EP4696842A1

EP4696842A1 - Work system

Info

Publication number: EP4696842A1
Application number: EP24839318.3A
Authority: EP
Inventors: Hideo Yoshihara
Original assignee: Kobelco Construction Machinery Co Ltd
Current assignee: Kobelco Construction Machinery Co Ltd
Priority date: 2023-07-07
Filing date: 2024-05-20
Publication date: 2026-02-18
Also published as: JP2025009101A; WO2025013421A1; CN121175470A

Abstract

Provided is a work system capable of improving work efficiency. The work system comprises: a laser projector 70 that emits a laser beam; a work machine 20 that includes a laser beam receiver 27 capable of receiving a laser beam; a position detection unit that detects a relative position of the laser beam receiver 27 relative to the laser projector 70; and a range setting unit that sets an allowable operation range 91 in which the work machine 20 can operate while maintaining reception of the laser beam by means of the laser beam receiver 27.

Description

Technical Field

The present invention relates to a work system including a laser projector, and a work machine including a laser receiver.

Background Art

Patent Literature 1 discloses a work machine, and the work machine includes a lower travelling body, an upper slewing body, a laser projector, a laser receiver that is provided in the upper slewing body and receives a laser beam emitted by the laser projector, a blade, and a calculation unit. The calculation unit calculates a height position of a cutting edge of the blade with respect to a construction surface on the basis of a light receiving position of the laser beam, an attitude of the upper slewing body with respect to the lower travelling body, and an attitude of the blade when the laser receiver receives the laser beam.
However, in the work machine, the laser receiver may not be able to receive the laser beam due to blocking of the laser beam by an attachment or the like of the work machine or movement of the work machine such that the laser receiver deviates from a projection range of the laser beam by the laser projector. In these cases, work to cause the laser receiver to receive the laser beam again is necessary, resulting in poor work efficiency.

Citation List

Patent Literature

Patent Literature 1: JP 2020-29712 A

Summary of Invention

An object of the present invention is to provide a work system enabling improvement of work efficiency.
Provided is a work system including: a laser projector that emits a laser beam; a work machine having a laser receiver capable of receiving the laser beam; a position detection unit that detects a relative light receiving position that is a position of the laser receiver with respect to the laser projector; and a range setting unit that sets an allowable operation range that is a range in which the work machine can operate while maintaining that the laser receiver receives the laser beam.

Brief Description of Drawings

FIG. 1 is a side view of a work system according to an embodiment of the present invention.
FIG. 2 is a block diagram illustrating components of a work machine included in the work system.
FIG. 3 is a side view illustrating an example of a positional relationship between an attitude of the work machine and a laser beam emitted from a laser projector.
FIG. 4 is a graph illustrating a relationship between a maximum value of an output manipulation amount in the work machine and a shortest distance from the work machine to a boundary of a first allowable operation range.
FIG. 5 is a plan view illustrating an example of a relationship between the work machine and a laser projection range of the laser projector.
FIG. 6 is a flowchart illustrating operation correction processing performed in the work machine.

