Work assistance system

Abstract

A work machine (10) includes a machine body (10a) and an attachment (15) having a bucket (15c) that is operably attached to the machine body (10a) and performs work. This work assistance system (1) comprises a controller (70). The controller (70) causes the work machine (10) to repeatedly and automatically perform a series of work phases including a release phase in which soil captured by the bucket (15c) at a target capture position is released at a target release position, and a return turning phase in which the bucket (15c) is moved to the target capture position. The controller (70) determines the state of surplus soil in the bucket (15c) in the release phase on the basis of information input to the controller (70). The controller (70) changes the operation of the attachment (15) in the release phase and / or the return turning phase on the basis of the determined state of the surplus soil.

Description

Work support system

[0007] ,

[0006] , ,

[0001] The present invention relates to a work support system capable of causing a work machine to perform automatic driving.

[0002] In Patent Document 1, when it is determined that the earth and sand in the bucket after excavation by the work machine is in a state where it is likely to spill, the control unit controls the hydraulic actuator and limits the upper limit of the turning angular velocity of the upper slewing body. This is disclosed.

[0003] When a work machine performing automatic driving discharges the earth and sand in the bucket, there may be earth remaining in the bucket. In this case, when the upper slewing body turns to move the bucket from the dumping position to the excavation position during the return turning, there is a possibility that the remaining earth will spill from the bucket.

[0004] Japanese Patent Application Laid-Open No. 2022-152393

[0005] An object of the present invention is to provide a work support system capable of suppressing earth spillage during return turning.

[0006] [[ID=1,8]] The work support system supports the work of a work machine including a machine body and an attachment. The work support system includes a controller. The attachment is operably attached to the machine body and has a bucket for performing work. The controller repeatedly and automatically causes the work machine to perform a series of work phases including a release phase in which the earth and sand captured in the bucket at a target capture position is released at a target release position, and a return turning phase in which the bucket is moved to the target capture position. The controller determines the situation of the remaining earth in the bucket in the release phase based on information input to the controller. The controller changes at least one of the release operation of the attachment in the release phase and the return turning operation of the attachment in the return turning phase based on the determined situation of the remaining earth.

[0007] Figure 1 is a side view of a work machine and other equipment related to a work support system according to one embodiment of the present invention. Figure 2 is a block diagram of the work support system shown in Figure 1. Figure 3 is a side view of the work machine from a different orientation. Figure 4 is a flowchart showing an example of processing by the controller and other equipment shown in Figure 2.

[0008] A work support system 1 according to one embodiment of the present invention will be described with reference to the drawings.

[0009] The work support system 1 (Figure 1) is a system that reduces soil spillage by the work machine 10 during automatic operation. The work support system 1 (Figure 1) is a system that changes (adjusts) the operation of the attachment 15 (Figure 1) according to the condition of the excavated soil in the bucket 15c. The work support system 1 comprises the work machine 10, a detection unit 40 (Figure 2), an input unit 60 (Figure 2), a controller 70 (computer) (Figure 2), and an output unit 80 (Figure 2). Note that the work support system 1 may not include the work machine 10, or it may include a part of the work machine 10.

[0010] As shown in Figure 1, the work machine 10 is a machine that performs work. The work machine 10 may also be a construction machine that performs construction work. The work machine 10 may be, for example, an excavator or a crane. The following explanation will describe the case where the work machine 10 is an excavator.

[0011] The work machine 10 is configured to be operable by automatic control. The automatic control may be fully automatic operation or semi-automatic operation (machine control). The work machine 10 may also operate in response to the operation of a worker (operator) without the use of automatic control. For example, the work machine 10 may be operated (operated from inside) by a worker in the operator's cab 13c (described later), or it may be remotely controlled from outside the work machine 10.

[0012] The work machine 10 comprises a machine body 10a, an attachment 15, a drive control unit 17 (Figure 2), and an actuator 30. The machine body 10a is the main body portion of the work machine 10. The machine body 10a comprises a lower body 11 and an upper rotating body 13.

[0013] The lower body 11 supports the upper rotating body 13 so that it can rotate. The lower body 11 may also be a lower traveling body that can travel on a traveling surface (such as the ground). If the lower body 11 is capable of traveling, it may be equipped with crawlers or wheels.

[0014] The upper slewing body 13 is rotatably supported by the lower body 11. A boom 15a and the like are attached to the upper slewing body 13. The upper slewing body 13 is equipped with a control room 13c. The control room 13c is the part from which an operator can operate the work machine 10. When the work machine 10 operates in response to operator operation, the work machine 10 may be operated (operated while inside) by an operator inside the control room 13c, or it may be remotely operated from outside the work machine 10. In the example shown in Figure 1, an imaging device 43 (described later) is provided above the control room 13c.

[0015] (Direction) The direction in which the axis of rotation (center of rotation) of the upper slewing body 13 extends relative to the lower body 11 is defined as the vertical direction Z. In the vertical direction Z, the direction from the lower body 11 toward the upper slewing body 13 is defined as upward Z1, and the direction opposite to upward Z1 is defined as downward Z2. The vertical direction Z may also be the vertical direction. The direction in which the axis of rotation for the elevation of the boom 15a (described later) extends relative to the upper slewing body 13 is defined as the horizontal direction Y. The direction perpendicular to both the vertical direction Z and the horizontal direction Y is defined as the front-rear direction X. When viewed from the vertical direction Z, the front-rear direction X is the direction in which the central axis of the attachment 15 extending in the longitudinal direction of the attachment 15 extends (the front-rear direction X of the attachment 15). In the front-rear direction X, the direction in which the attachment 15 protrudes relative to the upper slewing body 13 is defined as inward X1, and the opposite direction is defined as inward X2.

