EP4692463A1

EP4692463A1 - Work assistance system, work machine, and work assistance program

Info

Publication number: EP4692463A1
Application number: EP24871440.4A
Authority: EP
Inventors: Yohei Ono; Daisuke Noda
Original assignee: Kobelco Construction Machinery Co Ltd
Current assignee: Kobelco Construction Machinery Co Ltd
Priority date: 2023-09-27
Filing date: 2024-07-08
Publication date: 2026-02-11
Also published as: JP2025055877A; WO2025069636A1; CN121263575A

Abstract

This work machine includes a machine body and an attachment. A work assistance system 1 includes a controller. The attachment is operably attached to the machine body. The attachment includes a tip attachment for performing work. The controller includes a work position setting unit, a state determination unit, and a work position correction unit. The work position setting unit sets a work position that is a target position at which the tip attachment releases a work object. The state determination unit determines a state of the work object captured by the tip attachment. The work position correction unit corrects the work position with a correction value based on the state of the work object.

Description

Technical Field

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

Background Art

For example, Patent Literature 1 describes an excavator that autonomously performs an operation of sequentially loading a work object onto a plurality of preset positions on a platform of a dump truck.

Citation List

Patent Literature

Patent Literature 1: JP 7227222 B2
However, depending on the state of the work object held by the tip attachment, even if the loading operation is performed at a preset target position, there is a possibility that the work object is not appropriately loaded into a container such as a loading platform. In addition, even in the work different from the loading of the work object into the container, the work object may not be appropriately released to the preset target position depending on the state of the work object held by the tip attachment.

Summary of Invention

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

Means for Solving the Problems

A work assistance system provided by the present invention assists a work machine having a machine body and an attachment that includes a tip attachment for performing work and is operably attached to the machine body. The work assistance system includes a controller. The controller includes a work position setting unit, a state determination unit, and a work position correction unit. The work position setting unit sets a work position that is a target position at which the tip attachment releases a work object. The state determination unit determines a state of the work object captured by the tip attachment. The work position correction unit corrects the work position with a correction value based on the state of the work object.
A work machine provided by the present invention includes a machine body, an attachment, and a controller. The attachment is operably attached to the machine body. The attachment includes a tip attachment for performing work. The controller includes a work position setting unit, a state determination unit, and a work position correction unit. The work position setting unit sets a work position that is a target position at which the tip attachment releases a work object. The state determination unit determines a state of the work object captured by the tip attachment. The work position correction unit corrects the work position with a correction value based on the state of the work object.
A work assistance program provided by the present invention is used for a work machine. A work machine includes a machine body and an attachment. The attachment is operably attached to the machine body. The attachment includes a tip attachment for performing work. The work assistance program causes a computer to execute a work position setting step, a state determination step, and a work position correction step. In the work position setting step, a work position that is a target position at which the tip attachment releases a work object is set. In the state determination step, a state of the work object captured by the tip attachment is determined. In the work position correction step, the work position is corrected with a correction value based on the state of the work object.

Brief Description of Drawings

FIG. 1 is a diagram of a work machine or the like of a work assistance system as viewed from the side.
FIG. 2 is a block diagram of a work assistance system illustrated in FIG. 1.
FIG. 3 is a flowchart of an operation of a controller or the like illustrated in FIG. 2.
FIG. 4 is a diagram illustrating an arrangement position of a released work object in a case where the work object captured by a tip attachment illustrated in FIG. 1 protrudes from the opening surface.
FIG. 5 is a diagram illustrating a difference between before and after correction of the release operation of the work object and the release position of the released work object by the tip attachment illustrated in FIG. 1.

Description of Embodiments

Hereinafter, a work assistance system 1 will be described with reference to the drawings.
The work assistance system 1 is a system that sets an appropriate release position according to the state of a work object O held by a tip attachment 15d illustrated in FIG. 1. The work assistance system 1 includes a posture sensor 31, a position sensor 33, an input device 35 (see FIG. 2), a controller 50 (computer), a state acquisition device 60, and a teaching device 70. The work assistance system 1 may include a work machine 10.
The work machine 10 is a machine that performs work, for example, a construction machine such as an excavator that performs construction work. Hereinafter, a case where the work machine 10 is an excavator will be described. The work machine 10 is configured to be automatically driven. The work machine 10 may be operated by a worker (operator) in a cab 13a (described later) or may be remotely operated. The work machine 10 includes a machine body 10a, an attachment 15, a drive control unit 17 (see FIG. 2), and an actuator 21.
The machine body 10a is a main portion of the work machine 10. The machine body 10a includes a lower body 11 and an upper slewing body 13. The lower body 11 supports the upper slewing body 13. For example, the lower body 11 is a lower travelling body that can cause the work machine 10 to travel. In this case, the lower body 11 may include crawlers or wheels. The upper slewing body 13 is slewably attached (mounted) to the lower body 11. The upper slewing body 13 includes the cab 13a. The cab 13a is a portion where a worker (operator) can operate the work machine 10.

