Work assistance system and work machine

Abstract

A work assistance system (1) comprises an input unit (60) and a controller (70). An attachment (15) of a work machine (10) is attached to a machine body (10a) of the work machine (10). The attachment (15) includes an end attachment (15d) that performs work. Input information for setting a work area (100) in which the end attachment (15c) performs work is input to the input unit (60). On the basis of the input information input to the input unit (60), the controller (70) sets the work area (100) in which the end attachment (15c) performs work. On the basis of set suitability conditions, the controller (70) determines whether or not the work area (100) is suitable for automatic control.

Description

Work support system, working machine

[0001] The present invention relates to a working machine and a work support system for supporting the work of the working machine.

[0002] For example, Patent Document 1 discloses that a work object detection system specifies an area where a working machine works based on two points taught by an operator.

[0003] For example, a work area determined based on input information input by an operator such as teaching or an automatically set work area may not be suitable for automatic operation of the working machine.

[0004] Japanese Unexamined Patent Application Publication No. 2022-055296

[0005] An object of the present invention is to provide a work support system and a working machine capable of determining whether a work area set based on input information conforms to automatic control of the working machine.

[0006] The work support system includes an input unit and a controller, and supports the work of a working machine that is automatically controlled. The working machine has a machine body and an attachment. The attachment is attached to the machine body of the working machine. The attachment has a tip attachment that performs work. The input unit receives input of input information for setting a work area where the tip attachment performs the work. The controller sets the work area where the tip attachment performs the work based on the input information input to the input unit. The controller determines whether the work area is suitable for the automatic control based on the set conformity conditions.

[0007] The work machine is capable of automatic control and comprises a machine body, an attachment having a tip attachment that is attached to the machine body to perform work, an input unit that receives input information for setting a work area in which the tip attachment performs the work, and a controller that sets the work area in which the tip attachment performs the work based on the input information input to the input unit. The controller determines whether the work area is suitable for automatic control based on set suitability conditions.

[0008] Figure 1 is a side view of a work machine and other components in 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 plan view illustrating the work area set by the controller shown in Figure 2. Figure 4 is an explanatory diagram of an example of determining the suitability conditions for the work area by the controller shown in Figure 2. Figure 5 is an explanatory diagram of an example of determining the suitability conditions for the work area by the controller shown in Figure 2. Figure 6 is a flowchart illustrating an example of processing by the controller shown in Figure 2. Figure 7 is a diagram illustrating an example of a notification screen shown in the output unit shown in Figure 2.

[0009] A work support system 1 according to one embodiment of the present invention will be described with reference to the drawings. In the following description, the work support system 1 includes a work machine 10 (Figure 1), but the work support system 1 does not necessarily include the work machine 10 and may include a part of the work machine 10.

[0010] The work support system 1 (Figure 1) is a system that sets the work area 100 (Figure 4) in which the work machine 10 (Figure 1) will perform work, based on the input information which will be described in detail later. The work support system 1 is a system that determines whether the set work area 100 is suitable for automatic operation (automatic control). The work support system 1 is a system that determines whether the work area 100 is suitable for automatic operation based on the set suitability conditions which will be described in detail later. 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), and an output unit 80 (notification unit) (Figure 2).

[0011] As shown in Figure 1, the work machine 10 is a machine that performs work. The work machine 10 may be a construction machine that performs construction work, or a material handling machine that performs material handling 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.

[0012] 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 (onboard operation) by a worker in the operator's cab 13c, which will be described later, or it may be remotely controlled from outside the work machine 10.

[0013] The work machine 10 includes 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 includes a lower body 11 and an upper rotating body 13.

[0014] 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 traveling, it may include crawlers or wheels.

[0015] The upper slewing body 13 is rotatably supported by the lower body 11. The boom 15a of the attachment 15 is attached to the upper slewing body 13. The upper slewing body 13 has 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.

[0016] (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 along 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.

[0017] Attachment 15 is the part that performs the work. Attachment 15 performs work on the object to be worked on. Attachment 15 is attached to the machine body 10a (more specifically, the upper slewing body 13). For example, attachment 15 has a boom 15a, an arm 15b, and a tip attachment 15c. The boom 15a is rotatably attached to the upper slewing body 13 (it can be raised and lowered and rotated 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 (it can rotate along a plane of rotation including the front-rear direction X and the up-down direction Z).

[0018] The tip attachment 15c is provided at the tip of the attachment 15. The tip attachment 15c is rotatably attached to the arm 15b (rotatable along a rotation plane including the front-rear direction X and the up-down direction Z). The tip attachment 15c may be a bucket capable of scooping and excavating workpieces. As shown in Figure 1, if the tip attachment 15c is a bucket, the tip attachment 15c has a bucket opening surface 15c1 and a bucket tip back surface 15c2. The bucket opening surface 15c1 is the opening surface of the tip attachment 15c. The bucket tip back surface 15c2 is provided on the tip side portion of the tip attachment 15c (the portion furthest from the attachment portion to the arm 15b). The bucket tip back surface 15c2 is, for example, planar. As shown in the diagram of the end attachment 15c closer to the machine body 10a, which is one of the two end attachments 15c shown by the dashed line in Figure 1, when the end attachment 15c is positioned so that the bucket opening surface 15c1 faces upward, the bucket end back surface 15c2 is positioned on the lower and front side of the end attachment 15c. When the end attachment 15c is positioned so that the bucket opening surface 15c1 is aligned with the horizontal direction, the bucket end back surface 15c2 is positioned so as to extend upward toward the front, in other words, so as to extend in a direction inclined with respect to the horizontal direction.

