work machine virtual point P2 moves from the allowable range reference position P1 to outside the allowable range A1 as the work machine reference point P3 moves, i.e., the work machine 10 moves, and therefore the controller 50 determines that the positional deviation of the work machine 10 is outside the allowable range A1.

[0066] The allowable range reference position P1 can be set arbitrarily, but is preferably set at a position where there is a landmark object at the work site, such as a pole or cone. The allowable range reference position P1 may be set arbitrarily. The allowable range A1 may also be set in an area surrounding the work machine 10. In this case, whether or not the positional deviation is outside the allowable range A1 may be determined based on whether or not the work machine 10 itself is outside the allowable range A1.

[0067] The controller 50 determines whether to automatically set the allowable range A1 (step S30). If it is determined that the allowable range A1 should be automatically set (YES in step S30), the controller 50 automatically sets the allowable range A1 (step S40). For example, the controller 50 sets the allowable range A1 around the allowable range reference position P1. The shape of the extension of the allowable range A1 is not limited. Examples of such shapes include a circle and a rectangle. The dimensions of the allowable range A1 may be a predetermined constant dimension or may be variable.

[0068] 5, the dimension may be determined based on a distance L1 from a point set on the lower body 11, for example, a point closest to the work area A2, to the work area A2. For example, the tolerance range A1 may be set to have a radius equal to the distance L1 or a radius equal to the distance L1 minus a predetermined margin.

[0069] Alternatively, as shown in FIG. 6 , the dimension of the allowable range A1 may be determined based on the positional relationship between the upper rotating body 13 and the working area A2. For example, the dimension of the allowable range A1 may be determined based on a distance L2 from a point on a rotating circle C1 of the upper rotating body 13 that is closest to the working area A2 to the working area A2. The rotating circle C1 is a path traced by a portion of the upper rotating body 13 (excluding the attachment 15) that is farthest from the central axis of rotation as the upper rotating body 13 rotates, and corresponds to the outer periphery of the rotating area of ​​the upper rotating body 13, i.e., the area where the upper rotating body 13 may be present during its rotation. For example, the allowable range A1 may be set to have a radius equal to the distance L2 or a distance obtained by subtracting a predetermined margin (not shown) from the distance L2.

[0070] The controller 50 may determine a degree of safety according to the surrounding situation grasped based on the information detected by the detection unit 31, and set the permissible range A1 to have a size corresponding to the determined degree of safety. The degree of safety may be evaluated in stages. For example, the controller 50 may determine a plurality of degrees of safety corresponding to a plurality of directions as seen from the permissible range reference position P1, and set the size of the permissible range A1 corresponding to each of the directions.

[0071] Alternatively, the controller 50 may be configured to exclude from the allowable range A1 positions of the work machine 10 where the attachment 15 cannot reach the work area A2. This makes it possible to set a preferable allowable range A1 that corresponds to whether or not the work machine 10 can proceed with work.

[0072] The controller 50 edits the allowable range A1 (step S50). Editing of the allowable range A1 may be omitted if the allowable range A1 is set automatically. Editing of the allowable range A1 is performed in response to an input operation provided by an operator to the input unit 35. For example, the input operation may be an operation for specifying the allowable range reference position P1 and the radius of the allowable range A1, and the allowable range A may be edited based on the allowable range reference position P1 and the radius specified by the input operation. Examples of the input operation include tapping on a touch panel, clicking with a mouse, and drag-and-drop operation. At least one of the allowable range reference position P1 and the radius of the allowable range A1 may be specified by numerical input.

[0073] The controller 50 may cause the output unit 60 to display, on a screen, an input image 70 such as that shown in Fig. 7 as an interface for enabling an operator to input information. The input image 70 includes a plurality of dividing lines that divide the periphery of the tolerance reference position P1 into a plurality of segments 72. In the example shown in Fig. 7, the plurality of dividing lines include a plurality of concentric circles 74 centered on the tolerance reference position P1, and a plurality of radial lines 76 that pass through the tolerance reference position P1 and are perpendicular to the plurality of concentric circles 74. The plurality of concentric circles 74 divide (e.g., divide equally) the periphery of the allowable range reference position P1 in the radial direction, and the plurality of radial lines 76 divide (e.g., divide equally (e.g., into 4 equal parts, 16 equal parts, etc.)) the periphery in the circumferential direction. The operator can specify the allowable range A1 by touching a segment 72 among the plurality of segments 72 that corresponds to an area that should be included in the allowable range A1 (or an area that should be excluded from the allowable range A1). The image 70 is preferably displayed so that the touched segment 72 can be distinguished from the other segments 72. For example, as shown by a two-dot chain line 78 in FIG. 7 , the dividing line surrounding the touched segment 72 may be erased, or the segment 72 may be displayed in color.