(Direction)

The direction in which the axis of slewing rotation of the upper slewing body 13 relative to the lower body 11 extends is defined as the up-down direction Z. In the up-down direction Z, a direction from the lower body 11 towards the upper slewing body 13 is defined as an upward direction Z1, and the reverse direction is defined as a downward direction Z2. The up-down direction Z may be a vertical direction. A direction in which the upper slewing body 13 slews with respect to the lower body 11 is defined as a slewing direction. A direction orthogonal to the up-down direction Z and the left-right direction of the upper slewing body 13 is defined as a front-rear direction X of the upper slewing body 13. When viewed along the up-down direction Z, the front-rear direction X is a direction in which the central axis of the attachment 15 extending in the longitudinal direction of the attachment 15 extends (front-rear direction of the attachment 15). In the front-rear direction X, a direction in which the attachment 15 protrudes with respect to the upper slewing body 13 is a rear direction X1, and the reverse direction is a front direction X2. When the slewing angle of the upper slewing body 13 with respect to the lower body 11 is 0, the front-rear direction of the lower body 11 and the front-rear direction X of the upper slewing body 13 match (become parallel to) each other.
As illustrated in FIG. 1, the attachment 15 which performs work, includes, for example, a boom 15b, an arm 15c, and a tip attachment 15d. The boom 15b is mounted on the upper slewing body 13 so as to be able to be raised and lowered (rotatable in an up-down direction Z). The arm 15c is rotatably mounted on the boom 15b. The tip attachment 15d is provided at a tip portion of the attachment 15 and is rotatably attached to the arm 15c. The tip attachment 15d can catch (hold) and release the work object O. For example, the tip attachment 15d may be, for example, a bucket for performing a work of scooping the work object O, excavation, or the like, a device (grapple, nibbler, etc.) for sandwiching the work object O, or a lifting magnet for attracting the metal work object O. A specific portion of the tip attachment 15d is defined as a specific portion 15d1. The specific portion 15d1 may be a connection portion (proximal end portion) of the tip attachment 15d to the arm 15c, or may be a tip portion (end portion opposite to the proximal end portion) of the tip attachment 15d. The work object O is an object to be worked on by the work machine 10 (of the tip attachment 15d of the attachment 15). For example, the work object O may be earth, stone, wood, metal, waste, or a structure (block or the like).
The drive control unit 17 (see FIG. 2) controls the movement of the actuator 21. The drive control unit 17 controls a slewing motor 21a, a boom cylinder 21b, an arm cylinder 21c, and a tip attachment cylinder 21d, which will be described later. The drive control unit 17 may include a hydraulic circuit that controls the hydraulic actuator 21. The drive control unit 17 may include an electric circuit that controls the electric actuator 21.
The actuator 21 drives (actuates) the work machine 10. The actuator 21 drives the attachment 15. The actuator 21 includes a slewing motor 21a, a boom cylinder 21b, an arm cylinder 21c, and a tip attachment cylinder 21d. The slewing motor 21a slews the upper slewing body 13 with respect to the lower body 11. The slewing motor 21a may be a hydraulic motor or an electric motor. The boom cylinder 21b raises and lowers the boom 15b with respect to the upper slewing body 13. The boom cylinder 21b is, for example, a hydraulic telescopic cylinder (hydraulic cylinder) (the same applies to the arm cylinder 21c and the tip attachment cylinder 21d). The arm cylinder 21c rotates the arm 15c with respect to the boom 15b. The tip attachment cylinder 21d rotates the tip attachment 15d with respect to the arm 15c. In a case where the tip attachment 15d itself can be driven like, for example, a device that pinches an object, a cylinder, a motor, or the like for driving the tip attachment 15d may be provided.
The posture sensor 31 detects a posture of the work machine 10. The posture sensor 31 detects the posture of the attachment 15 (has an attachment posture information acquisition function). The posture sensor 31 may be mounted on the work machine 10 or may be disposed outside the work machine 10 (for example, at a work site). The posture sensor 31 may be an imaging device described later. The position sensor 33, the input device 35 (see FIG. 2), the state acquisition device 60, the controller 50, and the teaching device 70 may be mounted on the work machine 10 or may be disposed outside the work machine 10. The posture sensor 31 includes a slewing sensor 31a, a boom sensor 31b, an arm sensor 31c, a tip attachment sensor 31d, and a reference position sensor 31e.
