JP2020159133A - Work machine - Google Patents

Abstract

To provide a work machine that can improve demolition efficiency during demolition work.SOLUTION: The work machine includes: a demolition device (10) that is provided on a body 1 performs demolition work on an object (100) to be demolished; an operation device that operates the demolition device; and a controller that controls the demolition device. The controller comprises: a storage unit that divides the object to be demolished into a plurality of areas and stores demolition procedures (P1 to P14); a demolition target determination unit that determines the current demolition target area based on the demolition procedures stored in the storage unit and position information for the demolition device; an approach determination unit that determines whether the demolition device approaches a prohibited area that is an area of the object to be demolished other than the current demolition target area; and an operation amount control unit that controls the operation amount of the demolition device so that the demolition device does not approach the prohibited area. The demolition target determination unit updates the current demolition target area based on the demolition procedures.SELECTED DRAWING: Figure 5

Description

The present invention relates to a work machine, and particularly relates to a technique for improving work efficiency.

At work sites such as construction sites, work such as excavation with a hydraulic excavator is widely performed. Since the front attachment of such a hydraulic excavator moves in a complicated manner and operates over a wide range, the work mode is highly flexible, but the work efficiency and accuracy are based on the work experience of the worker. It tends to be influenced.

Therefore, a technique has been developed to improve the work efficiency of workers in excavation work by generating a design surface showing a target shape of an excavation target and automatically adjusting the position of the bucket cutting edge to excavate (Patent Document 1). ..

Japanese Unexamined Patent Publication No. 2013-217137

By the way, in the demolition work of buildings, etc., unlike the excavation work of the ground, the work target has a complicated shape, so the demolition efficiency tends to be more easily influenced by the work experience of the worker than the excavation work of the ground. It is in.
Here, in view of the technique disclosed in Patent Document 1, it is not disclosed that a building or the like having a complicated shape is efficiently disassembled, and there is room for further improvement.

The present invention has been made in view of such a problem, and an object of the present invention is to provide a work machine capable of improving dismantling efficiency in dismantling work.

In order to achieve the above object, the work machine of the present invention includes a dismantling device provided in a main body for performing dismantling work of a dismantled object, an operating device for operating the dismantling device, and a controller for controlling the dismantling device. In the work machine having the above, the controller divides the disassembled object into a plurality of ranges, stores the dismantling order as the dismantling order of the range, the dismantling order stored in the storage unit, and the above. Whether the dismantling device is close to the dismantling target determination unit that determines the current dismantling target range based on the position information of the dismantling device and the prohibited range of the dismantled object other than the current dismantling target range. The dismantling target determination unit includes the approach determination unit for determining whether or not the dismantling device and the operation amount limit control unit for limiting the operation amount of the dismantling device so that the dismantling device does not approach the prohibited range. Based on the above, the current dismantling target range is updated.

As a result, by updating the current dismantling target range based on the dismantling order and the position information of the dismantling device, for example, when the dismantling of the current dismantling target range is completed, the current dismantling target range is based on the dismantling order. By updating, it is possible to prevent the operator from making a mistake in the disassembly order.

As another aspect, the dismantling degree detection device for detecting the dismantling degree of the current dismantling target range is provided, and the dismantling target determination unit is the dismantling degree of the current dismantling target range detected by the dismantling degree detecting device. It is preferable to update the current dismantling target range based on the above.

As a result, by updating the current dismantling target range based on the dismantling degree of the current dismantling target range detected by the dismantling degree detection device, the current dismantling target range can be updated regardless of the operator's operation. It is possible.

As another aspect, the dismantling degree detection device includes an image pickup device that images the direction in which the dismantling device faces, and the dismantling target determination unit determines the dismantling degree based on an image captured by the image pickup device. Is preferable.

As a result, by determining the degree of disassembly based on the image captured by the imaging device, it is possible to improve the accuracy of determining the degree of disassembly by the disassembly target determination unit.

As another aspect, the controller includes a dismantling tool position calculation unit that calculates the position of the dismantling tool arranged in the dismantling device, and the approach determination unit is the dismantling that is calculated by the dismantling tool position calculation unit. It is preferable to determine that the dismantling device approaches the prohibited range based on the position of the tool and the prohibited range.