[0019] The work object is the object that the work machine 10 operates on. The work object may be soil, rock, magnetic material (such as metal), resin, waste, wood (such as logs), or structure (such as blocks). If the work object is soil, it may be in the form of soil, granules, chips, powder, etc.

[0020] 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 includes a slewing motor 33, a boom cylinder 35a, an arm cylinder 35b, and a bucket cylinder 35c.

[0021] The slewing motor 33 rotates the upper slewing body 13 relative to the lower body 11. The boom cylinder 35a rotates (ups and downs) the boom 15a relative to the upper slewing body 13 along a rotation plane that includes the vertical direction Z. 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 tip attachment 15c relative to the arm 15b.

[0022] 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 tip attachment 15c relative to the arm 15b.

[0023] 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 includes a position detection unit 41, a direction detection unit 42, an imaging device 43, and a posture detection unit 45.

[0024] 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 have a device that detects position using electromagnetic waves (light, radio waves, etc.). The position detection unit 41 may have 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 have 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.

[0025] 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 have 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).

[0026] 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 includes depth information. The imaging device 43 may be passive or active. Specifically, the imaging device 43 may have a camera (monocular camera) that detects two-dimensional information. The imaging device 43 may have 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 have 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 have a sensor that detects distance based on the frequency of the reflected wave.

[0027] The imaging device 43 may have a device that detects three-dimensional information using light (e.g., laser light), and may have, for example, a LiDAR (Light Detection and Ranging) that acquires point cloud information. The imaging device 43 may have a device that detects three-dimensional information using radio waves (e.g., millimeter-wave radar). Only one imaging device 43 may be provided, or multiple imaging devices 43 may be provided. If multiple imaging devices 43 are provided, the types of the multiple imaging devices 43 (type of imaging method, 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). For example, the imaging device 43 may be mounted on the front of the operator's cab 13c of the work machine 10.

[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 tip attachment 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 have 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 have a stroke sensor that detects the stroke of the cylinder that moves the attachment 15 (Figure 1). The posture detection unit 45 may have a tilt sensor that detects the angle (tilt) with respect to the horizontal direction. The posture detection unit 45 may have a sensor (e.g., a gyro sensor) that detects the angular velocity relative to the work site, and may have a sensor that detects the acceleration relative to the work site. The posture detection unit 45 may have an inertial measuring device or the like. The posture detection unit 45 may have the position detection unit 41 described above. 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 have the direction detection unit 42 described above. The posture detection unit 45 may have the imaging device 43 described above. 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 input operation. The input unit 60 inputs information to the controller 70. The input unit 60 may have a touch panel, a mouse, a keyboard, or switches. The input unit 60 may have 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 (Figure 1). The input unit 60 may be provided on a remote control device (not shown) for remotely controlling the work machine 10. The input unit 60 may be provided in the driver's cab 13c or in an operating unit (not shown, e.g., an operating lever) in the remote control device, or it may be in an operating unit, or it may be provided in a display unit (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 have a lever, a pedal, or a dial. If the work machine 10 is 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 of the controller 70 (described later) 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 of the client device and the server device, or in both. For example, each of the storage unit 70b and the calculation unit 70a of the controller 70 may be provided in one of the client device and the server device, or in both. 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 has 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 has a work plan setting unit 71, an automatic control unit 73, and an automatic driving suitability 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 range (e.g., target acquisition range, target release range) in which the attachment 15 (Figure 1) will perform its work. 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. The time information may be information on the time when the specific part reaches the target point. By adjusting the time information, the target movement speed of a specific body 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 tip attachment 15c (Figure 1) captures the work object within the target capture range (for example, excavating soil). For example, the target capture range is set to a place where the work object is collected (for example, a pile of soil). The lifting and rotating phase is the phase in which a specific part moves from the target capture range to the target release range while the tip attachment 15c has captured the work object. The release phase is the phase in which the tip attachment 15c releases the work object within the target release range (for example, removing soil). The target release range is set to an area on the bed of a transport vehicle, for example. The return and rotating phase is the phase in which a specific part moves from the target release range to the target capture range. The movement of the aforementioned specific part is performed by at least the rotational movement of the upper rotating body 13. For example, a series of operation phases, including a capture phase, a lifting and rotating phase, a release phase, and a return rotation phase, are repeated.