The slewing sensor 31a detects an angle (slewing angle) of the upper slewing body 13 with respect to the lower body 11 (or the work site). The boom sensor 31b detects the posture of the boom 15b. For example, the boom sensor 31b detects an angle (inclination or rotation angle) of the boom 15b with respect to the horizontal direction or the upper slewing body 13. The arm sensor 31c detects the posture of the arm 15c. The arm sensor 31c detects the angle of the arm 15c with respect to the horizontal direction or the boom 15b. The tip attachment sensor 31d detects the posture of the tip attachment 15d. For example, the tip attachment sensor 31d detects an angle of the tip attachment 15d with respect to the horizontal direction or the arm 15c. In FIG. 2, the "tip attachment" is described as the "tip ATT". The reference position sensor 31e detects a position and an orientation of a reference portion of the work machine 10 illustrated in FIG. 1 with respect to the work site. The reference portion of the work machine 10 may be, for example, a specific portion of the upper slewing body 13 or the lower body 11, may be, for example, an attachment portion (boom foot) of the boom 15b to the upper slewing body 13, or may be, for example, a slewing center of the upper slewing body 13 with respect to the lower body 11. The reference position sensor 31e (see FIG. 2) may perform detection by a positioning system. The positioning system may be a satellite positioning system, such as a global navigation satellite system (GNSS). The positioning system may use a total station. The reference position sensor 31e may include an antenna for using a satellite positioning system. Note that, in FIG. 1, a reference sign of the reference position sensor 31e is assigned to the position of the GNSS antenna when the reference position sensor 31e performs detection by a positioning system using GNSS.
The position sensor 33 detects position information of an object present around the work position P. For example, the position sensor 33 may detect position information of the ground, may detect position information of a released work object Oa (described later), or may detect position information of an obstacle or the like. The position sensor 33 may include, for example, an imaging device. The imaging device may detect two-dimensional information (for example, a position and a shape in an image) of the imaging object. The imaging device may include a camera (monocular camera) that detects two-dimensional information. The imaging device may acquire a distance image, or may detect three-dimensional information (for example, three-dimensional coordinates or a three-dimensional shape) of the imaging object based on the distance image. The imaging device may include a device that detects three-dimensional information with laser light, and may include, for example, a light detection and ranging (LIDAR), or, for example, a time of flight (TOF) sensor. The imaging device may include a device (for example, a millimeter wave radar) that detects three-dimensional information by using radio waves. The imaging device may include a stereo camera. The imaging device may detect three-dimensional information about the imaging object based on the distance image and the two-dimensional image. Only one imaging device may be disposed, or a plurality of the imaging devices may be disposed.
The input device 35 (see FIG. 2) is a device for a worker to input information. The input device 35 gives an instruction to the controller 50 based on an operation by the worker. In a case where the input device 35 is provided in the work machine 10, the input device 35 may be, for example, a display, an operation lever, or the like provided in the cab 13a. The input device 35 may be a mobile terminal (tablet, smartphone, etc.) or a personal computer. The input device 35 may be provided in a server or the like outside the work machine 10. The input device 35 communicates with the controller 50. This communication may be wireless communication or wired communication.
The controller 50 is a computer that performs input/output of signals, arithmetic (processing), storage of information (arithmetic results), and the like. For example, the function of the controller 50 is implemented by executing a program stored in a storage unit (not shown) of the controller 50 in the arithmetic unit (not shown). The controller 50 may be mounted on the work machine 10, and more specifically, may be mounted on at least one of the machine body 10a and the attachment 15. The controller 50 may be provided outside the work machine 10 (such as a server). For example, as illustrated in FIG. 2, the controller 50 receives detection results from the posture sensor 31, the position sensor 33, and the like. Information input by the input device 35 is input to the controller 50. For example, the controller 50 performs automatic driving of the work machine 10. For example, the controller 50 outputs a command for operating the work machine 10 to the drive control unit 17.
The controller 50 includes a work position setting unit 51, a state determination unit 53, a work position correction unit 55, a driving control unit 57, and a notification unit 59. Hereinafter, each component of the work machine 10 will be mainly described with reference to FIG. 1, and each component of the controller 50 will be described with reference to FIG. 2. Furthermore, each step of the flowchart illustrated in FIG. 3 will be described with reference to FIG. 3.
As illustrated in FIG. 1, the work position setting unit 51 sets a work position P which is a target position at which the tip attachment 15d releases (drops) the work object O (work position setting step) (see step S10 in FIG. 3). Specifically, the work position P is a three-dimensional position coordinate. For example, the work position P may be set in advance by topographical data or the like. For example, the work position P may be determined based on the position information of the ground acquired by the position sensor 33. For example, the work position P may be determined based on a mark (for example, an augmented reality (AR) marker or the like) arranged at the work site.