As a result, the dismantling tool of the dismantling device approaches the prohibited range by determining that the dismantling device approaches the prohibited range based on the position of the dismantling tool calculated by the dismantling tool position calculation unit and the prohibited range. It is possible to make a good judgment.

As another aspect, the dismantling tool is a bucket in which a tip portion located at the tip of the dismantling tool and a back portion curved as the distance from the tip portion is formed, and the approach determination portion is within the prohibited range. It is preferable to determine that the backs are approaching.

As a result, by determining that the back of the bucket approaches the prohibited range, it is possible to prevent the back from approaching the prohibited range by gazing at the tip of the bucket in an attempt to dismantle the current dismantling target range. It is possible to do.

As another aspect, it is preferable that the operating amount limiting control unit limits the operating amount of the dismantling device in the direction in which the dismantling device approaches the prohibited range.

As a result, by limiting the operating amount of the dismantling device in the direction in which the dismantling device approaches the prohibited range, the vicinity of the prohibited range can be traced when dismantling the vicinity of the prohibited range in the current dismantling target range. It is possible to dismantle the dismantled object in the current dismantling target range.

According to the working machine of the present invention, the current dismantling target range is updated based on the dismantling order and the position information of the dismantling device, for example, based on the dismantling order when the dismantling of the current dismantling target range is completed. By updating the current dismantling target range, it is possible to prevent the worker from making a mistake in the dismantling order, and it is possible to improve the dismantling efficiency in the dismantling work.

It is a side view of the aircraft. It is a block diagram which showed the connection structure of a hydraulic circuit and the connection structure of a controller. It is a flowchart which showed the routine of the control procedure of the work machine which concerns on this invention which a controller executes. It is a flowchart which showed the routine of the control procedure of the work machine which concerns on this invention, which is executed by the dismantling target determination part. It is explanatory drawing explaining the calculation of the degree of disassembly and the bucket position of the disassembled object. It is explanatory drawing explaining the calculation and control by the speed limit calculation unit and the operation amount correction unit. It is a perspective view of the disassembled object seen from the machine body side.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
With reference to FIG. 1, a side view of the airframe (main body) 1 is shown. The machine body 1 is a so-called hydraulic excavator composed of a lower traveling body 3 and an upper turning body 5.

The lower traveling body 3 is a so-called crawler type self-propellable traveling body. The upper swivel body 5 is mounted on the lower traveling body 3 via a swivel shaft 7. As a result, the machine body 1 can be driven by the lower traveling body 3, and the upper rotating body 5 can be rotated around the turning shaft 7 with respect to the lower traveling body 3.

The upper swing body 5 mounts the front attachment (disassembly device) 10, the rear unit 20, and the cab 30 on the main frame 6 forming the bottom of the upper swing body 5. A central frame 8 formed of a pair of vertical plates extending in the front-rear direction is welded to the main frame 6, for example.

The front attachment 10 is rotatably supported around a central joint 11 between a pair of vertical plates forming the central frame 8, and extends forward from the central frame 8 to the front of the upper swing body 5. Further, the front attachment 10 is configured by disposing a boom 12, an arm 14, and a bucket (demolition tool) 16 in this order from the central frame 8.

That is, in the front attachment 10, the central frame 8 and the boom 12 are rotatably connected by the first joint 11, and the boom 12 and the arm 14 are rotatably connected by the second joint 13. The arm 14 and the bucket 16 are rotatably connected by the joint 15, and the boom 12, the arm 14, and the bucket 16 are rotated by the first joint 11, the second joint 13, and the third joint 15, respectively. It is configured so that excavation work can be performed at.

Here, the bucket 16 is formed with a tip portion A1 located at the tip of the bucket 16 and a back portion A2 that curves as the distance from the tip portion A1 increases.

Further, the front attachment 10 expands and contracts the boom cylinder 12a attached to the central frame 8 and the boom 12, the arm cylinder 14a attached to the boom 12 and the arm 14, and the bucket cylinder 16a attached to the arm 14 and the bucket 16, respectively. Therefore, it is possible to operate the front attachment 10. The bucket 16 can be detached and replaced at the third joint 15, and can be replaced with a ripper, a breaker, a crusher, or the like. The hydraulic circuit 40 for expanding and contracting the boom cylinder 12a, the arm cylinder 14a, and the bucket cylinder 16a will be described later.