[0016] Attachment 15 is the part that performs the work. Attachment 15 performs work on the soil and sand that are the work object. Attachment 15 is attached to the machine body 10a (more specifically, the upper slewing body 13). For example, attachment 15 comprises a boom 15a, an arm 15b, and a bucket 15c. The boom 15a is rotatably attached to the upper slewing body 13 (capable of luffing and rotating along a plane of rotation including the front-rear direction X and the up-down direction Z). The arm 15b is rotatably attached to the boom 15a (capable of rotating along a plane of rotation including the front-rear direction X and the up-down direction Z).

[0017] The bucket 15c is provided at the tip of the attachment 15. The bucket 15c is rotatably attached to the arm 15b (rotatable along a plane of rotation including the front-rear direction X and the up-down direction Z). The bucket 15c may be a tip attachment capable of scooping and excavating workpieces. The bucket 15c comprises a bucket opening surface 15c1 and a bucket tip rear surface 15c2. The bucket opening surface 15c1 is the opening surface of the bucket 15c. The bucket tip rear surface 15c2 is provided on the tip side portion of the bucket 15c (the portion furthest from the attachment portion to the arm 15b). The bucket tip rear surface 15c2 is, for example, planar. When the bucket 15c is positioned so that the bucket opening surface 15c1 faces upward Z1, as shown by the dashed line in Figure 1, the bucket tip rear surface 15c2 is located on the lower and front portion of the bucket 15c. When the bucket 15c is positioned such that its opening surface 15c1 is aligned horizontally, the back surface 15c2 of the bucket tip is positioned so as to extend in a direction inclined with respect to the horizontal, with the front side being positioned higher. For example, the bucket 15c may be a clamshell bucket that excavates by opening and closing.

[0018] The work object is the material that the work machine 10 will operate on. The work object is soil or sand. The work object can be in the form of soil, granules, chips, powder, etc. Furthermore, the work object may be something other than soil or sand, as long as it is likely to remain in the bucket 15c. The following describes the case where the work object is soil or sand.

[0019] The actuator 30 is a device that moves the work machine 10. The actuator 30 may be a hydraulic actuator that is driven by hydraulic pressure, or an electric actuator that is driven by electricity. The actuator 30 may be a motor that provides rotational drive, or a linear actuator (for example, an extendable cylinder) that produces linear motion. The actuator 30 may be a travel motor that moves the work machine 10. The actuator 30 comprises a slewing motor 33, a boom cylinder 35a, an arm cylinder 35b, and a bucket cylinder 35c.

[0020] The slewing motor 33 rotates the upper slewing body 13 relative to the lower body 11. The boom cylinder 35a rotates (raises and lowers) the boom 15a in the vertical direction relative to the upper slewing body 13. The boom cylinder 35a is, for example, a hydraulic cylinder (the same applies to the arm cylinder 35b and bucket cylinder 35c). The arm cylinder 35b rotates the arm 15b relative to the boom 15a. The bucket cylinder 35c rotates the bucket 15c relative to the arm 15b. If the bucket 15c is, for example, a clamshell bucket, other actuators may be provided for raising and lowering and opening and closing the bucket 15c.

[0021] The drive control unit 17 (Figure 2) controls the actuator 30 that moves the work machine 10. The drive control unit 17 may also include a hydraulic circuit that controls a hydraulic actuator that operates by hydraulic pressure. The drive control unit 17 may also include an electrical circuit that controls an electric actuator that operates by electric power. The drive control unit 17 controls the movement of the lower body 11. The drive control unit 17 controls the slewing motor 33 that slewing the upper slewing body 13 relative to the lower body 11. The drive control unit 17 controls the boom cylinder 35a that rotates (raises and lowers) the boom 15a relative to the upper slewing body 13. The drive control unit 17 controls the arm cylinder 35b that rotates the arm 15b relative to the boom 15a. The drive control unit 17 controls the bucket cylinder 35c that rotates the bucket 15c relative to the arm 15b.

[0022] As shown in Figure 2, the detection unit 40 detects various states. Part or all of the detection unit 40 may be mounted on the work machine 10 (Figure 1) or located outside the work machine 10. The same applies to the input unit 60, controller 70, and output unit 80, which will be described later, in that they may be mounted on the work machine 10 or located outside the work machine 10. The detection unit 40 may detect the state of the work machine 10 or the state of the outside of the work machine 10 (for example, the surrounding conditions). The detection unit 40 comprises a position detection unit 41, a direction detection unit 42, an imaging device 43, a load detection unit 44, and a posture detection unit 45.

[0023] The position detection unit 41 detects the position of the object to be measured. The position detection unit 41 detects the position of a specific part of the work machine 10 (Figure 1). For example, the position detection unit 41 may detect the position of a specific part of the upper rotating body 13 (Figure 1), or the position of a specific part of the attachment 15 (Figure 1). The position detection unit 41 may be equipped with a device that detects position using electromagnetic waves (light, radio waves, etc.). The position detection unit 41 may be equipped with a device that uses a satellite positioning system, for example, a device that uses GNSS (Global Navigation Satellite System). The position detection unit 41 may be equipped with a device that detects position without using satellites, a device that detects position using a ground transmitter and receiver, or a device that detects position using the reflection of light (e.g., laser light) (e.g., a total station). The position detection unit 41 may calculate the position of the object to be measured based on position information detected by multiple types of devices.

[0024] The direction detection unit 42 detects the direction (orientation, posture) of the object to be measured. The direction detection unit 42 detects the direction of a specific part of the work machine 10 (Figure 1). For example, the direction detection unit 42 may detect the direction of a specific part of the upper rotating body 13 (Figure 1), or it may detect the direction of a specific part of the attachment 15 (Figure 1). The direction detection unit 42 may be equipped with a device that uses the Earth's magnetic field to detect the orientation of the object to be measured. The direction detection unit 42 may also detect the direction of the object to be measured based on the positions of multiple parts of the object to be measured relative to the work site (for example, positions detected by the position detection unit 41).