Description of Embodiments

In the following, a preferred embodiment of the present invention will be described with reference to the drawings.
FIG. 1 illustrates a work system 1 according to the present embodiment. The work system 1 includes a laser projector 70 that emits a laser beam and a work machine 20, and the work machine 20 includes a laser receiver 27 capable of receiving the laser beam.
The laser projector 70 is, for example, a total station. The laser projector 70 according to the present embodiment has both a function of projecting a laser beam for position detection toward the laser receiver 27 and a function as a position detection unit that detects a relative light receiving position that is a relative position of the laser receiver 27 with respect to the laser projector 70. The laser receiver 27 is configured by, for example, a prism, and reflects the laser beam projected from the laser projector 70. The laser projector 70 is capable of calculating a distance from the laser projector 70 to the laser receiver 27 on the basis of a phase difference between a laser projected from the laser projector 70 and a laser reflected by the laser receiver 27 and incident on the laser projector 70, and detecting a direction from the laser projector 70 to the laser receiver 27.
The work machine 20 is, for example, a machine that performs work, and is, for example, a hydraulic excavator. The work machine 20 includes a machine main body 24 including a lower travelling body 21 and an upper slewing body 22, an attachment 30, and a plurality of cylinders 40.
The lower travelling body 21 is a part that performs travelling operation, and includes, for example, a pair of left and right crawlers. The upper slewing body 22 is turnably attached above the lower travelling body 21 via a turning device 25. The upper slewing body 22 includes a cab (operator's room) 23 configuring a front part of the upper slewing body 22.
The attachment 30 is attached to the upper slewing body 22 rotatably in an up-down direction so as to be able to perform work operation which is an operation for performing work. The attachment 30 includes a boom 31, an arm 32, and a bucket 33. The boom 31 is attached to the upper slewing body 22 so as to be rotatable in the up-down direction, i.e., capable of performing up and down operation. The arm 32 is attached to the boom 31 so as to be rotatable in the up-down direction. The bucket 33 is attached to the arm 32 so as to be rotatable in a front-rear direction of the upper slewing body 22. The bucket 33 is a distal end attachment that is a distal end portion of the attachment 30, and is a part that performs work such as excavation, leveling, and scooping of earth and sand.
The distal end attachment is not limited to the bucket 33, and may be a lifting magnet that holds iron waste or the like.
The plurality of cylinders 40 is disposed so as to cause the attachment 30 to rotate by hydraulic pressure. Each of the plurality of cylinders 40 is an extendable hydraulic cylinder. Alternatively, each of the plurality of cylinders 40 may be an electric cylinder.
Each of the plurality of cylinders 40 includes a boom cylinder 41, an arm cylinder 42, and a bucket cylinder 43.
The boom cylinder 41 causes the boom 31 to rotate with respect to the upper slewing body 22. The boom cylinder 41 has a proximal end portion and a distal end portion on an opposite side thereof. The proximal end portion is rotatably attached to the upper slewing body 22. The distal end portion is rotatably attached to the boom 31.
The arm cylinder 42 causes the arm 32 to rotate with respect to the boom 31. The arm cylinder 42 has a proximal end portion and a distal end portion on an opposite side thereof. The proximal end portion is rotatably attached to the boom 31. The distal end portion is rotatably attached to the arm 32.
The bucket cylinder 43 causes the bucket 33 to rotate with respect to the arm 32. The bucket cylinder 43 has a proximal end portion and a distal end portion on an opposite side thereof. The proximal end portion is rotatably attached to the arm 32. The distal end portion is rotatably coupled to a link member 34, and the link member 34 is rotatably coupled to the bucket 33.
The work machine 20 further includes a turning angle sensor 52 and a plurality of inclination angle sensors 60.
The turning angle sensor 52 detects a turning angle of the upper slewing body 22 with respect to the lower travelling body 21. In detail, the turning angle sensor 52 detects a current angle of the upper slewing body 22, which is a current turning angle, with respect to the lower travelling body 21. The turning angle sensor 52 is, for example, an encoder, a resolver, or a gyro sensor. In the present embodiment, the turning angle of the upper slewing body 22 having an attitude in which a front side of the upper slewing body 22 coincides with a front side of the lower travelling body 21 is 0°.
The plurality of inclination angle sensors 60 configures an attitude detector that detects an attitude of the attachment 30. The plurality of inclination angle sensors 60 includes a boom inclination angle sensor 61, an arm inclination angle sensor 62, and a bucket inclination angle sensor 63.
The boom inclination angle sensor 61 is attached to the boom 31 and detects an attitude of the boom 31. The boom inclination angle sensor 61 is a sensor that acquires an inclination angle of the boom 31 with respect to a horizontal line, and is, for example, an inclination (acceleration) sensor or the like. Alternatively, the boom inclination angle sensor 61 may be a rotation angle sensor that detects a rotation angle of a boom foot pin at a proximal end portion of the boom 31 or a stroke sensor that detects a stroke in an extension-contraction direction of the boom cylinder 41.
The arm inclination angle sensor 62 is attached to the arm 32 and detects an attitude of the arm 32. The arm inclination angle sensor 62 is a sensor that acquires an inclination angle of the arm 32 with respect to the horizontal line, and is, for example, an inclination (acceleration) sensor. Alternatively, the arm inclination angle sensor 62 may be a rotation angle sensor that detects a rotation angle of an arm coupling pin at a proximal end portion of the arm 32 or a stroke sensor that detects a stroke in an extension-contraction direction of the arm cylinder 42.
The bucket inclination angle sensor 63 is attached to the link member 34 and detects an attitude of the bucket 33. The bucket inclination angle sensor 63 is a sensor that acquires an inclination angle of the bucket 33 with respect to the horizontal line, and is, for example, an inclination (acceleration) sensor. The bucket inclination angle sensor 63 may be a rotation angle sensor that detects a rotation angle of a bucket coupling pin at a proximal end portion of the bucket 33 or a stroke sensor that detects a stroke in an extension-contraction direction of the bucket cylinder 43.