(Relationship between Position of Tip Attachment 15d and Work Position P before Correction)

The relationship between the position of the tip attachment 15d when the tip attachment 15d releases the work object O and the work position P before correction is as follows. It is assumed that the state of the work object O captured by the tip attachment 15d is a specific state (for example, a state in which earth is levelled off on the bucket). In this state, the work object O is released from the tip attachment 15d (for example, the bucket rotates to the earth discharging side, or the excitation of the lifting magnet is turned off). At this time, the controller 50 controls the work machine 10 such that the released work object O (released work object Oa) is arranged around the work position P.
For example, in the example illustrated in FIG. 1, the work object O captured by the bucket as the tip attachment 15d is in a leveling state with respect to the bucket. In this state, the tip attachment 15d is rotated so that the tip portion of the tip attachment 15d (the end portion of the tip attachment 15d on the side opposite to the connection portion to the arm 15c) descends (toward the earth discharging side). When the rotation of the tip attachment 15d progresses to a certain angle, the work object O starts to be released from the tip attachment 15d. The posture of the tip attachment 15d in which the work object O caught by the tip attachment 15d by levelling off starts to be released is defined as a posture B. When the rotation of the tip attachment 15d to the earth discharging side further progresses, all (or substantially all) the work objects O captured by the tip attachment 15d are released from the tip attachment 15d. When this release is performed, the released work object O (released work object Oa) is assumed to be arranged (spread) around a position immediately below the tip portion of the tip attachment 15d in the posture B. Therefore, for example, when the work machine 10 is automatically operated, the work machine 10 is controlled such that the position of the tip portion of the tip attachment 15d in the posture B and the work position P coincide with each other in horizontal coordinates.
The state determination unit 53 determines the state of the work object O captured by the tip attachment 15d (state determination step) (see step S30 in FIG. 3). For example, the state determination unit 53 determines at least one or more of the shape, the relative position (the relative position of the work object O with respect to the tip attachment 15d), and the mass of the work object O based on data acquired from the state acquisition device 60 (described later). For example, the state determination unit 53 determines a protrusion height H (see FIG. 4) at which the work object O protrudes from an opening surface 15d2 of the bucket as the tip attachment 15d. For example, the state determination unit 53 determines at which position of the bucket the work object O captured by the bucket as the tip attachment 15d protrudes. For example, the state determination unit 53 determines to which side of the lifting magnet the work object O attracted by the lifting magnet as the tip attachment 15d is offset.
The work position correction unit 55 determines a corrected work position Pa obtained by correcting the work position P with a correction value based on the state of the work object O (work position correction step) (see step S40 in FIG. 3). The work position correction unit 55 may correct the work position P based on various states of the work object O.

(Correction of Work Position P)