[0025] The imaging device 43 images the object to be imaged. The imaging device 43 may image part or all of the work machine 10 (Figure 1), or it may image objects around the work machine 10. The imaging device 43 may detect two-dimensional information (two-dimensional image), or it may detect three-dimensional information (three-dimensional image, distance image) that has depth information. The imaging device 43 may be passive or active. Specifically, the imaging device 43 may be equipped with a camera (monocular camera) that detects two-dimensional information. The imaging device 43 may be equipped with a stereo camera that detects three-dimensional information. The imaging device 43 may detect three-dimensional information of the object to be imaged by irradiating the object with waves such as electromagnetic waves and detecting the reflected waves. The imaging device 43 may be equipped with a TOF (Time Of Flight) sensor that detects distance based on the time from wave irradiation to the return of the reflected wave, or it may be equipped with a sensor that detects distance based on the frequency of the reflected wave.

[0026] The imaging device 43 may include a device for detecting three-dimensional information using light (e.g., laser light), or it may include a LiDAR (Light Detection and Ranging) for acquiring point cloud information. The imaging device 43 may also include a device for detecting three-dimensional information using radio waves (e.g., millimeter-wave radar). There may be one imaging device 43, or there may be multiple imaging devices 43. If there are multiple imaging devices 43, the types of imaging devices 43 (type of imaging method, whether two-dimensional or three-dimensional, etc.) may be the same or different. The imaging device 43 may detect information about the object to be imaged (e.g., three-dimensional information) by combining multiple types of information (e.g., two-dimensional information and three-dimensional information). The imaging device 43 may be mounted on the work machine 10 (Figure 1), or it may be located outside the work machine 10 (e.g., at the work site).

[0027] The load detection unit 44 detects the load acting on the attachment 15 (Figure 1). The load detection unit 44 also detects the load acting on the bucket 15c (Figure 1). The load detection unit 44 may also detect the load acting on the attachment 15 based on the load acting on the actuator 30 (specifically, a hydraulic cylinder) (Figure 1) that moves the attachment 15. For example, the load detection unit 44 may detect the load acting on the attachment 15 by detecting the pressure of the hydraulic fluid supplied to the hydraulically operated actuator 30 (hydraulic actuator). The load detection unit 44 may also detect the load acting on the attachment 15 based on the distortion (deformation) of the attachment 15, or the distortion of the actuator 30 (specifically, a hydraulic cylinder). The load detection unit 44 may also utilize a function (payload function) to detect the mass of soil captured by the bucket 15c.

[0028] The posture detection unit 45 detects the posture of the work machine 10 (Figure 1). The posture detection unit 45 may also detect the position and orientation of the work machine 10 relative to the work site. The posture detection unit 45 may also detect the position and orientation of a reference position of the work machine 10 relative to the work site. The reference position of the work machine 10 is, for example, a specific position of the upper slewing body 13 (Figure 1) or the lower body 11 (Figure 1). The reference position of the work machine 10 may be the attachment point (boom foot) of the boom 15a (Figure 1) to the upper slewing body 13, or a specific position on the pivot axis of the upper slewing body 13 relative to the lower body 11. The posture detection unit 45 may also detect the inclination of the work machine 10 with respect to the horizontal plane. The posture detection unit 45 may also detect information (angle, angular velocity, angular acceleration, etc.) of the rotation of the upper slewing body 13 relative to the lower body 11. The attitude detection unit 45 may detect information about the rotation of the boom 15a relative to the upper slewing body 13 (angle, angular velocity, angular acceleration, etc.). The attitude detection unit 45 may also detect information about the rotation of the arm 15b (Figure 1) relative to the boom 15a. The attitude detection unit 45 may also detect information about the rotation of the bucket 15c (Figure 1) relative to the arm 15b.

[0029] The posture detection unit 45 may be equipped with one or more types of detection devices. The posture detection unit 45 may be equipped with a detection device (e.g., a rotary encoder) that detects information about the angle of one element of the work machine 10 (Figure 1) relative to another element. The posture detection unit 45 may be equipped with a stroke sensor that detects the stroke of the cylinder that moves the attachment 15 (Figure 1). The posture detection unit 45 may be equipped with a tilt sensor that detects the angle (tilt) with respect to the horizontal direction. The posture detection unit 45 may be equipped with a sensor (e.g., a gyro sensor) that detects the angular velocity relative to the work site, and may be equipped with a sensor that detects the acceleration relative to the work site. The posture detection unit 45 may be equipped with an inertial measuring device or the like. The posture detection unit 45 may be equipped with the above-mentioned position detection unit 41. In this case, the posture detection unit 45 may detect the posture of a specific part (one or more parts) of the work machine 10 based on the position information detected by the position detection unit 41. The posture detection unit 45 may be equipped with the above-mentioned direction detection unit 42. The posture detection unit 45 may be equipped with the above-mentioned imaging device 43. The posture detection unit 45 may detect the posture of the work machine 10 based on image recognition of a two-dimensional image. The posture detection unit 45 may detect the posture of the work machine 10 based on a three-dimensional image (distance image). The posture detection unit 45 may detect the posture of the work machine 10 based on a three-dimensional image (distance image) and a two-dimensional image.

[0030] The input unit 60 is an input device for inputting information. The input unit 60 is operated by an operator, for example, and outputs a signal corresponding to the operation. The input unit 60 outputs information to the controller 70. The input unit 60 may be equipped with a touch panel, a mouse, a keyboard, or a switch. The input unit 60 may be equipped with a device for voice input (specifically, a microphone). The input unit 60 may be provided on a tablet, a smartphone, or a personal computer. The input unit 60 may be provided on a client device or a server device. The input unit 60 may be provided on the work machine 10 (Figure 1), for example, in the operator's cab 13c. The input unit 60 may be provided on a remote control device (not shown) for remotely operating the work machine 10. The input unit 60 may be provided on an operation unit (not shown, e.g., an operation lever) provided in the operator's cab 13c or the remote control device, or on an operation unit, or on a display (not shown, e.g., a cluster gauge).