[0036] The work plan (for example, the work area 100) 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 work plan setting unit 71 includes a work area setting unit 71a. Based on the input information entered into the input unit 60, the work area setting unit 71a sets the work area 100 in which the tip attachment 15c (Figure 1) will work. For example, the set work area 100 may be the target acquisition range described above, or it may be the target release range. The setting of the work area 100 will be described later.

[0038] 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 inputs 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.

[0039] The automated driving suitability determination unit 75 determines whether the work area 100, which is set based on the input information, is suitable for automated driving, based on the set suitability conditions. The automated driving suitability determination unit 75 may also determine a suitable work area 110, which is the work area 100 that satisfies the suitability conditions. The determination of the suitable work area 110 will be described later.

[0040] The output unit 80 is a device that outputs (notifies) information. The output unit 80 outputs information based on the signal output from the controller 70. The output unit 80 may output light (such as display), may output sound (such as voice), or may output vibration. The output unit 80 may be provided in a tablet, may be provided in a smartphone, or may be provided in a personal computer. The output unit 80 may be provided in the cab 13c (FIG. 1). The output unit 80 may be provided in a remote control device for remotely operating the working machine 10 (FIG. 1). When the output unit 80 outputs light, the output unit 80 may include a device (monitor) for display. The output unit 80 may include a projection device that projects onto an object such as the ground. The output unit 80 may include something that emits light (light). The output unit 80 may include a device (VR device) that utilizes VR (Virtual Reality) technology, or may include a device (AR device) that utilizes AR (Augmented Reality) technology. The output unit 80 may change at least any one of the hue, density (transparency), brightness, and chroma of the output light. For example, the output unit 80 may be used to output compliance conditions. For example, the output unit 80 may be used to output the work area 100. For example, the output unit 80 may be used to output the suitable work area 110. For example, the output unit 80 may be used to superimpose and display the work area 100 and the suitable work area 110.

[0041] (Operation of the working machine 10) As described above, the working machine 10 (FIG. 1) may be operated (boarding operation) by an operator in the cab 13c (FIG. 1), may be remotely operated by the operator from outside the working machine 10 (remote control device), or may be operated by automatic control. The working machine 10 is a machine that utilizes information and communication technology (ICT; Information and Communication Technology) (for example, an ICT construction machine).

[0042] The work machine 10 (Figure 1) may be operated (moved) by automatic control. The 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 tip attachment 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. Furthermore, for example, 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 setting of the work area 100) The work area 100 is the area in which the front attachment 15c (Figure 1) performs work during autonomous driving. The work area 100 is set based on the input information entered into the input unit 60. The input information may be the plan view shape of the work area 100, or it may be elements that determine the length of each component of the plan view shape (for example, the length of the sides). For example, the plan view shape of the work area 100 may be a polygon, a circle, an ellipse, or an annular sector (a shape in which a part of the sector is further cut out in concentric circles in smaller sectors).

[0044] For example, if the plan view shape of the work area 100 is rectangular, the input information may be the coordinates of two vertices located diagonally opposite each other in the rectangle. Alternatively, if the plan view shape of the work area 100 is rectangular, the input information may be the coordinates of two endpoints on one side of the rectangle and the width of the side opposite to that side. Alternatively, if the plan view shape of the work area 100 is circular, the input information may be the coordinates of the circle's center and the circle's radius. Alternatively, if the plan view shape of the work area 100 is elliptical, the input information may be the coordinates of the ellipse's center, the major axis of the ellipse, and the minor axis of the ellipse. Alternatively, if the plan view shape of the work area 100 is annular sector, the input information may be the coordinates of the annular sector's center, one endpoint of the outer arc, and the endpoint of the inner arc on the side with a different central angle from that endpoint. Furthermore, for example, if the plan view shape of the work area 100 is an annular sector, the input information may include the coordinates of the center of the annular sector, the two endpoints of the outer arc, and the difference between the radius of the outer arc and the radius of the inner arc. The input information may also be entered freehand. In this case, the plan view shape of the work area 100 may be a closed figure composed of lines entered freehand. The coordinate system of the work area 100 may be Cartesian coordinates or polar coordinates. For example, if the plan view shape of the work area 100 is an annular sector, polar coordinates may be used with the pivot point of the upper rotating body 13 (Figure 1) as the pole.

[0045] (Specific Example of Setting of Working Area 100) Referring to FIG. 3, a specific example of setting the working area 100 will be described. In the example of FIG. 3, the planar shape of the working area 100 is predetermined to be rectangular. The controller 70 (FIG. 2) acquires, as input information, the positions of two vertices located diagonally among the four vertices of the rectangular working area 100 from the input unit 60 (FIG. 2). The working area 100 may be set by the operator moving the working machine 10 (FIG. 1) (by teaching), may be set by the operator operating the input unit 60 (by manual operation), or may be automatically set by the controller 70. For example, in the example of FIG. 3, the controller 70 determines the coordinates of point A1 and point C1 located diagonally in the working area 100 based on the input information. The controller 70 determines the coordinates of point B1 and point D1 from the coordinates of point A1 and point C1. For example, specifically, when the straight line passing through point A1 and point B1 is parallel to the front-rear direction X, the coordinates are set as follows. When the coordinates of point A1 are (Xa, Ya) and the coordinates of point C1 are (Xb, Yb), the coordinates of point B1 are (Xb, Ya). Also, the coordinates of point D1 are (Xa, Yb). Thus, the controller 70 may determine the working area 100 by complementing the insufficient information from the input information. The coordinates of the working area 100 and the suitable working area 110 are, for example, coordinates based on the position of the upper swing body 13 before teaching (before turning).