The rear unit 20 is configured to include an engine 22 and a counterweight 24 inside, and is arranged behind the front attachment 10 and the cab 30 in the upper swing body 5. The engine 22 is an internal combustion engine that generates the driving force of the lower traveling body 3 and the operating force of the front attachment 10. The counterweight 24 is a weight provided at the rear portion of the upper swing body 5 in order to prevent the upper swing body 5 from tilting forward when the front attachment 10 is viewed by the upper swing body 5 and extends forward.

The cab 30 is a driver's seat on which a worker who steers the machine body 1 and performs work such as excavation work gets on board. An operation lever (operation device) 31 is arranged in the cab 30 (see FIG. 2 described later), and the front attachment 10 can be operated by operating the operation lever 31.
Here, the machine body 1 according to the present invention includes an angle sensor 10a, a stereo camera (disassembly degree detection device) 33, a GNSS unit 35, a hydraulic circuit 40, and a controller 50.

The first joint 11, the second joint 13, and the third joint 15 of the front attachment 10 are provided with a first angle sensor 11a, a second angle sensor 13a, and a third angle sensor 15a (hereinafter, also referred to as an angle sensor 10a as a whole). Has been done. The first angle sensor 11a is the relative angle between the central frame 8 and the boom 12, the second angle sensor 13a is the relative angle between the boom 12 and the arm 14, and the third angle sensor 15a is the relative angle between the arm 14 and the bucket 16. It is a sensor that detects each. Therefore, the first angle sensor 11a, the second angle sensor 13a, and the third angle sensor 15a can detect information on the relative angles of the boom 12, the arm 14, and the bucket 16, that is, the posture of the front attachment 10.

The stereo camera 33 is a pair of left and right imaging devices provided on the upper side of the cab 30, for example, in the vertical direction, and images the direction in which the front attachment 10 faces. Since the stereo cameras 33 are provided in pairs on the left and right, it is possible to take an image of an object located in front of the machine body like a stereogram.

The GNSS (Global Navigation Satellite System) unit 35 is a position information detection device capable of detecting the position information of the aircraft 1 by receiving radio waves transmitted from the artificial satellite 35a.

With reference to FIG. 2, the connection configuration of the hydraulic circuit 40 and the connection configuration of the controller 50 are shown in a block diagram.
The hydraulic circuit 40 is a circuit including a hydraulic pump 41, a control valve 43 (C / V), and a solenoid valve 45. The hydraulic pump 41 is a pump that is operated by the engine 22 to circulate hydraulic oil in the hydraulic circuit 40.

The control valve 43 can supply the hydraulic oil supplied from the hydraulic pump 41 to the boom cylinder 12a, the arm cylinder 14a, the bucket cylinder 16a, and a traveling motor or a turning motor (not shown) by adjusting the flow rate. The solenoid valve 45 is a control valve capable of controlling the control valve 43 by adjusting the hydraulic oil supplied from a pilot pump (not shown) and supplying the hydraulic oil to the control valve 43.

Therefore, the hydraulic circuit 40 can operate the front attachment 10 by adjusting the supply amount of the hydraulic oil supplied to the boom cylinder 12a, the arm cylinder 14a, and the bucket cylinder 16a by the solenoid valve 45.
The controller 50 is a control device for performing comprehensive control including operation control of the engine 22, and includes an input / output device, a storage device (ROM, RAM, non-volatile RAM, etc.), a central processing unit (CPU), and the like. It is configured to include and executes various controls such as disassembly control described later.

An angle sensor 10a, an operation lever 31, a stereo camera 33, a GNSS unit 35, and a PC 70 described later are electrically connected to the input side of the controller 50. As a result, information regarding the posture of the front attachment 10 is input from the angle sensor 10a, operation information of the operation lever 31 by the operator is input from the operation lever 31, and imaging information in front of the machine body is input from the stereo camera 33. Is input, the position information of the aircraft 1 is input from the GNSS unit 35, and the information (disassembly information) used for the dismantling work is input from the PC 70.

A solenoid valve 45 is electrically connected to the output side of the controller 50. As a result, the solenoid valve 45 can be controlled to open and close to adjust the operating amount of the front attachment 10.
The controller 50 includes a storage unit 53, a dismantling target determination unit 55, a bucket position calculation unit (disassembly tool position calculation unit) 57, an approach determination unit 61, a speed limit calculation unit 63, and an operating amount limit control unit 65.