[0031] The control unit is operated by an operator (worker) who operates the work machine 10 (Figure 1). The control unit is configured to be operable by an operator. The control unit may be located in the operator's cab 13c (Figure 1), or it may be located in a remote control device for remotely operating the work machine 10. The control unit may be equipped with a lever or a pedal. The control unit may be equipped with a dial. If the work machine 10 is moved (operated) by the automatic control of the controller 70, the control unit may be the controller 70.

[0032] The controller 70 is a computer that performs signal input / output, calculations (processing), and information storage. The functions of the controller 70 are realized by the execution of a program stored in the storage unit 70b (described later) of the controller 70 by the calculation unit 70a (described later). The controller 70 and other devices may be connected by wireless communication or by wired communication. The controller 70 may be distributed and arranged in multiple parts (it may constitute a distributed system). For example, the controller 70 may be a server device and / or a client device. The server device operates in response to commands from the client device. Each of the client device and the server device is a computer. Each of the input unit 60 and the output unit 80 may be provided in one or both of the client device and the server device. For example, each of the storage unit 70b and the calculation unit 70a of the controller 70 may be provided in one or both of the client device and the server device. Each of the client device and the server device may be provided as one or multiple units. The components of the controller 70 (for example, the client device and the server device) may be connected by wireless communication or by wired communication. For example, communication may be performed by means of a mobile phone line, optical line, wireless LAN (Local Area Network), or wired LAN. For example, information is input to the controller 70 from the detection unit 40 and the input unit 60. For example, the controller 70 performs soil condition determination processing based on the information from the detection unit 40. The soil condition determination processing will be described later. For example, the controller 70 outputs a command (signal) to the drive control unit 17 to operate the work machine 10 (Figure 1). For example, the controller 70 outputs information to the output unit 80.

[0033] The controller 70 comprises a calculation unit 70a and a storage unit 70b. The calculation unit 70a performs calculations (processing) of information. The storage unit 70b stores information. Focusing on the functions of the controller 70, the controller 70 comprises a work plan setting unit 71, an automatic control unit 73, and a soil condition determination unit 75.

[0034] The work plan setting unit 71 sets the work plan for the work machine 10 (Figure 1). The work plan is information regarding the objectives of the work of the work machine 10. The work plan may include information on the target route for the work machine 10's travel. The work plan may also include information on the target positions (e.g., target acquisition position, target release position) where the attachment 15 (Figure 1) will perform its work. The target positions (e.g., target acquisition position, target release position) may be a target range or a target point. The work plan may also include information on the target path of a specific part of the attachment 15. The target path is information that includes, for example, information on the positions (coordinates) of multiple target points and information on the order of each target point. The work plan may also include information on the target trajectory of a specific part. The target trajectory is information that adds time information to the target path information. The time information may be the time between two points or time information, etc. The time between two points is the target value of the travel time of a specific part between two adjacent (consecutive) target points. Time information includes details such as the time when a specific part reaches its target point. By adjusting this time information, the target movement speed of the specific part is adjusted.

[0035] This work plan setting unit 71 sets multiple work phases (work content) included in the work plan. Specifically, for example, the work phases include a capture phase, a lifting and rotating phase, a release phase, and a return and rotating phase. The capture phase is the phase in which the bucket 15c (Figure 1) captures soil at the target capture position (for example, excavating soil). For example, the target capture position is set to a place where soil has been collected (for example, a pile of soil). The lifting and rotating phase is the phase in which, with the bucket 15c having captured soil, a specific part moves from the target capture position toward the target release position by the rotating motion of the upper rotating body 13. The release phase is the phase in which the bucket 15c releases the soil at the target release position (for example, removing soil). For example, in the case of the work machine 10 shown in Figure 1, during the release phase, the bucket 15c is rotated from a state where the bucket opening surface 15c1 (Figure 1) is aligned horizontally to a state where the bucket opening surface 15c1 faces downward (Figure 1). This releases the soil held by the bucket 15c to the target release position. For example, if the bucket 15c is a clamshell bucket, the bucket 15c is opened and the soil is released to the target release position. The target release position is set to, for example, the area on the loading platform of a transport vehicle. The return rotation phase is a phase in which a specific part moves from the target release position toward the target capture position by the rotational movement of the upper rotating body 13. For example, in the case of the work machine 10 shown in Figure 1, during the return rotation phase, after the release phase, the bucket 15c is rotated to the target capture position while remaining in the state where the bucket opening surface 15c1 faces downward. For example, if the bucket 15c is a clamshell bucket, the bucket 15c remains open while being rotated to the target acquisition position. For example, a series of operation phases, such as the acquisition phase, the lifting and rotating phase, the release phase, and the return and rotating phase, are repeated.

[0036] The work plan may be set by the operator moving the work machine 10 (Figure 1) (by teaching), by the operator operating the input unit 60 (by manual operation), or by the controller 70 automatically setting it. The work plan may be corrected. The work plan may be corrected by the operator operating the input unit 60 (by manual operation). The work plan may be automatically corrected by the controller 70 based on information detected by the detection unit 40 (for example, information on obstacles).

[0037] The automatic control unit 73 automatically controls the work machine 10 (Figure 1) so that it moves according to the work plan. The automatic control unit 73 outputs commands to the drive control unit 17 so that the work machine 10 moves according to the work plan. The automatic control unit 73 controls the movement of the work machine 10 based on the detection content (for example, the posture of the work machine 10) detected by the detection unit 40.