[0046] (Regarding suitability conditions) Suitability conditions are conditions for determining whether the set work area 100 is suitable for automated operation. Suitability conditions are set in the controller 70. Suitability conditions are the object to be compared with the set work area 100. For example, suitability conditions may include conditions indicating the size of the work area 100. Specifically, suitability conditions may include conditions indicating the minimum or maximum threshold for distance in a predetermined direction of the work area 100. That is, if the distance of the set work area 100 in a predetermined direction is shorter than the minimum threshold set as a suitability condition, the controller 70 may determine that the set work area 100 does not meet the suitability conditions. Also, if the distance of the set work area 100 in a predetermined direction is longer than the maximum threshold set as a suitability condition, the controller 70 may determine that the set work area 100 does not meet the suitability conditions. When the suitability condition is a threshold for distance in a predetermined direction of the work area 100, the threshold may be determined based on the dimensions of the components of the work machine 10. More specifically, for example, the minimum threshold may include the width in the lateral direction Y of the tip attachment 15c of the work machine 10. Also, for example, the minimum threshold may include the maximum length in the front-rear direction X of the bucket opening surface 15c1 (Figure 1) of the tip attachment 15c. Also, for example, the minimum threshold may include the maximum length in the front-rear direction X of the back surface 15c2 (Figure 1) of the bucket tip of the tip attachment 15c. Furthermore, the minimum threshold of the conformance condition may include the tracking error E1 (Figure 4). The tracking error E1 is the error in the actual operation of the work machine 10 compared to the work plan obtained by automatically operating the work machine 10 multiple times (for example, the deviation of the actual position of the tip attachment 15c from the target position of the tip attachment 15c). The inclusion of the tracking error E1 in the conformance condition is also applicable to the conformance conditions described below.

[0047] Furthermore, if the conformity condition is a distance threshold in a predetermined direction of the work area 100, the threshold may be determined based on the operating distance W2 (Figure 5) required for the work machine 10 to perform its work. More specifically, for example, if the tip attachment 15c of the work machine 10 is a bucket that performs excavation as its work, the minimum threshold may include the minimum distance required for the tip attachment 15c to perform excavation in the front-rear direction X. For example, the minimum required distance may be determined from the range of the trajectory of the tip attachment 15c when the tip attachment 15c is rotated from the excavation start state to the capture state. In the example shown in Figure 1, the excavation start state is a state in which the bucket tip back surface 15c2 (Figure 1), with its tip facing downwards, is positioned along the vertical direction Z. Also, in the example shown in Figure 1, the capture state is, for example, a state in which the bucket opening surface 15c1 (Figure 1) is positioned so as to face upwards and along the horizontal direction. However, the excavation start state and capture state are not limited to these, and may vary.

[0048] Furthermore, for example, if the conformity condition specifically indicates the size of the work area 100, the conformity condition may be determined based on the size calculated from the target workload. That is, if the set size of the work area 100 is smaller than the size calculated from the target workload, the controller 70 may determine that the set work area 100 does not meet the conformity condition. For example, the workload may be the total amount of work objects to be captured in the capture phase. Also, for example, the workload may be the total amount of work objects to be released in the release phase. For example, the conformity condition may include a condition for the size of the target capture range, or a condition for the size of the target release range. For example, if the height of the target release range and the target workload in the release operation are determined, it is possible to determine the conformity condition. That is, the conformity condition for the size of the work area is set such that the value obtained by multiplying the height of the target release range (e.g., the height and thickness of the storage space on the loading platform) by the size of the conformity condition (the area of ​​the target release range, the area in plan view) equals the total workload. Furthermore, if the depth of the target acquisition range (e.g., excavation depth) and the target amount of work to be performed in the acquisition operation are determined, it is possible to determine the compatibility conditions. That is, the compatibility conditions for the size of the work area are set such that the product of the depth of the target acquisition range and the size of the compatibility conditions (area of ​​the target acquisition range) equals the total amount of work. The controller 70 (Figure 2) may determine the compatibility conditions for the size of the target acquisition range from the total amount of work objects to be acquired, or it may determine the compatibility conditions for the size of the target release range from the total amount of work objects to be released. The controller 70 may determine the compatibility conditions for the size of the target acquisition range from the total amount of work objects to be released, or it may determine the compatibility conditions for the size of the target release range.