For example, the work position correction unit 55 may correct the work position P based on a correction value based on the protrusion height H (see FIG. 4) of the work object O. More specifically, the work position correction unit 55 may set, as the corrected work position Pa, a position obtained by shifting the work position P to the rear side X1 in the front-rear direction X by the protrusion height H.
The reason for correcting the work position P based on the protrusion height H is as follows. For example, as illustrated in FIG. 1, when the work object O does not protrude from the opening surface 15d2 of the bucket which is the tip attachment 15d, the released work object Oa is arranged with the work position P as the center. As illustrated in FIG. 4, when the work object O captured by the tip attachment 15d protrudes beyond the opening surface 15d2 of the bucket, the work object O starts to be released at the stage of the posture Ba earlier than the posture B. Therefore, the released work object Oa is disposed to be shifted from the work position P to the front side X2 in the front-rear direction X. For example, as illustrated in FIG. 5, in a case where the work object O is released to a container such as a platform, if the work object O is disposed to be shifted from the work position P to the front side X2 in the front-rear direction X, the work object O may not fit in the container. Therefore, in order to suppress such a shift, the work position correction unit 55 corrects the work position P at which the work object O is released (corrects the work position P to the corrected work position Pa). Specifically, the work position correction unit 55 shifts the work position P to the rear side X1 in the front-rear direction X by a correction value (for example, the length of the protrusion height H). More specifically, the work position correction unit 55 shifts the work position P to the rear side X1 such that the tip portion of the tip attachment 15d in the posture Ba is disposed immediately above the target position of the released work object Oa. By aligning the position of the tip portion of the tip attachment 15d in the posture B with the corrected work position Pa, the position of the tip portion of the tip attachment 15d in the posture Ba is immediately above the target position of the released work object Oa. As a result, the released work object Oa is arranged at a target position.
For example, the work position correction unit 55 may correct the work position P based on the relative position of the work object O with respect to the tip attachment 15d. For example, when the work object O captured by the tip attachment 15d is arranged to be offset with respect to the tip attachment 15d, the work position correction unit 55 may correct the work position P based on the degree of offset (may calculate a correction value).
Specifically, for example, when the tip attachment 15d is a lifting magnet, the work object O attracted by the lifting magnet may be offset with respect to the lifting magnet. In this case, the work position correction unit 55 may correct the work position P according to the degree of offset (may calculate a correction value). The work position correction unit 55 corrects the work position P in the direction opposite to the side where the work object O is offset with respect to the lifting magnet by the correction value.
In addition, for example, when the tip attachment 15d is a bucket, the position of the work object O protruding from the opening surface 15d2 of the bucket may be offset from the tip attachment 15d in one or both of the front-rear direction X and the lateral direction (slewing direction). In this case, when the released work object O spreads on the ground, there is a possibility that the work object O goes beyond the assumed work range (for example, the work object O does not fit in the container). The work position correction unit 55 may correct the work position P in order to suppress such a problem.
The work position correction unit 55 may correct the work position P according to the state of the work object O other than the above states (for example, earth properties and the like). For example, when the work object O is earth, how the released work object Oa spreads varies depending on the earth property (hardness, viscosity, stickiness, etc.). For example, when the earth property of the work object O is harder (less likely to flow) than the reference (the reference set in advance in the work position correction unit 55), the work position correction unit 55 may further correct the corrected work position Pa to the front side X2 in the front-rear direction X. For example, when the earth property of the work object O is softer than the reference (easily flows), the corrected work position Pa may be further corrected to the rear side X1 in the front-rear direction X.
The work position correction unit 55 may correct the work position P based on the amount (for example, volume, mass, and the like) of the work object O captured by the tip attachment 15d. For example, as the amount of the work object O captured by the tip attachment 15d is larger, the released work object Oa is more likely to spread. Therefore, the work position correction unit 55 may correct the work position P to the rear side X1 in the front-rear direction X as the amount of the work object O captured by the tip attachment 15d increases.