The laser receiver 27 included in the work machine 20 receives and reflects the laser beam emitted from the laser projector 70. In the example illustrated in FIG. 1, the laser receiver 27 is disposed on the cab 23. Alternatively, the laser receiver 27 may be attached to an appropriate part of the attachment 30, for example, the boom 31, or may be attached to the upper slewing body 22.
As illustrated in FIG. 2, the work machine 20 includes a controller 11, a communication device 12, and a storage device 13.
The communication device 12 can communicate with the laser projector 70. Information about the relative light receiving position detected by the laser projector 70, i.e., the relative position of the laser receiver 27 with respect to the laser projector 70 is input to the controller 11 via the communication device 12. The communication device 12 can communicate with a portable terminal. The portable terminal is a terminal operated by a worker at a work site, and is, for example, a tablet terminal or a smartphone.
The storage device 13 stores machine shape information that is shape information of the work machine 20. Specifically, the machine shape information includes shapes and dimensions of the lower travelling body 21, the upper slewing body 22, and the attachment 30, and a distance from a turning center of the upper slewing body 22 to the laser receiver 27.
In addition to the information about the relative light receiving position, information acquired by the turning angle sensor 52, i.e., turning angle information about the turning angle (attitude) of the upper slewing body 22 with respect to the lower travelling body 21 is further input to the controller 11. Information acquired by the boom inclination angle sensor 61, i.e., information about the attitude of the boom 31 is further input to the controller 11. Information acquired by the arm inclination angle sensor 62, i.e., information about the attitude of the arm 32 is input to the controller 11. Information acquired by the bucket inclination angle sensor 63, i.e., information about the attitude of the bucket 33 is input to the controller 11.
The controller 11 may be configured to cause the turning device 25 and the attachment 30 to automatically operate so that the work machine 20 performs predetermined automatic driving operation. In other words, the work machine 20 may be automatically driven. The predetermined automatic driving operation is, for example, an operation of repeating excavation, lifting turn, discharging soil, and returning turn in this order.
The controller 11 may configure the position detection unit in cooperation with the laser projector 70. In other words, the controller 11 may have a function as a position calculation unit that acquires information about the laser phase difference from the laser projector 70 and calculates the relative light receiving position that is the relative position of the laser receiver 27 with respect to the laser projector 70 on the basis of the phase difference. In other words, the position detection unit according to the present invention may be configured by the laser projector 70 alone, or may be configured by the laser projector 70 and the position calculation unit (e.g., included in the controller 11).
The controller 11 is capable of calculating positions of arbitrary parts of the machine main body 24 and the attachment 30 on the basis of information about the relative light receiving position, the machine shape information, and attachment attitude information which is information about the attitude of the attachment 30.
The controller 11 includes a range setting unit that sets a first allowable operation range 91 of the work machine 20 on the basis of the relative light receiving position. The first allowable operation range 91 is a range in which the work machine 20 can operate while maintaining that the laser receiver 27 receives the laser beam emitted from the laser projector 70.
FIG. 3 is a side view illustrating an example of a positional relationship between an attitude of the work machine 20 and a path 81 of a laser beam emitted from the laser projector 70, and indicating the laser beam path 81 which is a path of the laser beam by an arrow. When the work machine 20 has an attitude illustrated in FIG. 3, the attachment 30 is at a position deviated from the laser beam path 81 and allows the laser receiver 27 to receive the laser beam. However, when the attachment 30 is displaced upward from the state in which the attachment 30 is positioned directly below the laser beam path 81 like the above attitude, there is a possibility that the attachment 30 blocks the laser beam. Alternatively, when the upper slewing body 22 turns in a direction approaching the laser beam path 81 from an attitude in which the attachment 30 is positioned on a side of the laser beam path 81, there is a possibility that the attachment 30 blocks the laser beam.
In order to prevent such blocking of the laser beam, the controller 11 calculates the first allowable operation range 91 on the basis of the relative light receiving position, the machine shape information stored in the storage device 13, the turning angle information, and the attachment attitude information. The turning angle information, i.e., information about the turning angle of the upper slewing body 22 with respect to the lower travelling body 21 is detected by the turning angle sensor 52. The attachment attitude information, i.e., the information about the attitude of the attachment 30 is detected by the plurality of inclination angle sensors 60.
FIG. 3 illustrates an example of the first allowable operation range 91 calculated by the controller 11. When the upper slewing body 22 and the attachment 30 operate within the first allowable operation range 91, the laser receiver 27 is kept receiving the laser beam, and the attachment 30 is suppressed from blocking the laser beam.
The controller 11 includes a display control unit, and the display control unit configures a range notification unit that notifies the first allowable operation range 91 calculated as described above. Specifically, the display control unit of the controller 11 configures the range notification unit together with a display device 14 illustrated in FIG. 2. The display control unit of the controller 11 causes the display device 14 to display a screen including an image of the work machine 20 and an image of the first allowable operation range 91, for example, a screen on which both the images are superimposed. The display device 14 displays, for example, such a screen as illustrated in FIG. 3. The display device 14 is, for example, a display that can be visually recognized by an operator operating the work machine 20 in the cab 23. Alternatively, when the work machine 20 is automatically driven, the display device 14 may be a display of a portable terminal.