[0049] Furthermore, the suitability conditions may include, for example, that the area is outside the area where work is prohibited. Specifically, for example, the area where work is prohibited may include being outside the working radius that the tip attachment 15c can reach. Also, specifically, for example, the area where work is prohibited may include being an area where the work machine 10 is prohibited from entering. The area where entry is prohibited may be predetermined or determined based on information detected by the detection unit 40 (Figure 2). The area where entry is prohibited may include, for example, an area where other work machines 10 or buildings exist. Also, the area where entry is prohibited may include, for example, a passage used by workers.

[0050] (Specific Example 1 of Determining the Work Area 100 Based on the Conformity Condition) Referring to Figure 4, Specific Example 1 of determining the work area 100 based on the conformity condition will be explained. As shown in Figure 4, the work area 100 is a rectangular area in plan view enclosed by points A2, B2, C2 and D2. In the example of Figure 4, the work area 100 is a rectangle enclosed by two sides parallel to the lateral direction Y, which is determined based on the current posture of the upper rotating body 13 of the work machine 10, and two sides parallel to the front-rear direction X. In the example of Figure 4, the conformity condition is that the dimension of the work area 100 in the lateral direction Y is greater than the threshold. When the coordinates of the two endpoints of one side along the lateral direction Y of the rectangle (for example, points A2 and D2) are (Xa, Ya) and (Xb, Yb), the length L1 of the work area 100 in the lateral direction Y is given by the following equation 1. The coordinates of the work area 100 used in Equation 1 are based on the orientation (not shown) of the upper rotating body 13 of the work machine 10 before the work area 100 is set up (for example, before teaching is performed). Then, as shown in Equation 2 below, the conformance condition is that the length L1 in the lateral direction Y of the work area 100 is longer than the length obtained by adding the tracking error E1 in the left and right directions to the width W1 in the lateral direction Y of the tip attachment 15c. For example, specifically, the width W1 is about 1000 mm and the tracking error E1 is about 300 mm.

[0051] L1=((Xa-Xb) ２ + (Ya - Yb) ２ ) （１／２）...(Formula 1) L1>W1+E1×2...(Formula 2)

[0052] (Specific Example 2 of Determining the Work Area 100 Based on the Conformity Condition) Referring to Figure 5, a specific example 2 of determining the work area 100 based on the conformity condition will be explained. As shown in Figure 5, the work area 100 is a rectangular area in plan view enclosed by points A3, B3, C3 and D3. In the example of Figure 5, the conformity condition is that the dimensions of the rectangular work area 100 in the front-to-back direction X are greater than a threshold. When the coordinates of the two endpoints of one side along the front-to-back direction X of the rectangle (for example, points C3 and D3) are (Xa, Yb) and (Xb, Yb), the length L2 of the work area 100 in the front-to-back direction X is given by the following equation 3. Then, as shown in the following equation 4, the conformity condition is that the length L2 of the work area 100 in the front-to-back direction X is longer than the length obtained by adding the tracking error E2 to the far side and near side of the operating distance W2 required to perform work in the front-to-back direction X of the tip attachment 15c. For example, the operating distance W2 is approximately 1500 mm, and the tracking error E2 is approximately 300 mm. The tracking error E2 may be the same as or different from the tracking error E1 (Figure 4).

[0053] L1=((Xa-Xb) ２ + (Ya - Yb) ２ ) （１／２） ...(Formula 3) L2>W2+E2×2...(Formula 4)

[0054] (Regarding the determination of the suitable work area 110) The suitable work area 110 is determined when it is determined that the work area 100 is not suitable for automated driving. The suitable work area 110 is one that meets the suitability conditions. When the suitable work area 110 is determined by expanding the work area 100, the suitable work area 110 may be determined to be a range that includes the work area 100 that was determined to be unsuitable for automated driving. For example, the method of determining the suitable work area 110 by expanding the work area 100 may be to fix one end of the work area 100 and expand the other end (see Figures 4 and 5; specific examples will be described later). Alternatively, for example, the method of determining the suitable work area 110 by expanding the work area 100 may be to fix the center of the work area 100 and expand both ends. Furthermore, the suitable work area 110 may meet at least one of the suitability conditions among a plurality of suitability conditions. The determined suitable work area 110 may be output to the output unit 80. The determined suitable work area 110 may be applied to the work plan as a substitute for the work area 100 that has been determined to be unsuitable for automated driving.

[0055] (Specific Example 1 of Determining the Suitable Work Area 110) Referring to Figure 4, specific example 1 of determining the suitable work area 110 will be explained. As shown in Figure 4, if the length L1 in the lateral direction Y of the work area 100 does not satisfy the suitability condition of Equation 2 above, the controller 70 determines a suitable work area 110 by extending the work area 100 in the lateral direction Y. Specifically, the controller 70 determines point D2a such that the distance in the lateral direction Y from point A2 satisfies L1 in Equation 2 above. The controller 70 also determines point C2a such that the distance in the lateral direction Y from point B2 satisfies L1 in Equation 2 above. Then, the controller 70 determines a suitable work area 110 enclosed by points A2, B2, C2a and D2a.