[0038] The excavated soil condition determination unit 75 performs an excavated soil condition determination process to determine the condition of the excavated soil in the bucket 15c (Figure 1). The work plan setting unit 71 performs an operation change process to change the operation of the attachment 15 (Figure 1) based on the condition of the excavated soil in the bucket 15c determined by the excavated soil condition determination unit 75. The work plan setting unit 71 changes the release operation of the attachment 15 in the release phase, and / or the return rotation operation of the attachment 15 in the return rotation phase. The excavated soil condition determination process and the operation change process will be described later.

[0039] The automated driving suitability determination unit determines whether the work area, which is set based on the input information, is suitable for automated driving, based on the suitability conditions. The suitability conditions will be described later.

[0040] The output unit 80 is a device that outputs information. The output unit 80 outputs information based on a signal output from the controller 70. The output unit 80 may output light (such as a display), sound (such as voice), or vibration. The output unit 80 may be provided in a tablet, a smartphone, or a personal computer. The output unit 80 may be provided in the driver's cab 13c (Figure 1). The output unit 80 may be provided in a remote control device for remotely operating the work machine 10. If the output unit 80 outputs light, the output unit 80 may be equipped with a display device (monitor). The output unit 80 may be equipped with a projection device that projects onto an object such as the ground. The output unit 80 may be equipped with a light emitter (light). The output unit 80 may be equipped with a device utilizing VR (Virtual Reality) technology (VR device) or a device utilizing AR (Augmented Reality) technology (AR device). The output unit 80 may change at least one of the hue, density (transparency), brightness, and saturation of the light it outputs. For example, the output unit 80 may be used to output content indicating a limiting operation.

[0041] (Operation of the work machine 10) As described above, the work machine 10 (Figure 1) may be operated by an operator in the operator's cab 13c (onboard operation), remotely operated by an operator from outside the work machine 10 (remote control device), or operated by automatic control. The work machine 10 is a machine that utilizes information and communication technology (ICT; Information and Communication Technology) (for example, an ICT construction machine). For example, the work machine 10 may be operated by an operator using the function of a machine guidance (MG; Machine Guidance system). Specifically, a work plan is set in the controller 70. Then, guidance such as the position to be worked on is shown to the operator so that the work machine 10 can work according to the work plan. This guidance is output to, for example, an output unit 80 provided in the operator's cab 13c of the work machine 10, or an output unit 80 provided in the remote control device. The worker then operates the machine 10 according to the guidance. As a result, the machine 10 moves according to the work plan.

[0042] The work machine 10 (Figure 1) may be operated (moved) by automatic control. Automatic control may be semi-automatic operation (machine control, MC; Machine Control system) or automatic operation. The work machine 10 may move by semi-automatic operation as follows: For example, a work plan is set in the controller 70. Then, the operator operates only some elements of the attachment 15 (Figure 1) (for example, only the arm 15b (Figure 1)). At this time, the controller 70 automatically controls the elements not operated by the operator (for example, the boom 15a (Figure 1) and the bucket 15c (Figure 1)) so that the work machine 10 moves according to the work plan. At this time, the controller 70 controls the movement of the work machine 10 based on the information detected by the detection unit 40 (for example, the attitude detection unit 45) (the same applies in the case of automatic operation). As a result, the work machine 10 moves according to the work plan. Alternatively, the work machine 10 may be operated (moved) by automatic operation. In this case, the controller 70 controls the movement of the work machine 10 so that it moves automatically according to the work plan.

[0043] (Regarding the residual soil condition determination process) The controller 70 performs a residual soil condition determination process for determining whether to perform an operation change process based on the information input to the controller 70 regarding the condition of the residual soil. For example, the condition of the residual soil for which the operation change process should be performed may be that there is (remaining) residual soil in the bucket 15c (FIG. 1) that may fall during the return turning phase.

[0044] For example, the controller 70 may automatically determine the condition of the residual soil based on the information input from the detection unit 40 to the controller 70. For example, the controller 70 may determine the condition of the residual soil based on the image captured by the imaging device 43. Specifically, the controller 70 may determine the condition of the residual soil based on the point cloud information captured by the imaging device 43. Also, specifically, the controller 70 may determine the condition of the residual soil based on the two-dimensional image captured by the imaging device 43. Further, for example, the controller 70 may determine the condition of the residual soil based on the load acting on the attachment 15 (FIG. 1) detected by the load detection unit 44. Specifically, the controller 70 may detect the mass of the earth and sand captured by the bucket 15c (FIG. 1) based on the load acting on the bucket 15c detected by the load detection unit 44 and determine the condition of the residual soil. Also, specifically, the controller 70 may detect the mass of the earth and sand captured by the bucket 15c based on the load acting on the arm 15b (FIG. 1) detected by the load detection unit 44 and determine the condition of the residual soil.

[0045] Also, for example, the controller 70 may determine the condition of the residual soil based on the information input from the detection unit 40 to the controller 70. Specifically, the controller 70 may determine the soil quality based on the image of the earth and sand captured by the imaging device 43 and determine the condition of the residual soil. For example, specifically, when the controller 70 determines that the soil quality of the earth and sand is clayey or muddy, it may be determined that this is the condition of the residual soil for which the operation change process is to be performed. The condition of the residual soil determined in the residual soil condition determination process does not necessarily exactly match the actual condition of the residual soil in the bucket 15c (FIG. 1).