[0074] The controller 50 determines the allowable range A1 through the above steps (step S50).

[0075] Next, the work assistance system 1 performs work assistance processing as shown in FIG. 4 based on the allowable range A1.

[0076] 4, the controller 50 acquires information about the surrounding conditions (step S110) and identifies the current position of the work machine 10 based on the surrounding conditions ascertained from this information; specifically, it identifies the work machine reference point P3 exemplified in FIG. 5 or 6 (step S120). The controller 50 compares the current reference point position, which is the position of the current work machine reference point P3, with the initial reference point position, which is the position of the initially set work machine reference point P3, i.e., the work machine reference point P3 when the allowable range reference position P1 was set. The controller 50 shifts the work machine virtual point P2 in the same direction as the direction of deviation of the current reference point position from the initial reference point position, by an amount equal to the magnitude of this deviation. That is, the controller 50 changes the position of the work machine virtual point P2 in that direction by that amount, and identifies the changed position as the current position of the work machine virtual point P2 (step S130), that is, updates that position.

[0077] Based on the current position of the work machine virtual point P2 identified in this manner, the controller 50 determines whether the position is outside the allowable range A1, and thereby determines whether the positional deviation is outside the allowable range A1 (step S140). If it is determined that the position of the work machine virtual point P2 is within the allowable range A1, i.e., if it is determined that the positional deviation is within the allowable range A1 (NO in step S140), the controller 50 repeats the processing of steps S110 to S130 without taking any particular action regarding the positional deviation. On the other hand, if it is determined that the position of the work machine virtual point P2 is outside the allowable range A1, i.e., if it is determined that the positional deviation is outside the allowable range A1 (YES in step S140), the controller 50 determines whether the work machine 10 is being operated automatically (step S150), and performs work assistance processing according to the determination result (steps S160 to S180).

[0078] Specifically, if it is determined that the work machine 10 is being operated automatically (YES in step S150), the controller 50 brings the work machine 10 to an emergency stop (step S160), and then forcibly moves the work machine 10 to an operation restart position, specifically causes the work machine 10 to travel automatically (step S170). The operation restart position is a position for restarting automatic operation of the work machine 10, and is a position where the positional deviation of the work machine 10 falls within the allowable range A1. The operation restart position is, for example, the initial position of the work machine 10 (a position that coincides with or approximately coincides with the allowable range reference position P1).

[0079] On the other hand, if it is determined that the work machine 10 is not being automatically operated (YES in step S150), the controller 50 causes the output unit 60 to issue a warning (step S180). For example, the controller 50 causes the output unit 60 to notify that the positional deviation has deviated from the allowable range A1.

[0080] During operation of the work machine 10, the controller 50 may be configured to display an image indicating the allowable range A1 on the output unit 60, superimposed on an image showing the surrounding conditions (for example, a two-dimensional image or a three-dimensional image captured by the imaging device 312). For example, as exemplified in Fig. 8, the controller 50 may display on the output unit 60 a machine allowable range A4, which is a range obtained by converting the allowable range A1 into machine coordinates, superimposed on an image showing the surrounding conditions including the work area A2.

[0081] In this way, the controller 50 tolerates minor positional deviations that fall within the tolerance range A1 and do not interfere with work, but in the event of a positional deviation that deviates from the tolerance range A1 and may pose a serious danger, the controller 50 can mitigate the occurrence of dangerous situations by issuing the warning or taking appropriate work assistance processing such as an emergency stop of the work machine 10.

[0082] As described above, a system is provided that can provide work assistance appropriate to the degree of positional misalignment of a work machine. The system includes a work machine that performs work and a controller. The controller includes a tolerance setting unit that sets an acceptable range for positional misalignment of the work machine, and a work assistance processing unit that performs work assistance processing to assist the work machine in performing work based on the acceptable range. The controller can perform the work assistance processing appropriate to the degree of positional misalignment based on the acceptable range set for positional misalignment of the work machine. This makes it possible, for example, to reduce the occurrence of serious problems caused by large positional misalignments while reducing the reduction in work efficiency due to excessive responses to minor positional misalignments.

[0083] The work assistance system preferably further includes an input unit. The input unit allows an operation for specifying the allowable range to be input to the input unit and inputs a signal corresponding to the operation to the controller. The allowable range setting unit of the controller sets the allowable range based on the signal input by the input unit, thereby setting the allowable range taking into account the intention of the operator who inputs the operation to the input unit. For example, safety can be improved by setting an allowable range that suits the environment of the work site to prevent unnecessary emergency stops, or by narrowing the allowable range in places that the operator determines to be dangerous.

[0084] The operation given to the input unit may include an operation of inputting a numerical value for specifying the tolerance range, which allows the tolerance range to be specified more precisely.