[0056] (Specific Example 2 of Determining the Suitable Work Area 110) Referring to Figure 5, Specific Example 2 of determining the suitable work area 110 will be explained. As shown in Figure 5, if the length L2 in the front-to-back direction X of the work area 100 does not satisfy the suitability condition of Equation 4 above, the controller 70 determines a suitable work area 110 by extending the work area 100 in the front-to-back direction X. Specifically, the controller 70 determines point B3a such that the length in the front-to-back direction X with respect to point A3 satisfies L2 in Equation 4 above. The controller 70 also determines point C3a such that the length in the front-to-back direction X with respect to point D3 satisfies L2 in Equation 4 above. Then, the controller 70 determines a suitable work area 110 enclosed by points A3, B3a, C3a and D3.

[0057] (Specific Example 3 of Determining the Suitable Work Area 110) Specific example 3 of determining the suitable work area 110 based on the suitability conditions will be explained. In this example, the suitability condition is the size of the target acquisition range in which the work object is excavated and moved by a mass M. In this case, the volume V of the work object to be excavated is the value obtained by dividing the mass M by the density D of the work object. Furthermore, in the work, if the target acquisition range is excavated to an excavation depth t, the area S of the target acquisition range that meets the suitability condition is shown by the following equation 5.

[0058] S = M × t ÷ D ... (Equation 5) Then, the length of the side in the front-to-back direction X and the length of the side in the side Y of a rectangle with area S that satisfies Equation 5 above are determined as the lengths of each side of the suitable work area 110. The length of the side in the front-to-back direction X may also satisfy L2 in Equation 4 above. The length of the side in the side Y may also satisfy L1 in Equation 2 above.

[0059] (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 6. 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. The work support method is realized in the work support system 1 (work machine 10) in which the following operations are performed. The work method causes the controller 70 (computer) to perform the following processing. Note that the work plan setting processing other than the work area 100 setting processing is omitted.

[0060] First, the controller 70 determines whether or not it has received input information from the input unit 60 to set the work area 100 (step S10). If it has not received input information (NO in step S10), the controller 70 executes the process in step S10 again. If it has received input information (YES in step S10), the controller 70 sets the work area 100 based on the input information (step S20). For example, as shown in Figure 3, the controller 70 sets the work area 100 by interpolating the coordinates of two other points from the input information of the coordinates of two points located diagonally opposite each other in the work area 100.

[0061] The controller 70 then determines whether the set work area 100 is suitable for automatic operation (whether it meets the suitability conditions) (step S30). If the work area 100 is not suitable for automatic operation (NO in step S30), the controller 70 notifies the output unit 80 (Figure 2) of the reason why it is not suitable for automatic operation (the reason why it does not meet the suitability conditions) (step S40). A specific example of the notification will be described later. The controller 70 then performs the process of step S10 again and waits for input information to set a new work area 100.

[0062] On the other hand, if the work area 100 is suitable for automated operation (YES in step S40), the controller 70 confirms the set work area 100 (step S50). The controller 70 sets the set work area 100 in the work plan. Then, the controller 70 performs automated operation according to the work plan that includes the work area 100 (step S60), and terminates this process.

[0063] (Notification of reasons why the work area 100 is not suitable for autonomous driving) Referring to Figure 7, an example of the reason why the work area 100 is not suitable for autonomous driving (suitability conditions) will be notified. As shown in Figure 7, the output unit 80 (Figure 2) is, for example, a tablet display (display unit). For example, in step S40, the controller 70 displays a notification screen 800 as shown in Figure 7. The notification screen 800 is a screen for notifying the reason why the set work area 100 is not suitable for autonomous driving. The notification screen 800 is a screen for inputting input information to reset the work area 100 when the set work area 100 is not suitable for autonomous driving. On the notification screen 800, the output unit 80 displays the work machine unit 810, the work area unit 820, the operation-compatible work area unit 830, and the workload-compatible work area unit 840 as image information.

[0064] The work machine section 810 is a part that indicates the position and orientation of the work machine 10 (Figure 1). The work area section 820 is a part that indicates a work area 100 that has been determined to be unsuitable for automatic operation. The operation-compatible work area section 830 is a part that indicates a compatible work area 110 that satisfies at least the necessary compatibility conditions for the work machine 10 to perform work in automatic operation. For example, the operation-compatible work area section 830 is a part that indicates a compatible work area 110 that satisfies the compatibility conditions of equations 2 and 4 above. The workload-compatible work area section 840 is a part that indicates a compatible work area 110 that satisfies the necessary compatibility conditions for the work machine 10 to achieve the workload set in the work plan. For example, the workload-compatible work area section 840 is a part that indicates a compatible work area 110 that satisfies the compatibility condition of equation 5 above. In this way, the controller 70 (Figure 2) may superimpose multiple compatible work areas 110 corresponding to multiple compatibility conditions on the output unit 80 (Figure 2).