The work position correction unit 55 may correct the work position P based on the state (for example, any one of the protrusion height H, the relative position, the earth property, and the amount) of a certain work object O. The work position correction unit 55 may correct the work position P based on the states (for example, two or more states among the protrusion height H, the relative position, the earth property, and the amount) of the plurality of work objects O.
The corrected work position Pa may be, for example, three-dimensional coordinates. The corrected work position Pa may be a relative position (for example, relative coordinates) with respect to the work position P before correction. The work position correction unit 55 may teach the corrected work position Pa to a worker (for example, the operator) by the teaching device 70 (described later).
The driving control unit 57 controls the attachment 15 so as to release the work object O at the corrected work position Pa. The driving control unit 57 may automatically drive the work machine 10 (see FIG. 1). The driving control unit 57 may output a command to a drive device 23 so that the work machine 10 automatically operates according to a preset work plan. The driving control unit 57 may control the operation of the work machine 10 based on information input to the input device 35 by the worker. The driving control unit 57 may control the work machine 10 using machine control (MC; Machine Control system). Specifically, for example, the worker operates only some elements of the attachment 15 (for example, only the boom 15b). At this time, the driving control unit 57 automatically controls the elements not operated by the worker (for example, the arm 15c and the tip attachment 15d) so that the work machine 10 works according to the work plan. At this time, the driving control unit 57 controls the operation of the work machine 10 based on the detection value of the posture sensor 31 (the same applies to the automatic driving). As a result, the work machine 10 performs work according to the work plan, and controls the attachment 15 to release the work object O at the corrected work position Pa.
The notification unit 59 notifies the corrected work position Pa determined by the work position correction unit 55.
The state acquisition device 60 acquires the state of the work object O captured by the tip attachment 15d. The state acquisition device 60 may include an imaging device. For example, the state acquisition device 60 acquires the state of the work object O captured by the bucket which is the tip attachment 15d. More specifically, the state acquisition device 60 may acquire image data for acquiring the protrusion height H protruding from the opening surface 15d2 of the tip attachment 15d. In addition, the state acquisition device 60 may acquire image data for acquiring the relative position between the protruding portion of the work object O and the tip attachment 15d. For example, when the tip attachment 15d is a lifting magnet, the state acquisition device 60 may capture an image of the work object O attracted by the lifting magnet. As a result, the state acquisition device 60 may acquire a state such as offset of the work object O attracted by the lifting magnet. In a case where the state acquisition device 60 and the position sensor 33 include an imaging device, the imaging device of the state acquisition device 60 and the imaging device of the position sensor 33 may be shared.
In addition, the state acquisition device 60 may acquire the amount of the work object O captured by the tip attachment 15d. For example, the state acquisition device 60 may include a mass sensor that measures the mass of the work object O captured by the tip attachment 15d.
In addition, the state acquisition device 60 may acquire the property (for example, earth property) of the work object O captured by the tip attachment 15d. Specifically, for example, the state acquisition device 60 (imaging device) may determine the earth property of the work object O based on how the released work object Oa spreads, colors, and the like. In this case, as a result of acquiring the state of the released work object Oa, the state acquisition device 60 acquires the state of the work object O captured by the tip attachment 15d.
The teaching device 70 is a device that teaches information to a worker (for example, an operator). The teaching device 70 is controlled by the notification unit 59. The teaching device 70 receives the control signal including the information generated by the notification unit 59 and outputs the information to the outside. For example, the teaching device 70 teaches the work position P to an operator who operates the work machine 10. The work position P to be taught to the operator may be the corrected work position Pa. The teaching device 70 may teach the operator that the work position P has been corrected. The teaching device 70 is not particularly limited as long as it can present information to the operator, and may be, for example, a display device that displays a video or an image, a light emitting device that outputs light, a speaker that outputs sound or a buzzer, or a vibration generator that generates vibration. Furthermore, for example, the teaching device 70 may teach depending on the operation of the work machine 10. The teaching device 70 may include one or more configurations above.