[0046] Furthermore, for example, the controller 70 may determine the condition of the excavated soil based on information (external information) input to the controller 70 from the input unit 60. The information input to the controller 70 from the input unit 60 may be based on operations performed by the operator. For example, the operator may input external information to determine the condition of the excavated soil and perform an operation change process. Alternatively, for example, the operator may input external information to determine the condition of the excavated soil and not perform an operation change process. The operator may determine the condition of the excavated soil by visually inspecting the excavated soil in the bucket 15c (Figure 1), or by determining the condition of the excavated soil from the soil type of the soil to be worked on. The operation to be changed by the information input to the controller 70 from the input unit 60 may be either the release phase operation (release operation) or the return rotation phase operation (return rotation operation), or both. The release operation and the return rotation operation will be described later. For example, the controller 70 may set the work machine 10 (Figure 1) to an operation change processing mode in response to an operation of the operator on the input unit 60, which always performs operation change processing. In the operation change processing mode, the controller 70 may change the release operation of the attachment 15 in the release phase and / or the return rotation operation of the attachment 15 in the return rotation phase.

[0047] (Regarding the timing for determining the condition of the residual soil) The controller 70 may determine the condition of the residual soil after the completion of the release phase. For example, the controller 70 may determine the condition of the residual soil after performing a release operation to release the earth and sand. And, for example, when the controller 70 determines that the residual soil should be released in the release phase, the release phase may be continued (change of operation). For example, specifically, in addition to the release operation in the normal release phase, the controller 70 may repeat the release operation in the release phase a predetermined number of times. Also, the controller 70 may determine the condition of the residual soil during the continuation of the release phase (during the changed operation). For example, the controller 70 may continue the release operation in the release phase until there is no residual soil to be released. Also, the controller 70 may determine the condition of the residual soil before the return turning phase. For example, when the controller 70 determines that there is no residual soil that may fall, the controller 70 may perform the return turning operation in the normal return turning phase. Also, for example, when the controller 70 determines that there is residual soil that may fall, the controller 70 may change the return turning operation in the return turning phase. The controller 70 may determine the presence or absence of residual soil that may fall based on whether there is a predetermined amount or more of residual soil in the bucket 15c.

[0048] (Regarding the operation change process) The controller 70 executes an operation change process for changing the release operation and / or the return turning operation based on the condition of the residual soil. The operation change process may be a process for changing the release operation in the release phase to an operation that more promotes the release of the earth and sand from the bucket 15c (FIG. 1). Also, the operation change process may be a process for changing the return turning operation in the return turning phase to an operation that reduces the fall of the earth and sand from the bucket 15c. The controller 70 may change either one of the release operation and the return turning operation, or both, in the operation change process. For example, the controller 70 may change the return turning operation after changing the release operation. Also, for example, the controller 70 may change the return turning operation without changing the release operation. Also, for example, after changing the release operation, the controller 70 may not change the return turning operation.

[0049] (Specific examples of the modified release operation) The modified release operation (for example, continuation of the release phase) is not particularly limited as long as it is an operation that promotes the release of soil and sand more effectively than the release operation before the modification. For example, the modified release operation may be a repetition of the release operation before the modification. Specifically, as shown in Figure 1, the modified operation of the release phase may be a reciprocating operation in which the bucket 15c is moved back and forth between a first release position state P1 and a second release position state P2 one or more times. The first release position state P1 is the state in which the bucket 15c is positioned so that the bucket opening surface 15c1 of the bucket 15c faces downward (Figure 1). The second release position state P2 is the state in which the bucket 15c is rotated from the first release position state P1 so that the bucket opening surface 15c1 of the bucket 15c faces upward (Figure 1). Furthermore, the modified release operation may be a reciprocating operation in which the bucket 15c is moved back and forth once or more in a predetermined direction (for example, the vertical direction Z (Figure 1) or the horizontal direction Y (Figure 1)) while maintaining the first release position state P1. In such a reciprocating operation, the position at which the direction of operation is switched does not have to be constant. Also, in the example in Figure 1, only the bucket 15c is operated with the arm 15b fixed, but the arm 15b may also be operated.

[0050] (Specific examples of the modified return rotation operation) The modified return rotation operation is not limited to any operation that reduces the amount of excavated soil falling from the bucket 15c (Figure 1) more than the return rotation operation before the modification. For example, the modified return rotation operation is an operation in which the bucket 15c is rotated to the target acquisition position while maintaining a specific posture in which no excavated soil falls from the bucket 15c. As shown in Figure 3, the modified return rotation operation is an operation in which the bucket 15c is positioned so that the bucket opening surface 15c1 (Figure 1) faces upward (Figure 1), and the bucket 15c is rotated to the target acquisition position. At this time, the bucket 15c may be positioned so that the bucket opening surface 15c1 is aligned horizontally, as in the example in Figure 3. Note that the rotation angle of the bucket 15c relative to the arm 15b (Figure 1) during the modified return rotation operation may be changed according to the condition of the excavated soil in the bucket 15c. For example, the controller 70 may set the rotation angle of the bucket 15c such that the larger the amount of excavated soil in the bucket 15c, the closer the bucket opening surface 15c1 is to being aligned horizontally. Also, as shown in Figure 3, it is preferable that the return rotation operation after the change is performed in a winding posture such that the arm 15b and bucket 15c are rotated toward the boom 15a. In this way, the controller 70 corrects the target path (return rotation path) of the return rotation phase so that the posture of the attachment 15 (Figure 1) is changed. For example, the target path is the path of the tip or base end of the bucket 15c. The tip end of the bucket 15c is, for example, the end of the bucket 15c that is farther from the attachment portion to the arm 15b. The base end of the bucket 15c is, for example, the attachment portion to the arm 15b.