The storage unit 53 is, for example, a memory for storing disassembly information input to the PC 70. Here, the PC 70 is a personal computer, and it is possible for an operator to input disassembly information in advance before the disassembly work. The dismantling information is the order in which dismantling is prioritized among the terrain measurement data 71 that measures the shape of the land on which the dismantling work is performed, the dismantled object measurement data 73 that measures the shape of the dismantled object 100, and the dismantled object 100. Etc., such as dismantling priority data 75 and the like.

The dismantling target determination unit 55 is a determination unit that determines a portion or range of the dismantled object 100 to be dismantled (hereinafter, referred to as a current dismantling target range (current dismantling target range) for convenience of explanation). The dismantling target determination control by the disassembly target determination unit 55 will be described in detail later.

The bucket position calculation unit 57 bases the tip A1 and the back A2 of the bucket 16 (see FIG. 6) based on the information regarding the posture of the front attachment 10 input from the angle sensor 10a and the position information of the aircraft 1 input from the GNSS unit 35. Hereinafter, for convenience of explanation, this is a calculation unit that calculates the position of the bucket (also referred to as the bucket position). The bucket position calculation control by the bucket position calculation unit 57 will also be described in detail later.

The approach determination unit 61 includes dismantling information stored in the storage unit 53, a portion or range of the dismantled objects 100 determined by the dismantling target determination unit 55, and a bucket 16 calculated by the bucket position calculation unit 57. Based on the positions of the tip A1 and the back A2, the tip A1 and the back A2 of the bucket 16 approach a part or range of the dismantled object 100 other than the current dismantling target range (hereinafter, referred to as a prohibited range for convenience of explanation). It is a determination unit that determines (approach determination).

The speed limit calculation unit 63 determines the speed limit, which is a speed that can be sufficiently stopped when the operation of the front attachment 10 is stopped in order to prevent the tip A1 and the back A2 of the bucket 16 from entering the prohibited range, for example. It is a calculation unit that calculates. The operating amount limiting control unit 65 is a control unit that controls the opening and closing of the solenoid valve 45 by correcting the operating amount of the front attachment 10 based on the operating amount of the operating lever 31 according to the speed limit.

With reference to FIG. 3, a flowchart shows a routine of a control procedure for dismantling control of a work machine according to the present invention, which is executed by the controller 50. Further, referring to FIG. 4, a flowchart shows a routine of the control procedure of the work machine according to the present invention, which is executed by the dismantling target determination unit 55. Further, referring to FIG. 5, an explanatory diagram for explaining the degree of disassembly and the calculation of the bucket position of the disassembled object 100 is shown. Then, referring to FIG. 6, an explanatory diagram for explaining the calculation and control by the speed limit calculation unit 63 and the operation amount limit control unit 65 is shown. Further, referring to FIG. 7, a perspective view of the disassembled object 100 viewed from the machine body 1 side is shown. Hereinafter, each control such as dismantling work and dismantling control will be described with reference to FIGS. 3 to 7.

In step S10, the dismantling target determination unit 55 executes the disassembly target determination control. According to FIG. 4, in the dismantling target determination control step S11, it is determined whether or not the dismantling completion determination point that the bucket 16 has not reached exists in the current dismantling target range.

Specifically, in step S11, first, the dismantled object 100 is certified by comparing the terrain measurement data 71 input to the storage unit 53 in advance before the dismantling work with the position information of the aircraft 1 input from the GNSS unit 35. To do. Next, the disassembled object measurement data 73 and the disassembled object 100 imaged by the stereo camera 33 are compared. Here, according to FIG. 5, the dismantled object 100 is a building composed of a plurality of pillar members (P1 to P14), and can be efficiently dismantled by dismantling in the order of P1 to P14.

Then, it is determined to what extent the current dismantling target range is dismantled based on the dismantling priority data 75, and based on the determination result, whether the dismantling completion determination point that the bucket 16 has not reached exists in the current dismantling target range. Determine if not. The above order is an example and may be changed as appropriate.

Here, according to FIG. 7, the dismantling completion determination point indicates a portion where the current dismantling target range and the prohibited range overlap, and for example, in P2, it refers to a point where the lower end intersects P5 and P6. ..