(Processing)

Next, an example of the work position correction processing executed by the controller 50 will be described with reference to the flowchart of FIG. 3. The work position correction processing is executed at timing when the work machine 10 releases the work object O captured by the tip attachment 15d. For example, the work position correction processing may be executed when the work of releasing the work object O is automatically performed. For example, the work position correction processing may be executed when a worker (for example, an operator) detects a release operation of the work machine 10 to be operated. First, the controller 50 sets the work position P (S10). Then, the controller 50 acquires the state of the work object O (S20). Thereafter, the controller 50 determines whether the work object O protrudes from the opening surface 15d2 of the tip attachment 15d (S30). When the work object O protrudes from the opening surface 15d2 of the tip attachment 15d (S30: YES), the controller 50 determines the corrected work position Pa in which the work position P is corrected based on the protrusion height H of the work object O (see FIG. 4). The corrected work position Pa is a position shifted from the work position P to the rear side X1 in the front-rear direction X by the length (correction value) of the protrusion height H. Then, the controller 50 determines the corrected work position Pa as a new work position P (S50), and ends this processing. When the work object O does not protrude from the opening surface 15d2 of the tip attachment 15d (S30: NO), the work position P set in step S10 is directly determined as the work position P.
An effect of the work assistance system 1 illustrated in FIG. 2 is as follows. The work assistance system 1 includes the controller 50. The work machine 10 includes the machine body 10a and the attachment 15. The attachment 15 is operably attached to the machine body 10a. The attachment 15 has the tip attachment 15d for performing work. Note that the work assistance system 1 may include the work machine 10.
The controller 50 includes the work position setting unit 51, the state determination unit 53, and the work position correction unit 55. The work position setting unit 51 sets a work position P which is a target position at which the tip attachment 15d releases the work object O. The state determination unit 53 determines the state of the work object O captured by the tip attachment 15d. The work position correction unit 55 corrects the work position P with a correction value based on the state of the work object O.
In the above configuration, the work position P, which is the target position for releasing the work object O, can be corrected based on the state of the work object O. Therefore, the work position P, which is the target position at which the tip attachment 15d of the work machine 10 releases the work object O, can be appropriately set. As a result, the work object O can be released to an appropriate position in a container such as a platform.
As illustrated in FIG. 2, the controller 50 further includes the driving control unit 57. The driving control unit 57 controls the attachment 15 so as to release the work object O at the corrected work position Pa.
In the above configuration, the attachment 15 can be controlled to release the work object O to the corrected work position Pa.
The work position correction unit 55 further includes the notification unit 59 that notifies the corrected work position Pa.
In the above configuration, the corrected work position Pa can be notified to cause the worker or the like to recognize the corrected work position Pa.
The tip attachment 15d is a bucket having the opening surface 15d2. The state determination unit 53 determines the protrusion height H of the work object O held by the bucket from the opening surface 15d2 of the bucket. The work position correction unit 55 determines a correction value based on the protrusion height H. The work position correction unit 55 sets a position shifted based on the correction value in the direction (rear side X1) in which the attachment 15 protrudes from the machine body 10a as the corrected work position Pa.
In the above configuration, the tip attachment 15d is a bucket. Due to the rotation operation of the bucket rotated so that the tip portion of the bucket is lowered, the work object O in the bucket loses support by the bucket, falls, and is released. When the work object O protrudes from the opening surface 15d2 of the bucket, the work object O falls from the bucket earlier than when the work object O does not protrude from the opening surface. Therefore, the released work object Oa is offset closer to the front side X2 than the work position P. Therefore, according to the configuration 4, the work position P at which the work object O is released is corrected to the work position Pa shifted to the rear side X1 based on the protrusion height H of the bucket from the opening surface 15d2. As a result, it is possible to prevent the release position of the work object O from being offset to the front side X2 with respect to the target position.
Effects of the work machine 10 are as follows. The work machine 10 includes the machine body 10a, the attachment 15, and the controller 50. The attachment 15 is operably attached to the machine body 10a. The attachment 15 has the tip attachment 15d for performing work. The controller 50 includes the work position setting unit 51, the state determination unit 53, and the work position correction unit 55. The work position setting unit 51 sets a work position P which is a target position at which the tip attachment 15d releases the work object O. The state determination unit 53 determines the state of the work object O captured by the tip attachment 15d. The work position correction unit 55 corrects the work position P with a correction value based on the state of the work object O.
In the above configuration, the work position P at which the work object O is released can be corrected based on the state of the work object O. Therefore, the work position P, which is the target position at which the tip attachment 15d of the work machine 10 releases the work object O, can be appropriately set. As a result, the work object O can be released to an appropriate position in a container such as a platform.
Effects of the work assistance program are as follows. The work assistance program is used for the work machine 10. The work machine 10 is provided with the machine body 10a and the attachment 15. The attachment 15 is operably attached to the machine body 10a. The attachment 15 has the tip attachment 15d for performing work. The work assistance program causes a computer (controller 50) to execute a work position setting step, a state determination step, and a work position correction step. In the work position setting step, a work position P which is a target position at which the tip attachment 15d releases the work object O is set. In the state determination step, the state of the work object O captured by the tip attachment 15d is determined.
In the work position correction step, the work position P is corrected with a correction value based on the state of the work object O.
In the above configuration, the work position P at which the work object O is released can be corrected based on the state of the work object O. Therefore, the work position P, which is the target position at which the tip attachment 15d of the work machine 10 releases the work object O, can be appropriately set. As a result, the work object O can be released to an appropriate position in a container such as a platform.