By operating the work machine 20 within the first allowable operation range 91 that has been notified, the operator can perform work while maintaining that the laser receiver 27 receives the laser beam. In other words, it is possible to suppress the laser receiver 27 from being blocked from receiving a laser beam. The operator can easily operate the work machine 20 within the first allowable operation range 91 by visually recognizing a display content of the display device 14.
The controller 11 includes a distance calculation unit that calculates a shortest distance 92 between a boundary of the first allowable operation range 91 and the attachment 30. Specifically, the distance calculation unit of the controller 11 calculates the shortest distance 92 between the boundary of the first allowable operation range 91 and the attachment 30 on the basis of the relative light receiving position, the machine shape information stored in the storage device 13, the turning angle of the upper slewing body 22 with respect to the lower travelling body 21, the attachment attitude information, and the first allowable operation range 91 calculated as described above.
FIG. 3 illustrates the shortest distance 92 between the laser beam path 81 and the attachment 30 positioned immediately below the laser beam path 81. Information about the shortest distance 92 enables the operator to grasp how much more operation the upper slewing body 22 or the attachment 30 takes for the attachment 30 to deviate from the first allowable operation range 91.
The display control unit of the controller 11 and the display device 14 configure a distance notification unit that notifies the shortest distance 92 calculated as described above. Specifically, as illustrated in FIG. 3, the display control unit of the controller 11 causes the display device 14 to display a screen including the shortest distance 92. The information about the shortest distance 92 enables the operator to grasp how much more operation the upper slewing body 22 or the attachment 30 takes for the attachment 30 to deviate from the first allowable operation range 91.
The controller 11 includes an operation correction unit that corrects operation of the work machine 20 according to the shortest distance 92 calculated as described above. Specifically, the operation correction unit of the controller 11 corrects the operation of the work machine 20 so as to restrict the operation of the work machine 20 to a greater degree as the shortest distance 92 decreases.
FIG. 4 illustrates a relationship between a maximum value of an output manipulation amount and the shortest distance 92. The output manipulation amount is a manipulation amount actually output from the controller 11 according to manipulation applied to a manipulation lever (not illustrated) by the operator. In a case where an input manipulation amount corresponding to a magnitude of the manipulation given by the operator is larger than the maximum value of the output manipulation amount illustrated in FIG. 4, the output manipulation amount actually output from the controller 11 is limited to the maximum value. In a case where the input manipulation amount is smaller than the maximum value, the output manipulation amount actually output, as it is, corresponds to the input manipulation amount.
The operation correction unit of the controller 11 decreases the maximum value of the output manipulation amount as the shortest distance 92 decreases. In other words, the controller 11 restricts the operation of the work machine 20 to a greater degree as the attachment 30 approaches the boundary of the first allowable operation range 91. As a result, it is possible to suppress the attachment 30 from deviating from the first allowable operation range 91.
Conversely, the operation correction unit of the controller 11 increases the maximum value of the output manipulation amount as the shortest distance 92 increases. In other words, the controller 11 relaxes the restriction of the operation of the work machine 20 as the attachment 30 moves away from the boundary of the first allowable operation range 91.
The controller 11 includes a return control unit, and the return control unit controls the work machine 20 to return the attachment 30 into the first allowable operation range 91 in a case where the attachment 30 deviates from the first allowable operation range 91 illustrated in FIG. 3, for example. For example, when the attachment 30 of the work machine 20 manipulated by the operator deviates from the first allowable operation range 91 to prevent the laser receiver 27 from receiving the laser beam, the return control unit causes, to the operator, a notification that the light reception is prevented. When the operator notified in this manner manipulates a return button (not illustrated), the return control unit automatically controls the operation of the work machine 20 so as to return the attachment 30 into the first allowable operation range 91. The return button is provided, for example, in the cab 23. Furthermore, in a case where the attachment 30 of the work machine 20 being automatically driven deviates from the operation range 91 due to overshoot or the like and the laser receiver 27 is prevented from receiving the laser beam, the return control unit of the controller 11 automatically controls the operation of the work machine 20 so as to return the attachment 30 into the first allowable operation range 91. This enables the laser receiver 27 to be automatically returned to a state in which the laser beam can be received.
The return control unit of the controller 11 generates a manipulation signal corresponding to a distance by which the attachment 30 deviates from the first allowable operation range 91. The manipulation signal is a signal for moving a movable part of the work machine 20 so as to move the attachment 30. For example, when the attachment 30 rises and deviates upward from the first allowable operation range 91, the return control unit of the controller 11 generates a manipulation signal for lowering the attachment 30 by the deviation distance. When the upper slewing body 22 turns in a certain direction to cause the attachment 30 to deviate from the first allowable operation range 91, the return control unit generates a manipulation signal for turning the upper slewing body 22 in a reverse direction by the deviation distance.