[0065] Furthermore, as shown in Figure 7, the notification screen 800 may display a work-prohibited area section 850. The work-prohibited area section 850 is a part that indicates an area where work is not permitted. The controller 70 (Figure 2) determines the operation-compatible work area section 830 and the work-volume-compatible work area section 840 so as to exclude the work-prohibited area section 850. Additionally, the notification screen 800 may display a non-conformity reason text section 860. The non-conformity reason text section 860 is a part that displays text explaining why the work area 100 is not suitable for automated operation. The reason why the work area 100 is not suitable for automated operation may be notified by showing a suitable work area 110 that corresponds to the necessary conformity conditions, or by displaying the reason as text.

[0066] The effects of the work support system 1 shown in Figure 2 are as follows. The work support system 1 comprises an automatically controlled work machine 10 (Figure 1), an attachment 15 (Figure 1), an input unit 60, and a controller 70. The attachment 15 is attached to the machine body 10a (Figure 1) of the work machine 10. The attachment 15 is equipped with a tip attachment 15c (Figure 1) that performs work. Input information for setting the work area 100 in which the tip attachment 15c performs work is input to the input unit 60. The controller 70 sets the work area 100 in which the tip attachment 15c performs work based on the input information input to the input unit 60. The controller 70 determines whether the work area 100 is suitable for automatic operation based on the suitability conditions set in the controller 70.

[0067] In the above configuration, it is possible to determine whether the work area 100, which is set based on the input information, is suitable for automated driving.

[0068] Furthermore, as shown in Figure 4, in the work support system 1, the conformity condition includes that the dimensions of the work area 100 are greater than a specific dimension determined based on the dimensions of the tip attachment 15c.

[0069] In the above configuration, it is possible to determine whether the work area 100 is suitable for automated operation by comparing it with the dimensions of the tip attachment 15c.

[0070] As shown in Figure 5, in the work support system 1, the suitability condition includes that the dimensions of the work area 100 are greater than a specific dimension determined based on the operating distance W2 required for the tip attachment 15c to perform the work.

[0071] In the above configuration, it is possible to determine whether the work area 100 is suitable for automated operation by comparing it with the operating distance W2 required for the tip attachment 15c to perform its work.

[0072] In the work support system 1, the suitability condition includes the fact that the size of the work area 100 is larger than the size calculated from the target workload.

[0073] In the above configuration, it is possible to determine whether the work area 100 is suitable for automated operation based on the target workload.

[0074] In the work support system 1, the compliance condition includes the condition that the work area 100 is located only outside the area where work is not permitted.

[0075] In the above configuration, it is possible to determine whether the work area 100 is suitable for automated operation by whether or not it excludes (does not include) areas where work is not permitted.

[0076] In the work support system 1, the area where work is not possible includes areas outside the working radius that the tip attachment 15c (Figure 1) can reach.

[0077] In the above configuration, it is possible to determine whether the work area 100 is suitable for autonomous driving by checking whether the work area 100 excludes areas outside the range of the working radius that the tip attachment 15c can reach.

[0078] In the work support system 1, the area where work is not permitted includes the area where the work machine 10 is prohibited from entering.

[0079] In the above configuration, it is possible to determine whether the work area 100 is suitable for automated operation by checking whether the work area 100 excludes the area where the work machine 10 is prohibited from entering.

[0080] As shown in Figure 2, the work support system 1 further includes an output unit 80. As shown in Figure 7, in the work support system 1, if the controller 70 determines that the work area 100 is not suitable for automatic operation, it notifies the output unit 80 of the suitability conditions used in the determination.

[0081] In the above configuration, since the unmet compatibility conditions are notified, it is possible to notify that the work area 100 is not suitable for automated operation. As a result, the operator can recognize this condition.

[0082] As shown in Figure 2, the work support system 1 further includes an output unit 80. As shown in Figure 7, in the work support system 1, if the controller 70 determines that the work area 100 is not suitable for automatic operation, it determines a suitable work area 110, which is the work area 100 that satisfies the suitability conditions, and notifies the output unit 80 of the suitable work area 110. For example, in the example of Figure 7, the suitable work area 110 is notified to the output unit 80 as an operation-suitable work area unit 830 and a work-volume-suitable work area unit 840.

[0083] In the above configuration, a suitable work area 110 that satisfies the previously unmet conditions is notified. Therefore, the work area 100 can be easily reset.

[0084] As shown in Figure 7, in the work support system 1, the controller 70 superimposes and displays multiple compatible work areas 110 corresponding to multiple compatibility conditions on the output unit 80. For example, in the example in Figure 7, the controller 70 superimposes and displays operation-compatible work area section 830 and work-volume-compatible work area section 840 as multiple compatibility conditions on the output unit 80.

[0085] In the above configuration, it is possible to identify a suitable work area 110 that satisfies each of the multiple suitability conditions.

[0086] (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, etc., 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 steps in the flowchart shown in Figure 6 may be changed, some steps may not be performed, and for example, each component may have only some of its features (operating function, arrangement, shape, operation, etc.). As mentioned above, the control relating to automatic driving described above may also be applied to semi-automatic driving. That is, the present invention can be applied to automatic control including automatic driving and semi-automatic driving.