Therefore, in step S11, based on the above-mentioned dismantling order included in the dismantling priority data 75, for example, if the current dismantling target range currently being dismantled is P2, the left and right dismantling work determinations in FIG. 7 are determined. When the bucket 16 reaches both of the points at least once, it is determined that the dismantling completion determination point that the bucket 16 has not reached does not exist in the current dismantling target range.

When the determination result in step S11 is true (Yes) and it is determined that the dismantling completion determination point that the bucket 16 has not reached exists in the current dismantling target range, the dismantling target determination control is terminated. On the other hand, if the determination result in step S11 is false (No) and it is determined that the dismantling completion determination point that the bucket 16 has not reached does not exist in the current dismantling target range, the process proceeds to step S12. Note that even when the dismantling completion determination points are lined up in the front-rear direction of the aircraft, as in the case of dismantling P5 with reference to FIG. 5, the bucket 16 is at least once at both dismantling completion determination points. When it reaches, the determination result in step S11 becomes false (No).

In step S12, the current dismantling target range is updated to the dismantling target range in the following order based on the dismantling priority data 75, and the dismantling target determination control is terminated. As a specific example, according to FIG. 5, as described in step S11, when the current dismantling target range up to step S11 is P1, the current dismantling target range is moved up to the pillar member of P2 in step S12.

As described above, in step S11 and step S12, the current dismantling target range is maintained as it is (P1 in the example of FIG. 5 above) until the dismantling degree becomes a certain ratio or more (No in step S11). When the degree of dismantling exceeds a certain ratio (Yes in step S11), the current dismantling target range can be updated to the range having the next highest priority (P2 in the example of FIG. 5 above).

Returning to FIG. 3, after performing the above-mentioned disassembly target determination control in step S10, the process proceeds to step S20. In step S20, the bucket position calculation unit 57 executes the bucket position calculation control. In the bucket position calculation control, the position information of the tip of the bucket 16 is calculated based on the position information of the machine body 1 input from the GNSS unit 35 and the posture information of the front attachment 10 input from the angle sensor 10a.

More specifically in FIG. 5, in step S20, first, the position of the machine 1 on the plane (for example, the position of the first joint 11) is determined based on the position information of the machine 1 input from the GNSS unit 35 (for example, the position of the first joint 11). Cx) in FIG. Next, the height of the first joint 11 from the ground is determined (Cz in FIG. 5). The height of the first joint 11 from the ground may be derived from the specifications of the machine body 1.

Next, based on the information regarding the posture of the front attachment 10 input from the angle sensor 10a, the tip A1 and the back A2 of the bucket 16, that is, the bucket positions are calculated (see Bx, Bz and FIG. 6 in FIG. 5).

Further, the separation range A3 is calculated based on the bucket position. Here, the separation range A3 indicates a range offset by a predetermined distance from the back portion A2 of the bucket 16 in consideration of, for example, vibration of the machine body 1 and an error in position information. The bucket position may be derived from the specifications of the aircraft 1.

After calculating the bucket position by the bucket position calculation control in step S20, the process proceeds to step S30. In step S30, it is determined whether or not it is determined that the bucket position has approached the prohibited range by the approach determination of the approach determination unit 61.

As shown in FIG. 5, the disassembled object 100 is located in a direction away from the machine body 1 from the position of Px1 when viewed in the horizontal direction, and has a height in the range up to Pz2. Here, for example, when the current dismantling target range is P1, the range from Px1 to Px2 in the horizontal direction and from Pz1 to Pz2 in the height direction is the current dismantling target range. Therefore, the range excluding the current dismantling target range of the dismantled object 100 is a prohibited range.

Here, in the approach determination of the approach determination unit 61, the disassembled object measurement data 73, the disassembly priority data 75, and the bucket position calculated by the bucket position calculation control in step S20 are compared with each other in advance in the storage unit 53. The positional relationship between the bucket position and the prohibited range can be calculated. Further, in the approach determination of the approach determination unit 61, whether or not the distance between the bucket position and the prohibited range is sufficient for stopping the bucket 16 based on the speed limit calculated by the speed limit calculation unit 63. Can be determined.

As a result, when the approach determination unit 61 decelerates to stop the operation of the front attachment 10 based on the disassembled object measurement data 73, the bucket position and the speed limit, the tip A1 and the back A2 of the bucket 16 and the separation range A3 A fixed distance is calculated as a distance that does not approach the prohibited range, and when the bucket 16 approaches so that the distance between the bucket position and the prohibited range is shorter than the fixed distance, it is determined that the bucket position has approached the prohibited range.