The range setting unit of the controller 11 sets a second allowable operation range 93 illustrated in FIG. 5 in addition to the first allowable operation range 91 illustrated in FIG. 3. The first and second allowable operation ranges 93 are simultaneously set. The controller 11 may be configured to set only one of the first and second allowable operation ranges 91 and 93.
The range setting unit of the controller 11 sets a laser projection range, which is a range within which the laser beam is emitted from the laser projector 70, as the second allowable operation range 93. The laser projection range illustrated in FIG. 5 is a fan-shaped region defined by a maximum projection distance Y and a projection angle α. By moving the work machine 20 within a range in which the laser receiver 27 is positioned within the second allowable operation range 93, the laser receiver 27 can be kept receiving a laser beam. In other words, it is possible to suppress deviation of the laser receiver 27 from the laser projection range of the laser projector 70.
While the first allowable operation range 91 illustrated in FIG. 3 is set to suppress the attachment 30 from blocking the laser beam due to a change in the attachment attitude or the turning of the upper slewing body 22, the second allowable operation range 93 illustrated in FIG. 5 is not directly related to the change in the attachment attitude or the turning of the upper slewing body 22.
The range notification unit of the controller 11 notifies the second allowable operation range 93 calculated as described above. Specifically, the controller 11 causes the display device 14 illustrated in FIG. 2 to display a screen including the image of the work machine 20 and an image of the second allowable operation range 93, for example, a screen on which both the images are superimposed. The display device 14 displays, for example, a screen illustrated in FIG. 5. In a case where the work machine 20 is manipulated by the operator, the display device 14 is a display provided in the cab 23. In a case where the work machine 20 is automatically driven, the display device 14 is, for example, a display of a portable terminal.
By operating the work machine 20 so that the laser receiver 27 is positioned within the second allowable operation range 93 notified as described above, the operator can perform the work while keeping the laser receiver 27 receiving the laser beam. In other words, it is possible to suppress the laser receiver 27 from being blocked from receiving a laser beam. By checking the display content of the display device 14, the operator can easily operate the work machine 20 such that the laser receiver 27 is positioned within the second allowable operation range 93.
The distance calculation unit of the controller 11 calculates a shortest distance 94 between a boundary of the second allowable operation range 93 and the laser receiver 27. Specifically, the distance calculation unit of the controller 11 calculates the shortest distance 94 between the boundary of the second allowable operation range 93 and the laser receiver 27 on the basis of the relative light receiving position and the second allowable operation range 93 calculated as described above. Information about the shortest distance 94 allows the operator to grasp how much more movement of the work machine 20 causes the laser receiver 27 to deviate from the second allowable operation range 93.
The display control unit of the controller 11 and the display device 14 configure a distance notification unit that notifies the shortest distance 94 calculated as described above. Specifically, as illustrated in FIG. 5, the display control unit causes the display device 14 to display a screen including the shortest distance 94. The information about the shortest distance 94 enables the operator to grasp how much more movement of the work machine 20 causes the laser receiver 27 to deviate from the second allowable operation range 93.
The controller 11 includes the operation correction unit that corrects the operation of the work machine 20 according to the shortest distance 94 calculated as described above. Specifically, the operation correction unit of the controller 11 corrects the operation of the work machine 20 so as to restrict the operation of the work machine 20 to a greater degree as the shortest distance 94 decreases.
Specifically, the operation correction unit restricts the operation of the work machine 20 by reducing the output manipulation amount as the shortest distance 94 illustrated in FIG. 4 decreases. This enables the laser receiver 27 to be suppressed from deviating from the second allowable operation range 93.
The return control unit of the controller 11 controls the work machine 20 to return the laser receiver 27 into the second allowable operation range 93 in a case where the laser receiver 27 deviates from the second allowable operation range 93 illustrated in FIG. 5. For example, in a case where the laser receiver 27 deviates from the second allowable operation range 93 to be unable to receive the laser beam in the manipulation of the work machine 20 by the operator, the controller 11 notifies that the laser receiver 27 cannot receive the laser beam. When the operator who was left unattended in this way manipulates the return button (not illustrated), the controller 11 automatically controls the operation of the work machine 20 so as to return the attachment 30 into the second allowable operation range 93. Furthermore, in the automatic driving of the work machine 20, in a case where the laser receiver 27 deviates from the second allowable operation range 93 due to overshoot or the like and cannot receive a laser beam, the controller 11 automatically controls the operation of the work machine 20 so as to return the laser receiver 27 into the second allowable operation range 93. As a result, the laser receiver 27 can be automatically returned from a position outside the laser projection range by the laser projector 70 to a position where the laser beam can be received. For the return, for example, data of a positioning sensor such as a GPS sensor provided in the upper slewing body 22 can be used.
The return control unit of the controller 11 generates a manipulation signal corresponding to a distance by which the laser receiver 27 deviates from the second allowable operation range 93. For example, in a case where the laser receiver 27 deviates from the second allowable operation range 93 due to movement of a front of the work machine 20, the controller 11 generates the manipulation signal for moving the work machine 20 backward by the distance by which the laser receiver 27 deviates.
Next, operation of the work system 1 will be described with reference to FIG. 6 which is a flowchart of operation correction processing.