[0051] For example, the controller 70 may correct the return swing path to avoid contact between at least a part of the attachment 15 and surrounding obstacles. For example, even if the bucket 15c does not contact an obstacle in the attitude of the bucket 15c before correction, the bucket 15c may contact an obstacle in the attitude of the bucket 15c after correction. Therefore, the return swing path may be corrected as follows to avoid contact with surrounding obstacles even in the attitude of the bucket 15c after correction. Specifically, for example, the controller 70 may correct the height of the corrected return swing path to be higher than the lowest point of the return swing path before correction. This causes the bucket 15c to pass at a position higher than the lowest point of the bucket in the attitude of the bucket 15c before correction, thus avoiding contact with surrounding obstacles. Alternatively, specifically, the controller 70 may correct the height of the corrected return swing path to be lower than the highest point of the return swing path before correction. As a result, the bucket 15c passes at a lower position than the highest point of the bucket in the pre-correction position, thus avoiding contact with surrounding obstacles.

[0052] Furthermore, for example, the modified return rotation operation may be one in which the movement speed during the return rotation phase is slower than before the modification. For example, if the movement speed remains the same as before the correction, there is a possibility that the excavated soil in the bucket 15c may fall due to acceleration at the start and stop of the rotation, and vibration during the rotation. Therefore, the modified return rotation operation may be slower in order to reduce the fall of excavated soil. Specifically, for example, the modified return rotation operation may be one in which the rotation speed during the return rotation phase is slower than before the modification. In this way, the controller 70 may correct the target trajectory of the return rotation phase.

[0053] (Processing) Next, an example of a flowchart of the processing performed in the work support system 1 (work machine 10 (Figure 1)) will be explained with reference to Figure 4. The work support system 1 (mainly the controller 70 (Figure 2)) is configured to perform the following processing. The program stored in the controller 70 causes the controller 70 to perform the following operations. In the work support system 1 (work machine 10), a work support method is realized in which the following operations are performed. The work method causes the controller 70 (computer) to perform the following processing. Note that the following processing shows the processing from when the release phase starts until when the return rotation phase ends. For example, after the return rotation phase is completed and the capture phase and lift rotation phase described above are performed, this processing may be called and executed again. Also, the following processing is an example in which the controller 70 decides whether to change the operation rather than the operator making the decision.

[0054] First, the controller 70 performs the normal release phase processing (step S10). Then, the controller 70 detects the condition of the excavated soil in the bucket 15c (Figure 1) after the release phase (step S20). Then, the controller 70 determines whether or not there is a predetermined amount of excavated soil in the bucket 15c (step S30).

[0055] If the amount of excavated soil in bucket 15c (Figure 1) exceeds a predetermined amount (YES in step S30), the controller 70 continues the release phase (step S40). That is, the controller 70 modifies the release operation of the release phase. For example, the controller 70 repeats the normal release operation a predetermined number of times to accelerate the release of the excavated soil more than usual.

[0056] Subsequently, the controller 70 detects the condition of the excavated soil in the bucket 15c (Figure 1) again (step S50). Then, the controller 70 determines whether or not there is a predetermined amount of excavated soil in the bucket 15c (step S60).

[0057] If the amount of excavated soil in the bucket 15c (Figure 1) exceeds a predetermined amount (YES in step S60), the controller 70 corrects the return rotation path for the next return rotation phase (step S70). For example, the controller 70 corrects the return rotation path so that the bucket 15c rotates in a second open position state P2 (Figure 1) where the bucket opening surface 15c1 (Figure 1) is aligned horizontally. The controller 70 then executes the return rotation phase so that the attachment 15 rotates along the corrected return rotation path (step S80), and ends this process.

[0058] On the other hand, if the amount of excavated soil in the bucket 15c in step S30 is less than a predetermined amount (NO in step S30), the controller 70 executes the normal return rotation phase (step S90) and terminates the process. Similarly, if the amount of excavated soil in the bucket 15c in step S60 is less than a predetermined amount (NO in step S60), the controller 70 also executes the normal return rotation phase (step S90) and terminates the process. In this way, the controller 70 can switch whether or not to change the return rotation operation to an operation that reduces the amount of excavated soil falling from the bucket 15c, depending on the condition of the excavated soil in the bucket after the modified release operation. Furthermore, the controller 70 can switch whether or not to use the original return rotation path for the return rotation phase, depending on the condition of the excavated soil in the bucket 15c during the release phase.

[0059] The effects of the work support system 1 shown in Figure 2 are as follows. The work support system 1 comprises a machine body 10a (Figure 1) of a work machine 10 (Figure 1), an attachment 15 (Figure 1) which is operably attached to the machine body 10a and has a bucket 15c (Figure 1) for performing work, and a controller 70. The controller 70 repeatedly and automatically causes the work machine 10 to perform a series of work phases, which include a release phase in which the bucket 15c captures soil at the target capture position and releases the soil at the target release position, and a return rotation phase in which the bucket 15c is moved back to the target capture position. The controller 70 determines the condition of the excavated soil in the bucket 15c during the release phase based on the information input to the controller 70. Based on the determined condition of the excavated soil, the controller 70 changes the release operation of the attachment 15 during the release phase and / or the return rotation operation of the attachment 15 during the return rotation phase.

[0060] In the above configuration, the release operation and / or return rotation operation can be changed according to the condition of the excavated soil in the bucket 15c, thereby suppressing soil spillage during the return rotation. In particular, since no soil falls in the area between the target acquisition position and the target release position, work efficiency can be increased. In addition, the need to clean up any soil that falls in that area is reduced. Furthermore, safety in that area can be ensured.

[0061] In the work support system 1, the release operation after the change is an operation that repeatedly performs the release operation before the change.

[0062] In the above configuration, the soil release operation is performed repeatedly during the release phase, which facilitates the release of excavated soil at the target release location.

[0063] In the work support system 1, the modified return rotation operation reduces the amount of excavated soil falling from the bucket 15c (Figure 1) compared to the previous return rotation operation.

[0064] In the above configuration, the operation of the return rotation phase is modified, thereby reducing the amount of excavated soil that falls from the bucket 15c.