If the determination result in step S30 is false (No) and the result of the approach determination as described above determines that the object is not approaching the prohibited range, the process proceeds to step S50 described later. On the other hand, if the determination result in step S30 is true (Yes) and it is determined that the bucket position has approached the prohibited range, the process proceeds to step S40.

In step S40, the operating amount limiting control unit 65 executes the operating amount limiting control and proceeds to step S50. According to FIG. 6, when the front attachment 10 is operated without performing the operation amount limit control by the operator operating the operation lever 31, the bucket 16 may move along the vector V0. In the operation amount limit control, among the vector V0, the vector component is divided into the vector Vz related to the vertical direction and the vector Vx related to the front-back direction, and the operation amount of the front attachment 10 is limited for the vector Vx component in the direction toward the prohibited range. Determine to do.

In step S50, the solenoid valve 45 is opened and closed while adjusting the opening degree according to the results of the determination and control of steps S30 and S40, and this routine is terminated. As a result, if the determination result in step S30 is false (No) and the prohibition range is not approached, the operation amount limit control in step S40 is not performed, so that the operation amount is opened according to the operation amount operated by the operator. The solenoid valve 45 is opened and closed while adjusting the degree.

On the other hand, when the determination result in step S30 is true (Yes) and it is determined that the bucket position is close to the prohibited range, the operator operates the operation lever 31 in order to perform the operation amount limit control in step S40. Of the amount, the operation of the front attachment 10 in the direction in which the bucket 16 heads toward the prohibited range is restricted, and the solenoid valve 45 can be opened and closed while adjusting the opening degree so as to meet the restriction.

Further, in step S40, for example, every time the bucket 16 approaches the prohibited range, the bucket 16 is allowed to move along the prohibited range without stopping the operation of the front attachment 10, and the dismantling work is performed. Efficiency can be improved.

After completing this routine, the dismantling control repeatedly executes this routine. Therefore, when the degree of dismantling of the current dismantling target range exceeds a certain ratio (Yes in step S11 in the dismantling target determination control) while repeating this routine, the current dismantling target range is updated (step S12). The dismantling work can proceed according to the dismantling priority data 75 stored in 53. Therefore, the worker can efficiently perform the dismantling work.

As described above, in the work machine according to the present invention, the front attachment 10 provided on the machine body 1 for dismantling the dismantled object 100, the operation lever 31 for operating the front attachment 10, and the electromagnetic valve 45 are controlled. In the work machine having the controller 50, the controller 50 divides the disassembled object 100 into a plurality of ranges (P1 to P14 in FIG. 5), and stores the dismantling order of the ranges, that is, the dismantling priority data 75. The dismantling target determination unit 55 that determines the current dismantling target range based on the dismantling order stored in the storage unit 53 and the position information of the bucket 16 of the front attachment 10, and the dismantled object 100 other than the current dismantling target range. The approach determination unit 61 that determines whether or not the front attachment 10 is approaching the prohibited range, which is the range of, and the operation amount limit control unit that limits the operation amount of the front attachment 10 so that the front attachment 10 does not approach the prohibited range. 65, and the dismantling target determination unit 55 updates the current dismantling target range based on the dismantling order.

Therefore, since the current dismantling target range is updated based on the dismantling order and the position information of the front attachment 10, for example, when the dismantling of the current dismantling target range is completed, the current dismantling target range is updated based on the dismantling order. Therefore, it is possible to prevent the operator from making a mistake in the disassembly order.

Then, the stereo camera 33 that detects the dismantling degree of the current dismantling target range is provided, and the dismantling target determination unit 55 updates the current dismantling target range based on the dismantling degree of the current dismantling target range detected by the stereo camera 33. Therefore, the current dismantling target range can be updated regardless of the operation of the operator.

Then, the dismantling target determination unit 55 determines the disassembly degree based on the image captured by the stereo camera 33 that captures the direction in which the front attachment 10 faces, so that the dismantling target determination unit 55 determines the disassembly degree accuracy. Can be enhanced.