First, the controller 11 detects the relative light receiving position, i.e., the relative position of the laser receiver 27 with respect to the laser projector 70 (step S1). Next, the controller 11 sets each of the first and second allowable operation ranges 91 and 93 for the work machine 20 (step S2).
Next, the controller 11 calculates the shortest distance 92 between the boundary of the first allowable operation range 91 and the attachment 30 illustrated in FIG. 3 and the shortest distance 94 between the boundary of the second allowable operation range 93 and the laser receiver 27 illustrated in FIG. 5 (step S3). Then, the controller 11 corrects the operation of the work machine 20 using the relationship illustrated in FIG. 4 (step S4). Hereinafter, the processing of steps S1 to S4 is repeated.
As described in the foregoing, according to the work system 1 according to the present embodiment, as illustrated in FIGS. 3 and 5, the first and second allowable operation ranges 91 and 93 are set in which the work machine 20 can operate while the laser receiver 27 keeps receiving the laser beam projected from the laser projector 70. By operating the work machine 20 within the range limited by the first and second allowable operation ranges 91 and 93, the laser receiver 27 can keep receiving a laser beam regardless of the operation. In other words, it is possible to suppress the laser receiver 27 from being unable to receive a laser beam due to the movement of the work machine 20. This reduces a frequency of the work for causing the laser receiver 27 to receive the laser beam again, thereby improving work efficiency.
The range notification unit notifies the first and second allowable operation ranges 91 and 93 illustrated in FIGS. 3 and 5, respectively. By operating the work machine 20 within the range limited by the first and second allowable operation ranges 91 and 93, the operator notified in this manner allows the laser receiver 27 to keep receiving a laser beam. In other words, this suppresses the laser receiver 27 from being unable to receive a laser beam.
The controller 11 includes the display control unit, and the display control unit causes the display device 14 to display, for example, the screens as illustrated in FIGS. 3 and 5, i.e., a screen including the image of the work machine 20 and each of the images of the first and second allowable operation ranges 91 and 93, for example, a screen on which both the images are superimposed. The screen enables the operator to easily operate the work machine 20 within the first and second allowable operation ranges 91 and 93 while checking the first and second allowable operation ranges 91 and 93.
The range setting unit of the controller 11 calculates the first allowable operation range 91 illustrated in FIG. 3 on the basis of the relative light receiving position, the machine shape information, the turning angle of the upper slewing body 22 with respect to the lower travelling body 21, and the attachment attitude information. The first allowable operation range 91 is a range in which, by operating the upper slewing body 22 and the attachment 30 within the first allowable operation range 91, the laser receiver 27 is kept receiving a laser beam. The setting of the first allowable operation range 91 enables the attachment 30 to suppress blocking of the laser from the laser projector 70 to the laser receiver 27.
The distance calculation unit of the controller 11 calculates the shortest distance 92 between the boundary of the first allowable operation range 91 and the attachment 30 illustrated in FIG. 3. The information about the shortest distance 92 enables the operator to grasp how much more operation of the upper slewing body 22 or the attachment 30 causes the attachment 30 to deviate from the first allowable operation range 91.
The distance notification unit configured by the controller 11 and the display device 14 notifies the operator of the shortest distance 92 calculated as described above through, for example, such a screen as illustrated in FIG. 3, thereby enabling the operator to grasp how much more operation of the upper slewing body 22 or the attachment 30 causes the attachment 30 to deviate from the first allowable operation range 91.
The operation correction unit of the controller 11 corrects the operation of the work machine 20 according to the shortest distance 92 using, for example, the relationship illustrated in FIG. 4. This enables the work machine 20 to perform appropriate operation according to the shortest distance 92. For example, as illustrated in FIG. 4, the operation correction unit corrects the operation of the work machine 20 so as to restrict the operation of the work machine 20 to a greater degree as the shortest distance 92 decreases. This makes it possible to suppress the attachment 30 from deviating from the first allowable operation range 91.
The return control unit of the controller 11 controls the operation of the work machine 20 so as to, for example, return the attachment 30 deviating from the first allowable operation range 91 illustrated in FIG. 3 into the first allowable operation range 91. This enables the laser receiver 27 to be automatically returned from a state in which the laser beam is blocked by the attachment 30 to the state in which the laser beam can be received.
The range setting unit of the controller 11 sets the second allowable operation range 93 illustrated in FIG. 5 on the basis of the laser projection range that is a range of a laser beam emitted by the laser projector 70. The second allowable operation range 93 is a range in which the laser receiver 27 is kept receiving a laser beam by moving the work machine 20 so that the laser receiver 27 is positioned within the second allowable operation range 93. The setting of the second allowable operation range 93 makes it possible to suppress the laser receiver 27 from deviating from the laser projection range by the laser projector 70.
The distance calculation unit of the controller 11 calculates the shortest distance 94 between the boundary of the second allowable operation range 93 and the laser receiver 27 illustrated in FIG. 5. The information about the shortest distance 94 enables the operator to grasp how much more movement of the work machine 20 causes the laser receiver 27 to deviate from the second allowable operation range 93.
The distance notification unit configured by the controller 11 and the display device 14 notifies the shortest distance 94 calculated as described above through the screen as illustrated in FIG. 5, for example, thereby enabling the operator to grasp how much more movement of the work machine 20 causes the laser receiver 27 to deviate from the second allowable operation range 93.