[0087] A work support system according to a first aspect of the present invention is a work support system that supports the operation of an automatically controlled work machine, which includes a machine body and an attachment having a tip attachment that is attached to the machine body and performs work, and comprises an input unit that receives input information for setting a work area in which the tip attachment performs the work, and a controller that sets the work area in which the tip attachment performs the work based on the input information input to the input unit, wherein the controller determines whether the work area is suitable for the automatic control based on set suitability conditions.

[0088] A work support system according to a second aspect of the present invention, in the first aspect, includes the condition that the dimensions of the work area are greater than a specific dimension determined based on the dimensions of the tip attachment.

[0089] A work support system according to a third aspect of the present invention, in the first or second aspect, the suitability condition includes that the dimensions of the work area are greater than a specific dimension determined based on the operating distance required for the tip attachment to perform the work.

[0090] In the fourth aspect of the present invention, the work support system includes, in the first to third aspects, that the conformity condition is that the size of the work area is larger than the size calculated from the target amount of work.

[0091] A work support system according to the fifth aspect of the present invention, in the first to fourth aspects, the conformity condition includes that the work area does not include an area where the work is not permitted.

[0092] In the work support system according to the sixth aspect of the present invention, in the fifth aspect, the area where the work is not possible includes an area outside the range of the work radius that the tip attachment can reach.

[0093] In the seventh aspect of the present invention, the work support system, in the fifth aspect, includes an area where the work is not permitted, which includes an area where the work machine is prohibited from entering.

[0094] The work support system according to the eighth aspect of the present invention further comprises an output unit in the first to seventh aspects, wherein if the controller determines that the work area is not suitable for the automatic control, it causes the output unit to notify the information of the suitability conditions used in the determination.

[0095] A work support system according to the ninth aspect of the present invention further comprises an output unit in the first to seventh aspects, wherein if the controller determines that the work area is not suitable for the automatic control, it determines a suitable work area which is the work area that satisfies the suitability conditions and notifies the output unit of the information of the suitable work area.

[0096] In the tenth aspect of the present invention, the work support system, in the ninth aspect, has an output unit which is a display unit, and the controller causes a plurality of conforming work areas corresponding to a plurality of conforming conditions to be superimposed on the output unit.

[0097] The work support system according to the eleventh aspect of the present invention further comprises the work machine in the first to tenth aspects.

[0098] A work machine according to another aspect of the present invention is capable of automatic control and comprises a machine body, an attachment having a tip attachment that is attached to the machine body and performs work, an input unit that receives input information for setting a work area in which the tip attachment performs the work, and a controller that sets the work area in which the tip attachment performs the work based on the input information input to the input unit, wherein the controller determines whether the work area is suitable for automatic control based on set suitability conditions.

Claims

1. A work support system for assisting the operation of an automatically controlled work machine, which includes a machine body and an attachment having a tip attachment that is attached to the machine body to perform work, comprising: an input unit that receives input information for setting a work area in which the tip attachment performs the work; and a controller that sets the work area in which the tip attachment performs the work based on the input information input to the input unit, wherein the controller determines whether the work area is suitable for the automatic control based on set suitability conditions.

2. A work support system according to claim 1, wherein the conformity condition is that the dimensions of the work area are greater than a specific dimension determined based on the dimensions of the tip attachment.

3. A work support system according to claim 1, wherein the conformity condition includes that the dimensions of the work area are greater than a specific dimension determined based on the operating distance required for the tip attachment to perform the work.

4. A work support system according to claim 1, wherein the conformity condition includes the condition that the size of the work area is larger than the size calculated from the target amount of work.

5. A work support system according to claim 1, wherein the conformity condition includes the condition that the work area does not include an area where the work is not permitted.

6. A work support system according to claim 5, wherein the area where the work is not possible includes an area outside the range of the work radius that the tip attachment can reach.

7. A work support system according to claim 5, wherein the area where the work is not permitted includes an area where the work machine is prohibited from entering.

8. A work support system according to any one of claims 1 to 7, further comprising an output unit, wherein the controller causes the output unit to notify the information of the suitability conditions used for the determination when it determines that the work area is unsuitable for the automatic control.

9. A work support system according to any one of claims 1 to 7, further comprising an output unit, wherein the controller determines, when it determines that the work area is not suitable for the automatic control, a suitable work area which is the work area that satisfies the suitability conditions, and notifies the output unit of the information of the suitable work area.

10. A work support system according to claim 9, wherein the output unit is a display unit, and the controller causes a plurality of conforming work areas corresponding to a plurality of conforming conditions to be superimposed on the output unit.

11. A work support system according to claim 1, further comprising the work machine.

12. An automatically controlled work machine comprising: a machine body; an attachment having a tip attachment that is attached to the machine body and performs work; an input unit that receives input information for setting a work area in which the tip attachment performs the work; and a controller that sets the work area in which the tip attachment performs the work based on the input information input to the input unit, wherein the controller determines whether the work area is suitable for the automatic control based on set suitability conditions.

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