[0085] The input unit may be configured to display an image on which an operation for specifying the shape of the tolerance range can be given, and to input a signal corresponding to the operation given on the image to the controller. The image allows the tolerance range to be easily set.

[0086] It is preferable that the work assistance system further includes a detection unit that detects information about a surrounding situation, which is a situation around the work machine. The information about the surrounding situation enables the tolerance range to be set according to the surrounding situation.

[0087] For example, the tolerance setting unit can be configured to automatically set the tolerance based on the surrounding conditions grasped from the information, which enables a preferable tolerance to be set taking the surrounding conditions into consideration while reducing the burden on the operator.

[0088] If the work machine includes a drivable undercarriage, the tolerance setting unit may be configured to set the tolerance range based on the distance between the undercarriage and a work area, which is an area where work is to be performed by the work machine. This enables the tolerance range to be set taking into consideration the relationship between the undercarriage and the surrounding conditions. For example, if there is an elevation difference in the work area, this may reduce the risk of the work machine tipping over or running over due to the elevation difference.

[0089] If the work machine includes an attachment that performs the work, an upper rotating body to which the attachment is attached, and a lower body that rotatably supports the upper rotating body, the tolerance range setting unit may be configured to set the tolerance range based on the distance from the outer periphery of the rotation area of ​​the upper rotating body to a work area that is the area where the work is to be performed by the work machine. This can prevent the upper rotating body from entering the work area due to the rotation of the upper rotating body. For example, it may be possible to prevent a portion of the upper rotating body that is in the driver's blind spot (e.g., a counterweight) from coming into contact with an object in the work area (e.g., the bed of a dump truck that is to be unloaded).

[0090] The work support processing unit may be configured to, for example, issue a notification when a positional deviation of the work machine is outside the allowable range, which can prevent an operator from continuing work with the work machine without noticing that a positional deviation has exceeded the allowable range.

[0091] If the controller is configured to automatically control the work machine, the work assistance processing unit may be configured to, when a positional deviation of the work machine is outside the tolerance range, forcibly move the work machine to a position where the positional deviation of the work machine is within the tolerance range. This makes it possible to reduce the effort required by an operator to correct excessive positional deviation of the work machine.

[0092] The work assistance system may further include an output unit that outputs information. In this case, the work assistance processing unit is preferably configured to cause the output unit to display an image indicating the allowable range superimposed on an image indicating the surrounding situation. This allows an operator to easily confirm the relative positional relationship between the surrounding situation and the allowable range.

[0093] (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. 1 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 flowcharts shown in FIGS. 3 and 4 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 assistance system comprising: a work machine that performs work; and a controller, wherein the controller includes a tolerance setting unit that sets a tolerance for positional deviation of the work machine, and a work assistance processing unit that performs work assistance processing based on the tolerance.

2. A work assistance system according to claim 1, further comprising an input unit, wherein the input unit allows an operation for specifying the tolerance range to be applied to the input unit and inputs a signal corresponding to the operation to the controller, and the tolerance range setting unit sets the tolerance range based on the signal input by the input unit.

3. A work assistance system according to claim 2, wherein the operation given to the input unit includes an operation of inputting a numerical value for specifying the allowable range.

4. A work assistance system according to claim 2, wherein the input unit displays an image on which an operation for specifying the shape of the allowable range can be given, and inputs a signal corresponding to the operation given to the image to the controller.

5. A work assistance system according to claim 1, further comprising a detection unit that detects information relating to the surrounding conditions, which are the conditions around the work machine.

6. A work assistance system according to claim 5, wherein the tolerance setting unit automatically sets the tolerance based on the surrounding conditions grasped from the information.

7. A work assistance system as set forth in claim 6, wherein the work machine includes a travelable undercarriage, and the tolerance range setting unit sets the tolerance range based on the distance between the undercarriage and a work area, which is the area where the work is to be performed by the work machine.

8. A work assistance system as set forth in claim 6, wherein the work machine includes an attachment that is the part that performs the work, an upper rotating body to which the attachment is attached, and a lower body that rotatably supports the upper rotating body, and the tolerance range setting unit sets the tolerance range based on the distance from the outer periphery of the rotation area of ​​the upper rotating body to a work area that is the area where the work is to be performed by the work machine.

9. A work assistance system according to claim 1, wherein the work assistance processing unit issues a notification when the positional deviation of the work machine is outside the allowable range.

10. A work assistance system according to claim 1, wherein the controller is configured to automatically control the work machine, and the work assistance processing unit, when a positional deviation of the work machine is outside the tolerance range, forcibly moves the work machine to a position where the positional deviation of the work machine is within the tolerance range.

11. A work assistance system according to claim 5, further comprising an output unit that outputs information, wherein the work assistance processing unit causes the output unit to display an image indicating the tolerance range superimposed on an image indicating the surrounding situation.

Images