The operation correction unit of the controller 11 corrects the operation of the work machine 20 according to the shortest distance 94 using, for example, the relationship illustrated in FIG. 4. This enables the work machine 20 to perform appropriate operation according to the shortest distance 94. For example, as illustrated in FIG. 4, the controller 11 corrects the operation of the work machine 20 so as to restrict the operation of the work machine 20 to a greater degree as the shortest distance 94 decreases. This enables the laser receiver 27 to be suppressed from deviating from the second allowable operation range 93.
The return control unit of the controller 11 controls the operation of the work machine 20, for example, so as to return the laser receiver 27 deviating from the second allowable operation range 93 illustrated in FIG. 5 into the second allowable operation range 93. This enables the laser receiver 27 to be automatically returned from the position deviated from the laser projection range to the position where the laser beam can be received.
Although the embodiment of the present invention has been described in the foregoing, only a specific example has been described, and the present invention is not particularly limited to the embodiment, and a specific configuration and the like can be modified in design as appropriate. The actions and effects described in the embodiment of the invention merely recite the most suitable actions and effects resulting from the present invention, and the actions and effects according to the present invention are not limited to those described in the embodiment of the present invention.
For example, as described above, although the controller 11 can include each of the position calculation unit that calculates the position of the laser receiver 27 with respect to the laser projector 70, the range setting unit that sets the first and second allowable operation ranges 91 and 93, and the distance calculation unit that calculates the shortest distances 92 and 94, at least a part of these can be included in an apparatus other than the controller 11, for example, a portable terminal or a server (not illustrated).
The screen displayed on the display device 14 is not limited to the screens illustrated in FIG. 3 or 5. The screen may be, for example, a screen on which at least a part of the work machine 20, the laser projector 70, and the first and second allowable operation ranges 91 and 93 is three-dimensionally displayed.
As described above, provided is a work system including: a laser projector that emits a laser beam; a work machine having a laser receiver capable of receiving the laser beam; a position detection unit that detects a relative light receiving position that is a position of the laser receiver with respect to the laser projector; and a range setting unit that sets an allowable operation range that is a range in which the work machine can operate while maintaining that the laser receiver receives the laser beam.
The range setting unit provides the allowable operation range in which the laser receiver is kept receiving the laser beam by operating the work machine within the allowable operation range, thereby making it possible to suppress the laser receiver from being blocked from receiving the laser beam. This makes it possible to reduce a frequency of work for causing the laser receiver to receive the laser beam again, thereby improving the work efficiency.
The work system preferably further includes a range notification unit that notifies the allowable operation range set by the range setting unit.
The range notification unit includes, for example, a display device capable of displaying a screen including an image of the work machine and the allowable operation range.
The work machine includes, for example, a lower travelling body, an upper slewing body turnably mounted on the lower travelling body, and an attachment mounted on the upper slewing body so as to be capable of moving up and down. In this case, the range setting unit is preferably configured to calculate the allowable operation range on the basis of the relative light receiving position, the machine shape information, a turning angle of the upper slewing body with respect to the lower travelling body, and the attachment attitude information. The allowable operation range is a range in which the attachment is suppressed from blocking the laser beam projected from the laser projector to the laser receiver by movement of the work machine within the allowable operation range.
In the above aspect, the work system preferably further includes a distance calculation unit that calculates a shortest distance between a boundary of the allowable operation range and the attachment.
More preferably, the work system further includes a distance notification unit that notifies the shortest distance calculated by the distance calculation unit.
More preferably, the work system further includes an operation correction unit that corrects an operation of the work machine according to the shortest distance calculated by the distance calculation unit.
Preferably, the operation correction unit is configured to correct the operation of the work machine so as to restrict the operation of the work machine to a greater degree as the shortest distance decreases.
The work system preferably further includes a return control unit that controls the work machine to return the attachment deviating from the allowable operation range into the allowable operation range.
The range setting unit may be configured to set the allowable operation range on the basis of a laser projection range that is a projection range of the laser beam emitted from the laser projector. The allowable operation range is a range in which the laser receiver is kept receiving the laser beam by operating the work machine such that the laser receiver is positioned within the allowable operation range.
Also in this case, the work system preferably further includes a distance calculation unit that calculates a shortest distance between a boundary of the allowable operation range and the laser receiver.
More preferably, the work system further includes a distance notification unit that notifies the shortest distance calculated by the distance calculation unit.
More preferably, the work system further includes an operation correction unit that corrects an operation of the work machine according to the shortest distance calculated by the distance calculation unit.
Preferably, the operation correction unit corrects the operation of the work machine so as to restrict the operation of the work machine to a greater degree as the shortest distance decreases.
The work system preferably further includes a return control unit that controls the work machine to return the laser receiver deviating from the allowable operation range into the allowable operation range.