[0065] In the work support system 1, the controller 70 switches whether or not to change the return rotation operation or the operation of the attachment 15 (Figure 1) during the return rotation phase to an operation that reduces the amount of excavated soil falling from the bucket 15c, depending on the condition of the excavated soil in the bucket 15c (Figure 1) after the modified release operation.

[0066] In the above configuration, the operation of the attachment 15 is changed during the release phase, and the operation of the return rotation phase is changed according to the condition of the excavated soil, thereby further reducing the amount of excavated soil that falls from the bucket 15c.

[0067] In the work support system 1, the controller 70 corrects the return rotation path after the change in order to avoid contact with surrounding obstacles.

[0068] In the above configuration, the return rotation path is corrected to avoid contact with surrounding obstacles, thereby reducing the amount of excavated soil that falls while also avoiding contact with surrounding obstacles. Furthermore, it is possible to avoid the excavated soil falling or scattering due to contact with surrounding obstacles.

[0069] In the work support system 1, the controller 70 corrects the height of the corrected return swing path so that it is higher than the lowest point of the return swing path before correction.

[0070] In the above configuration, the recovery turning path is corrected to be higher than the lowest point of the recovery turning path before correction, thereby avoiding contact with surrounding obstacles.

[0071] In the work support system 1, the controller 70 switches whether or not to use the original return rotation path for the return rotation phase, depending on the condition of the excavated soil in the bucket 15c during the release phase.

[0072] In the above configuration, the return rotation path is switched according to the condition of the excavated soil in the bucket 15c during the release phase, allowing for efficient operation depending on the situation.

[0073] (Modifications) The above embodiments may be modified in various ways. For example, various examples (including modifications) of the above embodiments may be combined in various ways. For example, the connections of each component shown in Figure 1 may be changed. For example, the number of components (including modifications) of the above embodiments may be changed, and some components may not be provided. For example, the arrangement of components may be changed. For example, the inclusion relationships of components may be changed in various ways. For example, a component described as a subordinate component included in a higher-level component may not be included in this higher-level component, but may be included in other components. For example, a group of different members or parts described may be treated as a single member or part. For example, a single member or part described may be divided into a group of different members or parts. For example, the order of the steps in the flowchart shown in Figure 4 may be changed, some steps may not be performed, and for example, each component may have only some of its features (function, arrangement, shape, operation, etc.).

[0074] A work support system according to a first aspect of the present invention supports the work of a work machine, which includes a machine body and an attachment having a bucket for performing work and being operably mounted to the machine body. The work support system includes a controller that causes the work machine to repeatedly and automatically perform a series of work phases, each having a release phase in which the bucket releases soil captured by the bucket at a target capture position at a target release position, and a return rotation phase in which the bucket is moved back to the target capture position. The controller determines the condition of the excavated soil in the bucket during the release phase based on input information, and modifies at least one of the release operation of the attachment during the release phase and the return rotation operation of the attachment during the return rotation phase based on the determined condition of the excavated soil.

[0075] In the work support system according to the second aspect of the present invention, in the first aspect, the controller modifies at least the release operation, and the modified release operation is an operation that repeatedly performs the release operation before the modification.

[0076] A work support system according to a third aspect of the present invention, in the first or second aspect, the controller modifies at least the return rotation operation, wherein the modified return rotation operation reduces the amount of excavated soil falling from the bucket compared to the original return rotation operation.

[0077] In the work support system according to the fourth aspect of the present invention, in the second aspect, the controller switches whether or not to change the return rotation operation to an operation that reduces the falling of the excavated soil in the bucket, depending on the condition of the excavated soil in the bucket after the modified release operation.

[0078] In the fifth aspect of the present invention, the work support system, in the third or fourth aspect, modifies the return rotation path of the modified return rotation operation so as to avoid contact between at least a portion of the attachment and surrounding obstacles.

[0079] In the sixth aspect of the present invention, the work support system, in the fifth aspect, corrects the height of the corrected return turning path so that it is higher than the lowest point of the return turning path before correction.

[0080] In the seventh aspect of the present invention, the work support system, in any of the first to fourth aspects, allows the controller to switch whether or not to use the original return rotation path for the return rotation phase, depending on the condition of the excavated soil in the bucket during the release phase.

Claims

1. A work support system for assisting the work of a work machine, comprising a machine body and an attachment having a work bucket and being operably mounted to the machine body, the system comprising a controller that repeatedly and automatically causes the work machine to perform a series of work phases, each having a release phase in which the bucket releases soil captured by the bucket at a target capture position at a target release position, and a return rotation phase in which the bucket moves back to the target capture position, wherein the controller determines the condition of the excavated soil in the bucket during the release phase based on input information, and modifies at least one of the release operation of the attachment during the release phase and the return rotation operation of the attachment during the return rotation phase based on the determined condition of the excavated soil.

2. A work support system according to claim 1, wherein the controller modifies at least the release operation, and the modified release operation is an operation that repeatedly performs the release operation before the modification.

3. A work support system according to claim 1, wherein the controller modifies at least the return rotation operation, and the modified return rotation operation is such that the amount of excavated soil falling from the bucket is reduced compared to the original return rotation operation.

4. A work support system according to claim 2, wherein the controller switches whether or not to change the return rotation operation to an operation that reduces the falling of the excavated soil in the bucket, depending on the condition of the excavated soil in the bucket after the modified release operation.

5. A work support system according to claim 3 or 4, wherein the controller corrects the return rotation path for the modified return rotation operation so as to avoid contact between at least a portion of the attachment and surrounding obstacles.

6. A work support system according to claim 5, wherein the controller corrects the height of the corrected return swing path to be higher than the lowest point of the return swing path before correction.

7. A work support system according to any one of claims 1 to 4, wherein the controller switches whether or not to use the original return rotation path for the return rotation phase, depending on the condition of the excavated soil in the bucket during the release phase.

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