(Modifications)

The above embodiment may be modified in various ways. For example, various examples (including modifications) of the above-described embodiments may be variously combined. For example, the connection of the components illustrated in FIG. 2 or the like may be changed. For example, the number of the components (including modifications) in the above embodiment may be changed, and some of the components do not have to be provided. For example, the arrangement of the components may be changed. For example, an inclusion relationship of the components may be variously changed. For example, a component described as a lower component included in a certain higher component is not required to be included in the higher component, and may be included in another component. For example, a plurality of members and parts different from each other may be described as one member or one part. For example, what has been described as one member or one part may be divided into a plurality of different members and parts. For example, the order of steps in the flowchart shown in FIG. 3 may be changed, and some of the steps may not be performed; for example, each component may have only some of each feature (function, arrangement, shape, operation, etc.).
A work assistance system provided by the present invention assists a work machine having a machine body and an attachment that includes a tip attachment for performing work and is operably attached to the machine body. The work assistance system includes the controller. The attachment is operably attached to the machine body. The attachment includes a tip attachment for performing work. The controller includes a work position setting unit, a state determination unit, and a work position correction unit. The work position setting unit sets a work position that is a target position at which the tip attachment releases a work object. The state determination unit determines a state of the work object captured by the tip attachment. The work position correction unit corrects the work position with a correction value based on the state of the work object.
In the above configuration, the controller may further include a driving control unit that controls the attachment so as to release the work object at the corrected work position.
In the above configuration, the controller may further include a notification unit that notifies the corrected work position.
In the above configuration, the tip attachment may be a bucket having an opening surface, the state determination unit may determine a protrusion height of the bucket from the opening surface with respect to the work object held by the bucket, the work position correction unit may determine the correction value based on the protrusion height, and set, based on the correction value, a position shifted from the work position in a direction in which the attachment protrudes from the machine body as the corrected work position.
A work machine includes a machine body, an attachment, and a controller. The attachment is operably attached to the machine body. The attachment includes a tip attachment for performing work. The controller includes a work position setting unit, a state determination unit, and a work position correction unit. The work position setting unit sets a work position that is a target position at which the tip attachment releases a work object. The state determination unit determines a state of the work object captured by the tip attachment. The work position correction unit corrects the work position with a correction value based on the state of the work object.
A work assistance program is used for a work machine. The work machine includes a machine body and an attachment. The attachment is operably attached to the machine body. The attachment includes a tip attachment for performing work. The work assistance program causes a computer to execute a work position setting step, a state determination step, and a work position correction step. In the work position setting step, a work position that is a target position at which the tip attachment releases a work object is set. In the state determination step, a state of the work object captured by the tip attachment is determined. In the work position correction step, the work position is corrected with a correction value based on the state of the work object.
By each of the work assistance system, the work machine, and the work assistance program described above, it is possible to appropriately set the work position that is the target position at which the tip attachment of the work machine releases the work object.

Claims

work assistance system that assists a work machine including a machine body and an attachment that includes a tip attachment for performing work and is operably attached to the machine body, the work assistance system comprising a controller,
wherein the controller includes:
a work position setting unit that sets a work position that is a target position at which the tip attachment releases a work object; and

a state determination unit that determines a state of the work object captured by the tip attachment; and

a work position correction unit that corrects the work position with a correction value based on the state of the work object.
The work assistance system according to claim 1, wherein the controller further includes a driving control unit that controls the attachment so as to release the work object at the corrected work position.
The work assistance system according to claim 1, wherein the controller further includes a notification unit that notifies the corrected work position.
The work assistance system according to any one of claims 1 to 3, wherein
the tip attachment is a bucket having an opening surface,

the state determination unit determines a protrusion height of the bucket from the opening surface with respect to the work object held by the bucket, and

the work position correction unit
determines the correction value based on the protrusion height, and

sets, based on the correction value, a position shifted from the work position in a direction in which the attachment protrudes from the machine body as the corrected work position.
work machine comprising:
a machine body;

an attachment that includes a tip attachment for performing work and is operably attached to the machine body; and

a controller,

wherein the controller includes:
a work position setting unit that sets a work position that is a target position at which the tip attachment releases a work object;

a state determination unit that determines a state of the work object captured by the tip attachment; and

a work position correction unit that corrects the work position with a correction value based on the state of the work object.
work assistance program used for a work machine including a machine body and an attachment that includes a tip attachment for performing work and is operably attached to the machine body, the work assistance program causing a computer to execute:
a work position setting step of setting a work position that is a target position at which the tip attachment releases a work object;

a state determination step of determining a state of the work object captured by the tip attachment; and

a work position correction step of correcting the work position with a correction value based on the state of the work object.