Claims

A work system comprising:
a laser projector that emits a laser beam;

a work machine having a laser receiver capable of receiving the laser beam;

a position detection unit that detects a relative light receiving position that is a relative position of the laser receiver with respect to the laser projector; and

a range setting unit that sets an allowable operation range that is a range in which the work machine can operate while maintaining that the laser receiver receives the laser beam.
The work system according to claim 1, further comprising a range notification unit that notifies the allowable operation range set by the range setting unit.
The work system according to claim 2, wherein the range notification unit includes a display device capable of displaying a screen including an image of the work machine and the allowable operation range.
The work system according to claim 1, wherein the work machine includes a lower travelling body, an upper slewing body turnably mounted on the lower travelling body, and an attachment mounted on the upper slewing body so as to be capable of moving up and down, the range setting unit calculates the allowable operation range on the basis of the relative light receiving position detected by the position detection unit, information about a shape of the work machine, a turning angle of the upper slewing body with respect to the lower travelling body, and information about an attitude of the attachment, and the allowable operation range is a range in which the attachment is suppressed from blocking the laser beam projected from the laser projector to the laser receiver by movement of the work machine within the allowable operation range.
The work system according to claim 4, further comprising a distance calculation unit that calculates a shortest distance between a boundary of the allowable operation range and the attachment.
The work system according to claim 5, further comprising a distance notification unit that notifies the shortest distance calculated by the distance calculation unit.
The work system according to claim 5, further comprising an operation correction unit that corrects an operation of the work machine according to the shortest distance calculated by the distance calculation unit.
The work system according to claim 7, wherein the operation correction unit corrects the operation of the work machine so as to restrict the operation of the work machine to a greater degree as the shortest distance decreases.
The work system according to claim 4, further comprising a return control unit that controls the work machine to return the attachment deviating from the allowable operation range into the allowable operation range.
The work system according to claim 1, wherein the range setting unit sets the allowable operation range on the basis of a laser projection range that is a projection range of the laser beam emitted from the laser projector, and the allowable operation range is a range in which the laser receiver is kept receiving the laser beam by operating the work machine such that the laser receiver is positioned within the allowable operation range.
The work system according to claim 10, further comprising a distance calculation unit that calculates a shortest distance between a boundary of the allowable operation range and the laser receiver.
The work system according to claim 11, further comprising a distance notification unit that notifies the shortest distance calculated by the distance calculation unit.
The work system according to claim 11, further comprising an operation correction unit that corrects an operation of the work machine according to the shortest distance calculated by the distance calculation unit.
The work system according to claim 13, wherein the operation correction unit corrects the operation of the work machine so as to restrict the operation of the work machine to a greater degree as the shortest distance decreases.
The work system according to claim 10, further comprising a return control unit that controls the work machine to return the laser receiver deviating from the allowable operation range into the allowable operation range.