Then, the controller 50 includes a bucket position calculation unit 57 that calculates the position of the bucket 16 arranged on the front attachment 10, and the approach determination unit 61 calculates the position and prohibition of the bucket 16 calculated by the bucket position calculation unit 57. Since it is determined that the front attachment 10 approaches the prohibited range based on the range, it can be satisfactorily determined that the bucket 16 of the front attachment 10 approaches the prohibited range.

The bucket 16 is a bucket in which a tip A1 located at the tip of the bucket 16 and a back A2 that curves as it separates from the tip A1 are formed, and the approach determination section 61 is such that the back A2 approaches the prohibited range. Since it is determined that the back portion A2 is to be disassembled, it is possible to prevent the back portion A2 from approaching the prohibited range by gazing at the tip portion A1 of the bucket in an attempt to dismantle the current dismantling target range.

Then, the operating amount limiting control unit 65 limits the operating amount of the front attachment 10 in the direction in which the front attachment 10 approaches the prohibited range, so that the vicinity of the prohibited range in the current dismantling target range is dismantled. In some cases, the dismantled object 100 in the current dismantling target range can be dismantled by tracing the vicinity of the prohibited range.

The description of the work machine according to the present invention is completed above, but the present invention is not limited to the above embodiment and can be changed without departing from the gist of the invention.
For example, in the present embodiment, the hydraulic excavator has been described as the machine body 1, but the machine is not limited to the hydraulic excavator as long as it is a machine used for dismantling work.

Further, in the present embodiment, the degree of dismantling is detected by using the stereo camera 33 and the dismantling target determination control is performed. However, an unmanned aerial vehicle such as a drone may be used, and the work is completed in the cab 30. A button may be provided so that the dismantling target range is updated when the operator presses the work completion button.

Further, in the present embodiment, the control modes by dismantling control and dismantling target determination control have been described using the flows of FIGS. 3 and 4, but the order of the flows is an example, and the order is such that the present invention can be implemented. May be replaced.

1 Airframe (main body)
10 Front attachment (demolition device)
16 bucket (demolition tool)
31 Operation lever (operation device)
33 Stereo camera (disassembly degree detection device)
53 Storage unit 55 Dismantling target determination unit 57 Bucket position calculation unit (disassembly tool position calculation unit)
61 Approach judgment unit 65 Operating amount limit control unit

Claims (6)

A dismantling device installed on the main body to dismantle dismantled objects,
An operating device that operates the dismantling device and
In a work machine having a controller for controlling the dismantling device
The controller
A storage unit that divides the disassembled object into a plurality of ranges and stores the dismantling order as the dismantling order of the ranges.
A dismantling target determination unit that determines the current disassembly target range based on the disassembly order stored in the storage unit and the position information of the disassembly device.
An approach determination unit that determines whether or not the dismantling device is approaching a prohibited range that is a range other than the current dismantling target range among the dismantled objects.
Includes an operating amount limiting control unit that limits the operating amount of the dismantling device so that the dismantling device does not approach the prohibited range.
The dismantling target determination unit is a work machine characterized in that the current dismantling target range is updated based on the dismantling order. It has a dismantling degree detection device that detects the dismantling degree of the current dismantling target range.
The dismantling target determination unit updates the current dismantling target range based on the dismantling degree of the current dismantling target range detected by the dismantling degree detection device.
The work machine according to claim 1, wherein the work machine is characterized by the above. The disassembly degree detecting device includes an imaging device that images the direction in which the dismantling device faces.
The dismantling target determination unit determines the degree of disassembly based on the image captured by the imaging device.
The work machine according to claim 2, wherein the work machine is characterized in that. The controller includes a dismantling tool position calculation unit that calculates the position of the dismantling tool arranged in the dismantling device.
The approach determination unit determines that the dismantling device approaches the prohibited range based on the position of the dismantling tool calculated by the dismantling tool position calculation unit and the prohibited range.
The work machine according to claim 1, wherein the work machine is characterized by the above. The dismantling tool is a bucket in which a tip portion located at the tip of the dismantling tool and a back portion curved as the distance from the tip portion are formed.
The approach determination unit determines that the back portion approaches the prohibited range.
The work machine according to claim 4, wherein the work machine is characterized by the above. The operating amount limiting control unit limits the operating amount of the dismantling device in a direction in which the dismantling device approaches the prohibited range.
The work machine according to claim 1, wherein the work machine is characterized by the above.

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